WO2022057010A1 - 一种直线电机推力波动的抑制方法、相关设备和介质 - Google Patents

一种直线电机推力波动的抑制方法、相关设备和介质 Download PDF

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Publication number
WO2022057010A1
WO2022057010A1 PCT/CN2020/123500 CN2020123500W WO2022057010A1 WO 2022057010 A1 WO2022057010 A1 WO 2022057010A1 CN 2020123500 W CN2020123500 W CN 2020123500W WO 2022057010 A1 WO2022057010 A1 WO 2022057010A1
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Prior art keywords
mapping relationship
current
linear motor
current value
thrust
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Ceased
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PCT/CN2020/123500
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English (en)
French (fr)
Inventor
陈敏
郭顺
王洪兴
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AAC Technologies Holdings Shenzhen Co Ltd
AAC Technologies Holdings Nanjing Co Ltd
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AAC Acoustic Technologies Shenzhen Co Ltd
AAC Technologies Holdings Nanjing Co Ltd
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Publication of WO2022057010A1 publication Critical patent/WO2022057010A1/zh
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors

Definitions

  • the invention relates to the technical field of linear motors, in particular to a method for suppressing thrust fluctuations of linear motors, related equipment and media.
  • a linear motor is a transmission device that directly converts electrical energy into linear motion mechanical energy without any intermediate conversion mechanism. It can be regarded as a rotating electrical machine which is cut radially and developed into a plane.
  • the thrust fluctuation of the linear motor is one of the main defects in its application, because the thrust fluctuation is the cause of the motor vibration and noise, especially when running at low speed, it may also cause resonance and affect the use effect.
  • a method for suppressing thrust fluctuation of a linear motor including:
  • Step S0 obtain the mapping relationship N I of the thrust and the current of the linear motor
  • Step S1 obtain the mapping relationship 10X of the current corresponding to the thrust fluctuation and the position data of the linear motor without operating current;
  • Step S2 Obtain the mapping relationship F aX of the thrust and position data corresponding to the linear motor when the test current is turned on, and obtain the linear motor according to the mapping relationship F aX and the mapping relationship N I .
  • Step S3 According to the mapping relationship I 0X , the current value I a of the test current, and the mapping relationship I′ aX , obtain a mapping between the current value and the position data corresponding to the thrust fluctuation caused by the test current relation I aX ;
  • Step S4 according to the mapping relationship I aX , obtain the mapping relationship I bX of the current value corresponding to the thrust fluctuation caused by the preset operating current and the position data;
  • Step S5 the mapping relationship 1 0X and the mapping relationship 1 bX are stored in the control system of the linear motor, and when the linear motor is running, a compensation current is applied to the linear motor to suppress the linear motor.
  • the thrust fluctuation of , the current value of the compensation current is calculated according to the mapping relationship I 0X and the mapping relationship I bX .
  • step S1 includes:
  • the operating current of the linear motor is controlled to be zero, and the mover of the linear motor is controlled to move at a constant speed through an external force, and the thrust of the linear motor corresponding to the mover at different positions during the moving process is collected to obtain the The mapping relationship F 0X between the thrust of the linear motor and the position data under the described non-operating current;
  • mapping relationship N I and the mapping relationship F 0X the mapping relationship I 0X is obtained.
  • step S2 includes:
  • the operating current of the linear motor is controlled to be the test current
  • the mover of the linear motor is controlled to move at a constant speed through an external force
  • the thrust of the linear motor corresponding to the mover at different positions during the movement is collected to obtain the The mapping relationship F aX between the thrust of the linear motor and the position data under the test current;
  • mapping relationship N I and the mapping relationship F aX the mapping relationship I′ aX is obtained.
  • step S3 includes:
  • mapping relation I aX is obtained according to the following relational equation:
  • the current value corresponding to the thrust fluctuation caused by the test current is equal to the current value calculated from the mapping relationship I′ aX minus the current value I a of the test current, and then minus the current value I a of the test current.
  • the current value calculated by the mapping relationship I 0X is equal to the current value calculated from the mapping relationship I′ aX minus the current value I a of the test current, and then minus the current value I a of the test current.
  • step S5 includes:
  • mapping relationship I OX and the mapping relationship I bX determine the mapping relationship I b0X between the current value of the compensation current and the position data; according to the mapping relationship I b0X , obtain the compensation current at each position. current value;
  • the operating current of the linear motor is controlled to be adjusted to a target current value, the target current value being the sum of the current value of the compensation current and the preset current value I b of the operating current.
  • step S5 further includes:
  • mapping relationship I bOX is obtained according to the following relational equation:
  • the current value of the compensation current is equal to the current value calculated from the mapping relationship I 0X plus the current value calculated from the mapping relationship I bX .
  • a linear motor including linear motor components and a control system, the control system including reference data obtained by the method according to the first aspect, the reference data including the current corresponding to the thrust fluctuation and the The mapping relationship I 0X of the position data and the current value corresponding to the thrust fluctuation caused by the preset operating current and the mapping relationship I bX of the position data, the control system is used to control the linear motor when the linear motor is running.
  • a compensation current is applied to suppress the thrust fluctuation of the linear motor, and the current value of the compensation current is calculated according to the mapping relationship I 0X and the mapping relationship I bX .
  • a device for suppressing thrust fluctuation of a linear motor comprising:
  • an acquisition module for acquiring the mapping relationship NI of the thrust of the linear motor and the current; acquiring the mapping relationship I 0X of the current corresponding to the thrust fluctuation of the linear motor and the position data when there is no operating current;
  • the acquisition module is further configured to acquire the mapping relationship F aX between the thrust and the position corresponding to the linear motor when the test current is turned on, and the test current value is non-zero;
  • Processing module for:
  • mapping relationship I ' aX of the current value and the position data corresponding to the linear motor when the test current is turned on is obtained
  • mapping relationship I 0X the mapping relationship N I , and the mapping relationship I' aX , obtain the mapping relationship I aX between the current value and the position data corresponding to the thrust fluctuation caused by the test current value;
  • mapping relationship I aX obtain the mapping relationship I bX between the current value corresponding to the thrust fluctuation caused by the preset operating current and the position data
  • mapping relationship I 0X and the mapping relationship I bX are stored in the control system of the linear motor, so as to be used to calculate the current value of the compensation current applied when the linear motor is running, so as to suppress the linear motor thrust fluctuations.
  • a storage medium which stores a computer instruction program, and when the computer instruction program is executed by a processor, causes the processor to execute the above-mentioned first aspect and any possible implementation manners thereof. step.
  • a computer device comprising at least one memory and at least one processor, wherein the memory stores a computer instruction program, and when the computer instruction program is executed by the processor, the processor executes the above Steps of the first aspect and any possible implementations thereof.
  • the beneficial effects of the present invention are as follows: by first measuring the mapping relationship between the thrust and the position data output by the linear motor when the linear motor moves at a constant speed when the operating current is 0 and the test current respectively, and then calculating the two groups of currents during the desired stroke according to the thrust-current relationship of the motor.
  • the mapping relationship with the position data is converted into a mapping relationship between the current and the position data under a specific current, and the mapping relationship is interpolated and compensated to obtain the mapping relationship between the current and the position data corresponding to the thrust fluctuation caused by the preset operating current,
  • the mapping relationship between the corresponding current and position data under 0 operating current and the mapping relationship between the current and position data corresponding to the thrust fluctuation caused by the above preset operating current are stored in the control system of the linear motor, which can be used when the linear motor is working.
  • mapping relationship compensates for any operating current, and at the same time suppresses the thrust fluctuation caused by the positioning force and the thrust fluctuation caused by the current amplitude change of the linear motor, so that the final linear motor output thrust fluctuation can be more comprehensively and effectively suppressed.
  • FIG. 1 is a schematic flowchart of a method for suppressing thrust fluctuation of a linear motor provided by the present invention
  • FIG. 2 is a schematic flowchart of another method for suppressing thrust fluctuation of a linear motor provided by the present invention
  • FIG. 3 is a schematic structural diagram of a device for suppressing thrust fluctuation of a linear motor provided by the present invention
  • FIG. 4 is a schematic structural diagram of an electronic device provided by the present invention.
  • the linear motor mentioned in the embodiments of the present invention is a transmission device that directly converts electrical energy into linear motion mechanical energy without any intermediate conversion mechanism. It can be regarded as a rotating electrical machine which is cut radially and developed into a plane. Linear motors are also called linear motors, linear motors, linear motors, push rod motors, etc.
  • the side derived from the stator is called the primary
  • the side derived from the mover (rotor) is called the secondary.
  • the primary and secondary are manufactured to different lengths to ensure that the coupling between the primary and secondary remains unchanged over the required travel range.
  • Linear motors can be either short primary and long secondary, or long primary and short secondary. Considering the manufacturing cost and operating cost, take a linear induction motor as an example: when the primary winding is connected to the AC power supply, a traveling wave magnetic field will be generated in the air gap, and the secondary will induce electromotive force and generate current under the cutting of the traveling wave magnetic field. , the current interacts with the magnetic field in the air gap to generate electromagnetic thrust.
  • FIG. 1 is a schematic flowchart of a method for suppressing thrust fluctuation of a linear motor provided by an embodiment of the present invention.
  • the method may include:
  • mapping relationship NI between the thrust and the current of the linear motor
  • mapping relationship I 0X between the current and the position data corresponding to the thrust fluctuation of the linear motor in the case of no operating current.
  • the executive body of the embodiment of the present invention may be a linear motor thrust fluctuation suppression device, and the linear motor thrust fluctuation suppression device can suppress the thrust fluctuation generated by the linear motor, or in other words, can establish a thrust fluctuation suppression device for the linear motor.
  • the device for suppressing the thrust fluctuation of the linear motor may be a system including a linear motor, or may be an electronic device, and the electronic device may be a terminal device, including but not limited to laptop computers, tablet computers, etc. such as other portable devices or desktop computers.
  • the operating current in the embodiment of the present application refers to the current that controls the linear motor.
  • the actual current may be inconsistent with the operating current, so it can be understood as the embodiment of the present application.
  • the "current corresponding to the current” is mentioned in the text, which is the actual current corresponding to the operating current.
  • mapping relationship between the current and position data caused by thrust fluctuation in the absence of operating current can be regarded as the mapping relationship between the current and position data corresponding to the positioning force, which can be expressed as the positioning force curve of the linear motor, which can be calculated according to actual test statistics. Or obtained by simulation test.
  • the foregoing step 101 may specifically include:
  • the operating current of the above-mentioned linear motor is controlled to be zero, the mover of the above-mentioned linear motor is controlled to move at a constant speed through an external force, and the thrusts on the above-mentioned linear motor corresponding to the above-mentioned movers at different positions during the moving process are collected, and the above-mentioned non-operating current is obtained.
  • mapping relation N I the above-mentioned mapping relation F 0X .
  • the operating current of the linear motor can be set to 0, and the linear motor can be pulled by the dragging device to move the corresponding position stroke at a constant speed and slowly, and the thrust of the linear motor can be obtained by measuring the force sensor during this process, and
  • the position corresponding to the thrust that is, the mapping relationship between the thrust of the linear motor and the position data when the operating current is 0, can be expressed as the thrust F 0X at a specific position (X).
  • the relationship between the thrust and the current of the linear motor is a type of characteristic parameter of the linear motor, which may be obtained by simulation based on testing, or may be information stored in the linear motor, which is not limited here.
  • the current-position data set corresponding to F 0X can be converted, and the mapping relationship between the current and position data corresponding to the operating current of 0 can be obtained, which can be expressed as a specific position (X), the current value I 0X corresponding to the operating current of 0 (corresponding to the positioning force).
  • the above-mentioned acquisition of the mapping relationship I' aX of the current and position data corresponding to the linear motor in the case of the test current includes:
  • the operating current of the above-mentioned linear motor is controlled to be the test current, and the mover of the above-mentioned linear motor is controlled to move at a constant speed through an external force, and the thrust of the above-mentioned linear motor corresponding to the above-mentioned mover at different positions in the moving process is collected to obtain the above-mentioned test current.
  • mapping relation N I the above-mentioned mapping relation F aX .
  • the above-mentioned test current can be set as required, and is not 0.
  • the test current is I a and a load with a specific force F a is used for testing.
  • the operating current of the linear motor can be set to I a , and the linear motor can be moved at a constant speed and slowly by the dragging device to move the corresponding position stroke, and the thrust of the linear motor can be obtained by measuring the force sensor during this process,
  • the position corresponding to the thrust that is, the mapping relationship between the thrust of the linear motor and the position data when the operating current is I a
  • the thrust FaX at a specific position (X).
  • the current-position data set corresponding to F aX can be obtained, and the mapping relationship between the current and the position data corresponding to the operating current can be obtained when the operating current is I a , It can be expressed as the current value I aX corresponding to the operating current I a at a specific position (X).
  • mapping relationship I 0X the current value I a of the test current, and the mapping relationship I′ aX , obtain the mapping relationship I aX between the current value corresponding to the thrust fluctuation caused by the test current and the position data.
  • the current value corresponding to the thrust fluctuation caused by a specific current can be deduced, so that the thrust fluctuation of the linear motor can be subsequently carried out under any current. inhibition.
  • the test is carried out in the case of no operating current in the experimental stage.
  • the mapping relationship between the current and the position data corresponding to the thrust fluctuation in the case of no operating current can be understood as only due to the fact that in the linear motor
  • the mapping relationship between the current corresponding to the thrust fluctuation caused by the positioning force and the position data. Therefore, the thrust fluctuation caused only by the operating current can be deduced according to the mapping relationship obtained above.
  • the operating current in the embodiment of the present application refers to the current that controls the linear motor.
  • the actual current may be inconsistent with the operating current, so it can be understood as the embodiment of the present application.
  • the "current corresponding to the current” is mentioned in the text, which is the actual current corresponding to the operating current.
  • the above step 103 specifically includes:
  • mapping relation I aX is obtained according to the following relational equation:
  • the current value corresponding to the thrust fluctuation caused by the above-mentioned test current is equal to the current value calculated from the above-mentioned mapping relationship I′ aX minus the current value I a of the above-mentioned test current, and then subtract the above-mentioned mapping relationship. I 0X the calculated current value.
  • the influence of the thrust fluctuation caused by the positioning force needs to be removed, so as to obtain the mapping relationship between the current and the position data corresponding to the thrust fluctuation caused only by the specific test current.
  • the current value corresponding to the thrust fluctuation caused by the test current value I a I′ aX -I a -I 0X .
  • mapping relationship I aX obtains the mapping relationship I bX between the current value corresponding to the thrust fluctuation caused by the preset operating current and the position data.
  • mapping relationship I bX between the current corresponding to the thrust fluctuation caused by the preset operating current and the position data, when the operating current of the linear motor is known, the current corresponding to the thrust fluctuation caused by the operating current and The mapping relationship of location data.
  • mapping relation I 0X and the above-mentioned mapping relation I bX in the control system of the above-mentioned linear motor, when the above-mentioned linear motor is running, apply a compensation current to the above-mentioned linear motor to suppress the thrust fluctuation of the above-mentioned linear motor, according to the above-mentioned mapping
  • the relation I 0X and the above-mentioned mapping relation I bX are used to calculate the current value of the above-mentioned compensation current.
  • mapping relationship between the current and position data caused by thrust fluctuation in the absence of operating current, and the mapping relationship between the current and position data corresponding to the thrust fluctuation caused by the preset operating current value it can be integrated into a preset
  • the mapping relationship between the compensation current corresponding to the operating current and the position data, that is, including the current compensation for the thrust fluctuation caused by the positioning force and the operating current, is stored in the control system of the linear motor.
  • the current corresponding to the thrust fluctuation caused by the current value corresponding to each position data is added to the current corresponding to the positioning force to obtain the above Each compensation current value corresponding to each position data;
  • mapping relationship between the respective compensation current values and the respective position data is referred to as the mapping relationship I b0X .
  • the present invention converts the mapping relationship between the current and the position data under a specific current by testing the mapping relationship between the current and the position data when the linear motor is installed horizontally, under no-load and under the load of force, and converts it into the mapping relationship between the current and the position data under a specific current.
  • the mapping relationship interpolation compensation obtains the mapping relationship between the current and position data corresponding to the thrust fluctuation caused by the preset operating current, and the mapping relationship between the current and the position data caused by the thrust fluctuation (positioning force) in the absence of operating current and
  • the mapping relationship between the current and position data corresponding to the thrust fluctuation caused by the above preset operating current is stored in the control system of the linear motor, and the compensation value of the operating current proportional to the thrust fluctuation of the linear motor can be calculated.
  • the mapping relationship is used to compensate any operating current, and at the same time, the thrust fluctuation caused by the positioning force and the thrust fluctuation caused by the operating current are suppressed, so that the final linear motor output thrust fluctuation can be suppressed more comprehensively and effectively.
  • FIG. 2 is a schematic flowchart of another method for suppressing thrust fluctuations of a linear motor provided by an embodiment of the present invention. As shown in FIG. 2 , the method can be performed after the steps in the embodiment shown in FIG. 1 , and is used as an application manner for obtaining data in the embodiment shown in FIG. 1 .
  • the method includes:
  • control the operating current of the linear motor to be adjusted to a target current value, where the target current value is the sum of the current value of the current and the preset current value Ib of the operating current.
  • the executive body of the embodiment of the present invention may be a linear motor thrust fluctuation suppression device, and the linear motor thrust fluctuation suppression device can suppress the thrust fluctuation generated by the linear motor.
  • the linear motor can implement the implementation of the present invention. steps in the example. It can also be a linear motor including a linear motor component and a control system, wherein the control system includes the mapping relationship between the preset compensation current and the position data obtained by the method in the embodiment shown in FIG. 1 , and the control system can be based on no operation.
  • the mapping relationship between the current and position data caused by the thrust fluctuation and the mapping relationship between the current and position data corresponding to the thrust fluctuation caused by the preset operating current calculate the compensation of the operating current proportional to the thrust fluctuation of the linear motor value, and use the compensation value to compensate the operating current.
  • the device for suppressing the thrust fluctuation of the linear motor may be a system including a linear motor, or may be an electronic device, and the electronic device may be a terminal device, including but not limited to laptop computers, tablet computers, etc. Such as other portable devices or desktop computers, including software emulation in this case to perform the steps in the embodiments of the present invention.
  • the compensation current value corresponding to the thrust fluctuation generated by the linear motor under the influence of any operating current can be obtained, and the thrust fluctuation can be suppressed by means of pre-compensation.
  • mapping relationship between the current and position data caused by the thrust fluctuation in the absence of operating current is represented as I 0X
  • the mapping relationship between the current and the position data corresponding to the thrust fluctuation caused by the preset current value I b is represented as I bX .
  • the preset compensation current can be used.
  • the motor can be controlled to move the corresponding position.
  • the obtained data set uses the interpolation method as the compensation value of the operating current. This method can be used to a certain extent.
  • the thrust fluctuation of the linear motor is suppressed. But only the thrust fluctuations caused by the positioning force of the linear motor are compensated.
  • the amplitude change of the operating current is also an important factor affecting the thrust fluctuation of the linear motor. If this factor is not compensated and corrected, it will eventually affect the output thrust effect of the linear motor, so that the thrust fluctuation has not been effectively suppressed.
  • the thrust-position data output when the linear motor moves at a constant speed when the operating current is 0 and a certain value (test current) are respectively measured, and then according to the thrust of the motor
  • the relationship with the current calculates two sets of actual current-position data at the desired stroke, and according to the operating current value, the corresponding current-position data set is interpolated and compensated into the operating current, so that the final linear motor output thrust fluctuation is suppressed.
  • the mapping relationship can be used to compensate any operating current when the linear motor is working, and at the same time, the thrust fluctuation caused by the positioning force and the thrust fluctuation caused by the operating current can be suppressed, so that the final linear motor output thrust fluctuation can be more comprehensively and effectively suppressed. .
  • the embodiment of the present invention further discloses a device for suppressing the thrust fluctuation of the linear motor.
  • the device 300 for suppressing the thrust fluctuation of the linear motor includes:
  • the acquisition module 310 is used to acquire the mapping relationship N I of the thrust and the current of the linear motor; acquire the mapping relationship I 0X of the current corresponding to the thrust fluctuation of the linear motor and the position data when there is no operating current;
  • the obtaining module 310 is further configured to obtain the mapping relationship F aX between the thrust and the position corresponding to the above-mentioned linear motor when the test current is turned on, and the above-mentioned test current value is non-zero;
  • the processing module 320 is used for:
  • mapping relationship I aX obtain the mapping relationship I bX between the current value corresponding to the thrust fluctuation caused by the preset operating current and the position data;
  • mapping relationship I 0X and the mapping relationship I bX are stored in the control system of the linear motor to calculate the current value of the compensation current applied when the linear motor is running, so as to suppress the thrust fluctuation of the linear motor.
  • the device 300 for suppressing the thrust fluctuation of the linear motor further includes a compensation module 330 and a control module 340; wherein:
  • the above obtaining module 310 is further configured to obtain the current value I b of the preset operating current
  • the compensation module 330 is configured to determine the mapping relationship I b0X between the current value of the compensation current and the position data according to the mapping relationship I 0X and the mapping relationship I bX ; obtain the compensation current at each position according to the mapping relationship I b0 X . current value at ;
  • the control module 340 is configured to control the operating current of the linear motor at each position to adjust to a target current value, the target current value being the sum of the current value of the compensation current and the preset current value Ib of the operating current.
  • each step involved in the method shown in FIG. 1 and FIG. 2 may be performed by each module in the apparatus 300 for suppressing thrust fluctuation of a linear motor shown in FIG. 3 , which is not repeated here. Repeat.
  • the device 300 for suppressing the thrust fluctuation of a linear motor in the embodiment of the present invention can obtain the mapping relationship between the current and the position data caused by the thrust fluctuation of the linear motor when there is no operating current, and the linear motor in the The mapping relationship between the current and position data in the case of the test current, the test current is non-zero, and according to the above mapping relationship and the relationship between the thrust and current of the linear motor, the corresponding thrust fluctuation caused by the test current value can be obtained.
  • mapping relationship between the current and the position data and then according to the mapping relationship between the current and the position data corresponding to the thrust fluctuation caused by the test current value, the mapping relationship between the current and the position data corresponding to the thrust fluctuation caused by the preset operating current is obtained. , and then store the mapping relationship between the current and position data caused by the thrust fluctuation in the absence of operating current and the mapping relationship between the current and position data corresponding to the thrust fluctuation caused by the preset operating current in the control system of the linear motor to It is used to calculate the compensation value of the operating current proportional to the thrust fluctuation of the linear motor.
  • This mapping relationship can be used to compensate any operating current when the linear motor is working, and the thrust fluctuation caused by the positioning force and the thrust caused by the operating current can be calculated at the same time.
  • the fluctuation is suppressed, so that the fluctuation of the output thrust of the final linear motor can be suppressed more comprehensively and effectively.
  • embodiments of the present invention further provide a linear motor.
  • the linear motor includes at least a linear motor component and a control system.
  • the control system includes reference data obtained by the method of the embodiment shown in FIG. 1 , and the reference data includes the current corresponding to the thrust fluctuation and the position data in the absence of operating current.
  • the mapping relationship I 0X and the mapping relationship I bX between the current value corresponding to the thrust fluctuation caused by the preset operating current and the position data, the above-mentioned control system is used to apply a compensation current to the above-mentioned linear motor to suppress the above-mentioned linear motor when the above-mentioned linear motor is running.
  • the current value of the compensation current is calculated according to the mapping relationship I 0X and the mapping relationship I bX .
  • an embodiment of the present invention further provides an electronic device.
  • the electronic device at least includes a processor 410, a non-volatile storage medium 420, an internal memory 430 and a network interface 440, wherein the processor 410, the non-volatile storage medium 420, the internal memory 430 and the network interface 440 can be connected through a system bus 450 or other means, and can communicate with other devices through a network interface 440 .
  • the non-volatile storage medium 420 can be stored in the memory.
  • the above-mentioned computer storage medium is used to store computer programs and operating systems.
  • the internal memory 430 also stores computer programs.
  • the above-mentioned computer programs include program instructions, and the above-mentioned processor can be used. to execute the above program instructions.
  • the processor 410 (or called CPU (Central Processing Unit, central processing unit)) is the computing core and the control core of the terminal, which is suitable for implementing one or more instructions, and is specifically suitable for loading and executing one or more instructions to achieve the corresponding Method flow or corresponding functions; in one embodiment, the processor 410 in the embodiment of the present invention may be used to perform a series of processing, including the methods in the embodiments shown in FIG. 1 and FIG. 2 , and so on.
  • Embodiments of the present invention further provide a computer storage medium (Memory), where the computer storage medium is a memory device in a terminal, used to store programs and data.
  • the computer storage medium here may include both a built-in storage medium in the terminal, and certainly also an extended storage medium supported by the terminal.
  • the computer storage medium provides storage space, and the storage space stores the operating system of the terminal.
  • one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and these instructions may be one or more computer programs (including program codes).
  • the computer storage medium here can be a high-speed RAM memory, or a non-volatile memory (non-volatile memory), such as at least one disk memory; optionally, it can also be at least one memory located far away from the aforementioned processor. computer storage media.
  • one or more instructions stored in the computer storage medium can be loaded and executed by the processor to implement the corresponding steps in the foregoing embodiment; in specific implementation, one or more instructions in the computer storage medium can be configured by The processor loads and executes any steps of the method in FIG. 1 and/or FIG. 2 , which will not be repeated here.
  • the disclosed systems, devices and methods may be implemented in other manners.
  • the division of the module is only for one logical function division.
  • multiple modules or components may be combined or integrated into another system, or some features may be ignored or not implement.
  • the shown or discussed mutual coupling, or direct coupling, or communication connection may be through some interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.
  • Modules described as separate components may or may not be physically separated, and components shown as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed to multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • the above-mentioned embodiments it may be implemented in whole or in part by software, hardware, firmware or any combination thereof.
  • software it can be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device.
  • the computer instructions may be stored in or transmitted over a computer-readable storage medium.
  • the computer instructions can be sent from one website site, computer, server, or data center to another by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.)
  • wire e.g. coaxial cable, fiber optic, digital subscriber line (DSL)
  • wireless e.g., infrared, wireless, microwave, etc.
  • the computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes one or more available media integrated.
  • the available media may be read-only memory (ROM), or random access memory (RAM), or magnetic media, such as floppy disks, hard disks, magnetic tapes, magnetic disks, or optical media, such as, A digital versatile disc (DVD), or a semiconductor medium, for example, a solid state disk (SSD) and the like.
  • ROM read-only memory
  • RAM random access memory
  • magnetic media such as floppy disks, hard disks, magnetic tapes, magnetic disks, or optical media, such as, A digital versatile disc (DVD), or a semiconductor medium, for example, a solid state disk (SSD) and the like.

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Abstract

一种直线电机推力波动的抑制方法、相关设备和介质，其中方法包括：获取直线电机在无操作电流的情况下推力波动对应的电流与位置数据的映射关系I 0X（101）；获取所述直线电机在接通测试电流的情况下所对应的电流值与位置数据的映射关系I' aX，所述测试电流值非零（102）；根据所述映射关系I 0X、所述测试电流的电流值I a，以及所述映射关系I' aX，获得由测试电流引起的推力波动所对应的电流值与位置数据的映射关系I aX（103）；根据所述映射关系I aX，获得预设的操作电流引起的推力波动所对应的电流值与位置数据的映射关系I bX（104）；将所述映射关系I 0X和所述映射关系I bX存储于所述直线电机的控制系统，在直线电机运行时施加一个补偿电流以抑制推力波动，根据映射关系I 0X和映射关系I bX以计算补偿电流的电流值（105）。

Description

一种直线电机推力波动的抑制方法、相关设备和介质 技术领域
本发明涉及直线电机技术领域，尤其涉及一种直线电机推力波动的抑制方法、相关设备和介质。
背景技术
直线电机是一种将电能直接转换成直线运动机械能，而不需要任何中间转换机构的传动装置。它可以看成是一台旋转电机按径向剖开，并展成平面而成。
直线电机的推力波动是其应用方面的主要缺陷之一，因为推力波动是电机振动与噪音产生的原因，特别是在低速运行时，还可能引起共振，影响使用效果。
在直线电机的设计中，减小推力波动是其主要目标之一，常用的方法有：控制电机移动相应的位置，通过采集此间的电流和位置信息，根据采集到的数据集计算操作电流的补偿值，但是该方式仅能够补偿直线电机由于定位力而引起的推力波动，在电机结构中还存在其他各种因素引起的推力波动，未得到有效抑制。
发明内容
基于此，有必要针对上述问题，提供一种直线电机推力波动的抑制方法、相关设备和介质，用于解决直线电机中产生的推力波动无法得到有效抑制，影响直线电机工作效果的问题。
本发明的技术方案如下：
一方面，提供了一种直线电机推力波动的抑制方法，包括：
步骤S0:获取直线电机的推力与电流的映射关系N I；
步骤S1:获取直线电机在无操作电流的情况下推力波动对应的电流与位置数据的映射关系I 0X；
步骤S2:获取所述直线电机在接通测试电流的情况下所对应的推力和位置数据的映射关系F aX，根据所述映射关系F aX以及所述映射关系N I,获取所述直线电机在接通测试电流的情况下所对应的电流值与位置数据的映射关系I′ aX，所 述测试电流值非零；
步骤S3:根据所述映射关系I 0X、所述测试电流的电流值I a，以及所述映射关系I′ aX，获得由所述测试电流引起的推力波动所对应的电流值与位置数据的映射关系I aX；
步骤S4:根据所述映射关系I aX，获得预设的操作电流引起的推力波动所对应的电流值与位置数据的映射关系I bX；
步骤S5:将所述映射关系I 0X和所述映射关系I bX存储于所述直线电机的控制系统，在所述直线电机运行时，对所述直线电机施加一个补偿电流以抑制所述直线电机的推力波动，根据所述映射关系I 0X和所述映射关系I bX以计算所述补偿电流的电流值。
可选的，所述步骤S1包括：
控制所述直线电机的操作电流为零，通过外力控制所述直线电机的动子匀速移动，采集移动过程中所述动子在不同位置所对应的所述直线电机所受的推力，获得在所述无操作电流下所述直线电机的推力与位置数据的映射关系F 0X；
根据所述映射关系N I，和所述映射关系F 0X，获得所述映射关系I 0X。
可选的，所述步骤S2包括：
控制所述直线电机的操作电流为测试电流，通过外力控制所述直线电机的动子匀速移动，采集移动过程中所述动子在不同位置所对应的所述直线电机所受的推力，获得在所述测试电流下所述直线电机的推力与位置数据的映射关系F aX；
根据所述映射关系N I，和所述映射关系F aX，获得所述映射关系I′ aX。
可选的，所述步骤S3包括：
根据以下关系等式获得所述映射关系I aX：
在各个位置下，由所述测试电流引起的推力波动所对应的电流值等于，由所述映射关系I′ aX计算得到的电流值减去所述测试电流的电流值I a，再减去由所述映射关系I 0X计算得到的电流值。
可选的，所述步骤S5包括：
获取预设的操作电流的电流值I b；
根据所述映射关系I 0X和所述映射关系I bX，确定所述补偿电流的电流值与位置数据的映射关系I b0X；根据所述映射关系I b0X，获得所述补偿电流在各个位 置处的电流值；
在各个位置，控制所述直线电机的操作电流调整为目标电流值，所述目标电流值为所述补偿电流的电流值与所述预设的操作电流的电流值I b之和。
可选的，所述步骤S5还包括：
根据以下关系等式获得所述映射关系I b0X：
在各个位置下，所述补偿电流的电流值等于，由所述映射关系I 0X计算得到的电流值加上由所述映射关系I bX计算得到的电流值。
另一方面。提供了一种直线电机，包括直线电机部件和控制系统，所述控制系统包括如第一方面所述方法获得的参考数据，所述参考数据包括在无操作电流的情况下推力波动对应的电流与位置数据的映射关系I 0X和预设的操作电流引起的推力波动所对应的电流值与位置数据的映射关系I bX，所述控制系统用于在所述直线电机运行时，对所述直线电机施加一个补偿电流以抑制所述直线电机的推力波动，根据所述映射关系I 0X和所述映射关系I bX以计算所述补偿电流的电流值。
另一方面，提供了一种直线电机推力波动的抑制装置，包括：
获取模块，用于获取直线电机的推力与电流的映射关系N I；获取直线电机在无操作电流的情况下推力波动对应的电流与位置数据的映射关系I 0X；
获取模块还用于，获取所述直线电机在接通测试电流的情况下所对应的推力与位置的映射关系F aX，所述测试电流值非零；
处理模块，用于：
根据所述映射关系N I以及映射关系F aX获取所述直线电机在接通测试电流的情况下所对应的电流值和位置数据的映射关系I′ aX
根据所述映射关系I 0X、所述映射关系N I，以及所述映射关系I′ aX，获得由所述测试电流值引起的推力波动所对应的电流值与位置数据的映射关系I aX；
根据所述映射关系I aX，获得预设的操作电流引起的推力波动所对应的电流值与位置数据的映射关系I bX；
将所述映射关系I 0X和所述映射关系I bX存储于所述直线电机的控制系统，以用于计算在所述直线电机运行时施加的补偿电流的电流值，以实现抑制所述直线电机的推力波动。
另一方面，提供了一种存储介质，储有计算机指令程序，所述计算机指令 程序被处理器执行时，使得所述处理器执行如上所述第一方面及其任一种可能的实现方式的步骤。
另一方面，提供了一种计算机设备，包括至少一个存储器、至少一个处理器，所述存储器存储有计算机指令程序，所述计算机指令程序被所述处理器执行时，使得所述处理器执行如上所述第一方面及其任一种可能的实现方式的步骤。
本发明的有益效果在于：通过先分别测得在0操作电流以及测试电流时直线电机匀速运动时输出的推力与位置数据的映射关系，然后根据电机的推力电流关系计算期望行程时的两组电流与位置数据的映射关系，折算成某一具体电流下的电流与位置数据的映射关系，将该映射关系插值补偿获得预设的操作电流引起的推力波动所对应的电流与位置数据的映射关系，将0操作电流下对应的电流与位置数据的映射关系和上述预设的操作电流引起的推力波动所对应的电流与位置数据的映射关系存储于直线电机的控制系统，可以在直线电机工作时利用该映射关系对任意操作电流进行补偿，同时抑制了直线电机由于定位力引起的推力波动以及由于电流幅值变化引起的推力波动，使最终直线电机输出推力的波动得到更全面有效的抑制。
附图说明
图1为本发明提供的一种直线电机推力波动的抑制方法的流程示意图；
图2为本发明提供的另一种直线电机推力波动的抑制方法的流程示意图；
图3为本发明提供的一种直线电机推力波动的抑制装置的结构示意图；
图4为本发明提供的一种电子设备的结构示意图。
具体实施方式
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用 于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本发明的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
本发明实施例中提到的直线电机是一种将电能直接转换成直线运动机械能，而不需要任何中间转换机构的传动装置。它可以看成是一台旋转电机按径向剖开，并展成平面而成。直线电机也称线性电机、线性马达、直线马达、推杆马达等。
一般由定子演变而来的一侧称为初级，由动子(转子)演变而来的一侧称为次级。在实际应用时，将初级和次级制造成不同的长度，以保证在所需行程范围内初级与次级之间的耦合保持不变。直线电机可以是短初级长次级，也可以是长初级短次级。考虑到制造成本、运行费用，以直线感应电动机为例：当初级绕组通入交流电源时，便在气隙中产生行波磁场，次级在行波磁场切割下，将感应出电动势并产生电流，该电流与气隙中的磁场相作用就产生电磁推力。
本申请实施例中涉及到的直线电机的位置数据、位置信息或者位置移动等术语，均可以理解为是针对直线电机的动子，即该动子的移动、位置等。
下面结合本发明实施例中的附图对本发明实施例进行描述。
请参阅图1，图1是本发明实施例提供的一种直线电机推力波动的抑制方法的流程示意图。该方法可包括：
101、获取直线电机的推力与电流的映射关系N I；获取直线电机在无操作电流的情况下推力波动对应的电流与位置数据的映射关系I 0X。
本发明实施例的执行主体可以为一种直线电机推力波动的抑制装置，该直线电机推力波动的抑制装置可以对直线电机产生的推力波动进行抑制，或者说，可以为直线电机建立推力波动抑制的模型。在可选的实施方式中，上述直 线电机推力波动的抑制装置可以为包括直线电机的系统，也可以为电子设备，上述电子设备可以为终端设备，包括但不限于诸如膝上型计算机、平板计算机之类的其它便携式设备或者台式计算机。
在永磁电机中，即使定子绕组没有激励，也存在电磁转矩，此电磁转矩称之为定位力矩，或者是齿槽转矩/磁阻转矩。本申请实施例中的操作电流指的是控制直线电机的电流，但由于直线电机定位力和直线电机工作中该操作电流的影响，实际电流可能与操作电流不一致，因此可以理解为本申请实施例中提到“电流对应的电流”，即为操作电流对应的实际电流。即在无操作电流的情况下推力波动引起的电流与位置数据的映射关系，可以看作定位力对应的电流与位置数据的映射关系，可以表示为直线电机的定位力曲线，可以根据实际测试统计或者仿真测试获得。
在一种可选的实施方式中，上述步骤101具体可包括：
控制上述直线电机的操作电流为零，通过外力控制上述直线电机的动子匀速移动，采集移动过程中上述动子在不同位置所对应的上述直线电机所受的推力，获得在上述无操作电流下上述直线电机的推力与位置数据的映射关系F 0X；
根据上述映射关系N I，和上述映射关系F 0X，获得上述映射关系I 0X。
具体的，可以将该直线电机的操作电流设置为0，并通过对拖设备拉动该直线电机匀速、缓慢地移动相应的位置行程，并在此过程中通过力传感器测量获得直线电机的推力，以及该推力所对应的位置，即操作电流为0的情况下该直线电机的推力与位置数据的映射关系，可表示为特定位置(X)下的推力F 0X。
本申请实施例中，直线电机推力与电流的关系是直线电机的一类特征参数，可以是根据测试获得仿真获得的，也可以是直线电机中存储的信息，此处不做限制。通过该直线电机推力与电流的关系，可以换算出F 0X对应的电流-位置数据集，即可获得在操作电流为0的情况下所对应的电流与位置数据的映射关系，可表示为特定位置(X)下，操作电流为0所对应的(定位力所对应的)电流值I 0X。
102、获取上述直线电机在接通测试电流的情况下所对应的电流值和位置数据的映射关系I′ aX，上述测试电流值非零。
在一种可选的实施方式中，上述获取上述直线电机在测试电流的情况下所 对应的电流和位置数据的映射关系I′ aX，包括：
控制上述直线电机的操作电流为测试电流，通过外力控制上述直线电机的动子匀速移动，采集移动过程中上述动子在不同位置所对应的上述直线电机所受的推力，获得在上述测试电流下上述直线电机的推力与位置数据的映射关系F aX；
根据上述映射关系N I，和上述映射关系F aX，获得上述映射关系I′ aX。
上述测试电流可以根据需要设置，并且不为0，比如测试电流为I a使用特定带力F a的负载进行测试。具体的，可以将该直线电机的操作电流设置为I a，并通过对拖设备拉动该直线电机匀速、缓慢地移动相应的位置行程，并在此过程中通过力传感器测量获得直线电机的推力，以及该推力所对应的位置，即操作电流为I a的情况下该直线电机的推力与位置数据的映射关系，可表示为特定位置(X)下的推力F aX。
进一步地，根据直线电机的推力与电流的关系进行换算，可以得到F aX对应的电流-位置数据集，即可获得在操作电流为I a的情况下所对应的电流与位置数据的映射关系，可表示为特定位置(X)下，操作电流为I a所对应的电流值I aX。
103、根据上述映射关系I 0X、上述测试电流的电流值I a，以及上述映射关系I′ aX，获得由上述测试电流引起的推力波动所对应的电流值与位置数据的映射关系I aX。
本申请实施例中根据前述测得的映射关系和直线电机的推力与电流的关系，可以推导出以特定电流引起的推力波动对应的电流值，以后续在任意电流下进行该直线电机的推力波动抑制。
本申请实施例中在实验阶段中通过无操作电流的情况进行测试，该情形下，在无操作电流的情况下的推力波动所对应的电流与位置数据的映射关系可以理解为仅因直线电机中定位力引起的推力波动所对应的电流与位置数据的映射关系。因此可以根据上述获得的映射关系，推导出仅因操作电流引起的推力波动。
本申请实施例中的操作电流指的是控制直线电机的电流，但由于直线电机定位力和直线电机工作中该操作电流的影响，实际电流可能与操作电流不一致，因此可以理解为本申请实施例中提到“电流对应的电流”，即为操作电流 对应的实际电流。
在一种实施方式中，上述步骤103具体包括：
根据以下关系等式获得上述映射关系I aX：
在各个位置下，由上述测试电流引起的推力波动所对应的电流值等于，由上述映射关系I′ aX计算得到的电流值减去上述测试电流的电流值I a，再减去由上述映射关系I 0X计算得到的电流值。
本申请实施例中需要去除定位力引起的推力波动的影响，以获得仅由特定的测试电流引起的推力波动所对应的电流与位置数据的映射关系。具体的，测试电流值I a引起的推力波动对应的电流值，为I aX＝I′ aX-I a-I 0X。
104、根据上述映射关系I aX，获得预设的操作电流引起的推力波动所对应的电流值与位置数据的映射关系I bX。
本申请实施例中根据上述由测试电流值引起的推力波动所对应的电流与位置数据的映射关系，可以推导计算得到任意操作电流I b引起的推力波动对应的电流-位置数据，为I bX，即可以作为上述预设的操作电流引起的推力波动所对应的电流与位置数据的映射关系，用于直线电机控制系统。可以是先根据已有对应关系获得多组由不同电流值引起的推力波动所对应的电流-位置数据，再进行整合获得的。具体的，任意操作电流I b引起的推力波动对应的电流与位置数据的映射关系，为I bX＝I b/I a·I aX。
通过该预设的操作电流引起的推力波动所对应的电流与位置数据的映射关系I bX，可以在已知该直线电机的操作电流时，确定由该操作电流引起的推力波动所对应的电流与位置数据的映射关系。
105、将上述映射关系I 0X和上述映射关系I bX存储于上述直线电机的控制系统，在上述直线电机运行时，对上述直线电机施加一个补偿电流以抑制上述直线电机的推力波动，根据上述映射关系I 0X和上述映射关系I bX以计算上述补偿电流的电流值。
在获得在无操作电流的情况下推力波动引起的电流与位置数据的映射关系，和预设的操作电流值引起的推力波动所对应的电流与位置数据的映射关系之后，可以整合为预设的操作电流所对应的补偿电流与位置数据的映射关系，即包括了对定位力和操作电流引起的推力波动的电流补偿，存储在直线电机的控制系统中。
在一种实施方式中，可以根据上述映射关系I 0X和上述映射关系I bX，将各个位置数据对应的电流值引起的推力波动所对应的电流，与上述定位力对应的电流相加，获得上述各个位置数据所对应的各个补偿电流值；
将上述各个补偿电流值与上述各个位置数据的映射关系作为上述映射关系I b0X。
具体的，可以将I b0X＝I bX+I 0X作为相应的电流与位置的映射数据集(即上述预设的操作电流所对应的补偿电流与位置数据的映射关系)，插值进入直线电机控制系统，用于计算操作电流的补偿值，来抑制直线电机中定位力和操作电流引起的推力波动。
本发明通过分别测试直线电机在水平安装时，空载和带力负载情况下移动期望行程时的电流与位置数据的映射关系，折算成某一具体电流下的电流与位置数据的映射关系，将该映射关系插值补偿获得预设的操作电流引起的推力波动所对应的电流与位置数据的映射关系，将在无操作电流的情况下推力波动(定位力)引起的电流与位置数据的映射关系和上述预设的操作电流引起的推力波动所对应的电流与位置数据的映射关系存储于直线电机的控制系统，可以计算与直线电机的推力波动成正比的操作电流的补偿值，可以在直线电机工作时利用该映射关系对任意操作电流进行补偿，同时对定位力引起的推力波动和操作电流引起的推力波动进行了抑制，使最终直线电机输出推力的波动得到更全面有效的抑制。
为了更清楚地说明本发明实施例中的技术方案，可以参阅图2，图2是本发明实施例提供的另一种直线电机推力波动的抑制方法的流程示意图。如图2所示，该方法可以在图1所示实施例中的步骤之后执行，并作为图1所示实施例获得数据的一种应用方式。该方法包括：
201、获取预设的操作电流的电流值I b。
202、根据上述映射关系I 0X和上述映射关系I bX，确定补偿电流的电流值与位置数据的映射关系I b0X；根据上述映射关系I b0X，获得上述补偿电流在各个位置处的电流值。
203、在各个位置，控制上述直线电机的操作电流调整为目标电流值，上述目标电流值为上述电流的电流值与上述预设的操作电流的电流值I b之和。
本发明实施例的执行主体可以为一种直线电机推力波动的抑制装置，该直 线电机推力波动的抑制装置可以对直线电机产生的推力波动进行抑制，具体的，其中的直线电机可以执行本发明实施例中的步骤。还可以为一种包括直线电机部件和控制系统的直线电机，其中控制系统包括如图1所示实施例中方法获得的预设补偿电流与位置数据的映射关系，该控制系统可以基于在无操作电流的情况下推力波动引起的电流与位置数据的映射关系和预设的操作电流引起的推力波动所对应的电流与位置数据的映射关系，计算与直线电机的推力波动成正比的操作电流的补偿值，并使用补偿值对操作电流进行补偿。
在可选的实施方式中，上述直线电机推力波动的抑制装置可以为包括直线电机的系统，也可以为电子设备，上述电子设备可以为终端设备，包括但不限于诸如膝上型计算机、平板计算机之类的其它便携式设备或者台式计算机，在此种情形中包括软件仿真方式执行本发明实施例中的步骤。
在图1所示实施例步骤的基础上，可以获得直线电机在任意操作电流影响下产生的推力波动对应的补偿电流值，通过预先补偿的方式来抑制推力波动。
其中，在无操作电流的情况下推力波动引起的电流与位置数据的映射关系表示为I 0X，预设电流值I b引起的推力波动所对应的电流与位置数据的映射关系表示为I bX。
可以将I b0X＝I bX+I 0X，作为完整的补偿电流计算规则，计算操作电流的补偿值，具体来说，该直线电机运行时，针对任意操作电流值I b，可以根据预设补偿电流与位置数据的映射关系计算出补偿的电流值I b0X，在具体位置X补偿特定的电流I b0X，则最终电机实际运行的电流I b_total＝I b+I b0X。
在考虑定位力引起的推力波动抑制时，可以控制电机移动相应的位置，通过采集此间的电流和位置信息，将得到的数据集使用插值的方法作为操作电流的补偿值，这种方法可以一定程度上抑制直线电机的推力波动。但是仅补偿了直线电机由于定位力而引起的推力波动。在直线电机中，操作电流的幅值变化也是影响直线电机推力波动的一个重要原因，若不对此因素进行补偿校正，将最终影响直线电机输出推力效果，使其推力波动仍未得到有效抑制。
而本发明实施例考虑到操作电流对直线电机推力波动的影响，分别测得操作电流为0以及某一值(测试电流)时直线电机匀速运动时输出的推力-位置数据，然后根据电机的推力与电流的关系计算期望行程时的两组实际电流-位置数据，根据操作电流值，将对应的电流-位置数据集插值补偿至操作电流 中，使最终直线电机输出推力的波动得到抑制。可以在直线电机工作时利用该映射关系对任意操作电流进行补偿，同时对定位力引起的推力波动和操作电流引起的推力波动进行了抑制，使最终直线电机输出推力的波动得到更全面有效的抑制。
基于上述直线电机推力波动的抑制方法实施例的描述，本发明实施例还公开了一种直线电机推力波动的抑制装置。请参见图3，直线电机推力波动的抑制装置300包括：
获取模块310，用于获取直线电机的推力与电流的映射关系N I；获取直线电机在无操作电流的情况下推力波动对应的电流与位置数据的映射关系I 0X；
获取模块310还用于，获取上述直线电机在接通测试电流的情况下所对应的推力与位置的映射关系F aX，上述测试电流值非零；
处理模块320，用于：
根据上述映射关系N I以及映射关系F aX获取上述直线电机在接通测试电流的情况下所对应的电流值和位置数据的映射关系I′ aX；
根据上述映射关系I aX，获得预设的操作电流引起的推力波动所对应的电流值与位置数据的映射关系I bX；
将上述映射关系I 0X和上述映射关系I bX存储于上述直线电机的控制系统，以用于计算在上述直线电机运行时施加的补偿电流的电流值，以实现抑制上述直线电机的推力波动。
可选的，上述直线电机推力波动的抑制装置300还包括补偿模块330和控制模块340；其中：
上述获取模块310还用于，获取获取预设的操作电流的电流值I b；
上述补偿模块330，用于根据上述映射关系I 0X和上述映射关系I bX，确定上述补偿电流的电流值与位置数据的映射关系I b0X；根据上述映射关系I b0X，获得上述补偿电流在各个位置处的电流值；
上述控制模块340，用于在各个位置，控制上述直线电机的操作电流调整为目标电流值，上述目标电流值为上述补偿电流的电流值与上述预设的操作电流的电流值I b之和。
根据本发明的一个实施例，图1和图2所示的方法所涉及的各个步骤均可以是由图3所示的直线电机推力波动的抑制装置300中的各个模块执行的，此 处不再赘述。
本发明实施例中的直线电机推力波动的抑制装置300，直线电机推力波动的抑制装置300可以获取直线电机在无操作电流的情况下推力波动引起的电流与位置数据的映射关系，和直线电机在测试电流的情况下所对应的电流和位置数据的映射关系，该测试电流非零，并根据上述映射关系、和直线电机的推力与电流的关系，可以获得由测试电流值引起的推力波动所对应的电流与位置数据的映射关系，再根据由测试电流值引起的推力波动所对应的电流与位置数据的映射关系，获得预设的操作电流引起的推力波动所对应的电流与位置数据的映射关系，然后将在无操作电流的情况下推力波动引起的电流与位置数据的映射关系和预设的操作电流引起的推力波动所对应的电流与位置数据的映射关系存储于直线电机的控制系统，以用于计算与该直线电机的推力波动成正比的操作电流的补偿值，可以在直线电机工作时利用该映射关系对任意操作电流进行补偿，同时对定位力引起的推力波动和操作电流引起的推力波动进行了抑制，使最终直线电机输出推力的波动得到更全面有效的抑制。
基于上述方法实施例以及装置实施例的描述，本发明实施例还提供一种直线电机。该直线电机至少包括直线电机部件和控制系统，该控制系统包括如图1所示实施例的方法获得的参考数据，该参考数据包括在无操作电流的情况下推力波动对应的电流与位置数据的映射关系I 0X和预设的操作电流引起的推力波动所对应的电流值与位置数据的映射关系I bX，上述控制系统用于在上述直线电机运行时，对上述直线电机施加一个补偿电流以抑制上述直线电机的推力波动，根据上述映射关系I 0X和上述映射关系I bX以计算上述补偿电流的电流值。
基于上述方法实施例以及装置实施例的描述，本发明实施例还提供一种电子设备。请参见图4，该电子设备至少包括处理器410、非易失性存储介质420、内存储器430和网络接口440，其中，处理器410、非易失性存储介质420、内存储器430和网络接口440可通过系统总线450或其他方式连接，通过网络接口440可以与其他设备进行通信。
非易失性存储介质420即计算机存储介质可以存储在存储器中，上述计算机存储介质用于存储计算机程序和操作系统，内存储器430也存储有计算机程序，上述计算机程序包括程序指令，上述处理器可用于执行上述程序指令。处 理器410(或称CPU(Central Processing Unit，中央处理器))是终端的计算核心以及控制核心，其适于实现一条或多条指令，具体适于加载并执行一条或多条指令从而实现相应方法流程或相应功能；在一个实施例中，本发明实施例上述的处理器410可以用于进行一系列的处理，包括如图1和图2所示实施例中方法等等。
本发明实施例还提供了一种计算机存储介质(Memory)，上述计算机存储介质是终端中的记忆设备，用于存放程序和数据。可以理解的是，此处的计算机存储介质既可以包括终端中的内置存储介质，当然也可以包括终端所支持的扩展存储介质。计算机存储介质提供存储空间，该存储空间存储了终端的操作系统。并且，在该存储空间中还存放了适于被处理器加载并执行的一条或多条的指令，这些指令可以是一个或一个以上的计算机程序(包括程序代码)。需要说明的是，此处的计算机存储介质可以是高速RAM存储器，也可以是非不稳定的存储器(non-volatile memory)，例如至少一个磁盘存储器；可选的还可以是至少一个位于远离前述处理器的计算机存储介质。
在一个实施例中，可由处理器加载并执行计算机存储介质中存放的一条或多条指令，以实现上述实施例中的相应步骤；具体实现中，计算机存储介质中的一条或多条指令可以由处理器加载并执行图1和/或图2中方法的任意步骤，此处不再赘述。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的装置和模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本发明所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，该模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如，多个模块或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。所显示或讨论的相互之间的耦合、或直接耦合、或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。
作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块 来实现本实施例方案的目的。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。该计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行该计算机程序指令时，全部或部分地产生按照本发明实施例的流程或功能。该计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。该计算机指令可以存储在计算机可读存储介质中，或者通过该计算机可读存储介质进行传输。该计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。该计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。该可用介质可以是只读存储器(read-only memory，ROM)，或随机存储存储器(random access memory，RAM)，或磁性介质，例如，软盘、硬盘、磁带、磁碟、或光介质，例如，数字通用光盘(digital versatile disc，DVD)、或者半导体介质，例如，固态硬盘(solid state disk，SSD)等。

Claims (10)

  1. 一种直线电机推力波动的抑制方法，其特征在于，包括：
    步骤S0:获取直线电机的推力与电流的映射关系N I；
    步骤S1:获取直线电机在无操作电流的情况下推力波动对应的电流与位置数据的映射关系I 0X；
    步骤S2:获取所述直线电机在接通测试电流的情况下所对应的推力和位置数据的映射关系F aX，根据所述映射关系F aX以及所述映射关系N I,获取所述直线电机在接通测试电流的情况下所对应的电流值与位置数据的映射关系I′ aX，所述测试电流值非零；
    步骤S3:根据所述映射关系I 0X、所述测试电流的电流值I a，以及所述映射关系I′ aX，获得由所述测试电流引起的推力波动所对应的电流值与位置数据的映射关系I aX；
    步骤S4:根据所述映射关系I aX，获得预设的操作电流引起的推力波动所对应的电流值与位置数据的映射关系I bX；
    步骤S5:将所述映射关系I 0X和所述映射关系I bX存储于所述直线电机的控制系统，在所述直线电机运行时，对所述直线电机施加一个补偿电流以抑制所述直线电机的推力波动，根据所述映射关系I 0X和所述映射关系I bX以计算所述补偿电流的电流值。
  2. 根据权利要求1所述的直线电机推力波动的抑制方法，其特征在于，所述步骤S1包括：
    控制所述直线电机的操作电流为零，通过外力控制所述直线电机的动子匀速移动，采集移动过程中所述动子在不同位置所对应的所述直线电机所受的推力，获得在所述无操作电流下所述直线电机的推力与位置数据的映射关系F 0X；
    根据所述映射关系N I，和所述映射关系F 0X，获得所述映射关系I 0X。
  3. 根据权利要求2所述的直线电机推力波动的抑制方法，其特征在于，所述步骤S2包括：
    控制所述直线电机的操作电流为测试电流，通过外力控制所述直线电机的动子匀速移动，采集移动过程中所述动子在不同位置所对应的所述直线电机所受的推力，获得在所述测试电流下所述直线电机的推力与位置数据的映射关系F aX；
    根据所述映射关系N I，和所述映射关系F aX，获得所述映射关系I′ aX。
  4. 根据权利要求1-3任一项所述的直线电机推力波动的抑制方法，其特征在于，所述步骤S3包括：
    根据以下关系等式获得所述映射关系I aX：
    在各个位置下，由所述测试电流引起的推力波动所对应的电流值等于，由所述映射关系I′ aX计算得到的电流值减去所述测试电流的电流值I a，再减去由所述映射关系I 0X计算得到的电流值。
  5. 根据权利要求4所述的直线电机推力波动的抑制方法，其特征在于，所述步骤S5包括：
    获取预设的操作电流的电流值I b；
    根据所述映射关系I 0X和所述映射关系I bX，确定所述补偿电流的电流值与位置数据的映射关系I b0X；根据所述映射关系I b0X，获得所述补偿电流在各个位置处的电流值；
    在各个位置，控制所述直线电机的操作电流调整为目标电流值，所述目标电流值为所述补偿电流的电流值与所述预设的操作电流的电流值I b之和。
  6. 根据权利要求5所述的直线电机推力波动的抑制方法，其特征在于，所述步骤S5还包括：
    根据以下关系等式获得所述映射关系I b0X：
    在各个位置下，所述补偿电流的电流值等于，由所述映射关系I 0X计算得到的电流值加上由所述映射关系I bX计算得到的电流值。
  7. 一种直线电机，其特征在于，包括直线电机部件和控制系统，所述控制系统包括如权利要求1-6任一项所述方法获得的参考数据，所述参考数据包括在无操作电流的情况下推力波动对应的电流与位置数据的映射关系I 0X和预 设的操作电流引起的推力波动所对应的电流值与位置数据的映射关系I bX，所述控制系统用于在所述直线电机运行时，对所述直线电机施加一个补偿电流以抑制所述直线电机的推力波动，根据所述映射关系I 0X和所述映射关系I bX以计算所述补偿电流的电流值。
  8. 一种直线电机推力波动的抑制装置，其特征在于，包括：
    获取模块，用于获取直线电机的推力与电流的映射关系N I；获取直线电机在无操作电流的情况下推力波动对应的电流与位置数据的映射关系I 0X；
    获取模块还用于，获取所述直线电机在接通测试电流的情况下所对应的推力与位置的映射关系F aX，所述测试电流值非零；
    处理模块，用于：
    根据所述映射关系N I以及映射关系F aX获取所述直线电机在接通测试电流的情况下所对应的电流值和位置数据的映射关系I′ aX；
    根据所述映射关系I 0X、所述映射关系N I，以及所述映射关系I′ aX，获得由所述测试电流值引起的推力波动所对应的电流值与位置数据的映射关系I aX；
    根据所述映射关系I aX，获得预设的操作电流引起的推力波动所对应的电流值与位置数据的映射关系I bX；
    将所述映射关系I 0X和所述映射关系I bX存储于所述直线电机的控制系统，以用于计算在所述直线电机运行时施加的补偿电流的电流值，以实现抑制所述直线电机的推力波动。
  9. 一种存储介质，存储有计算机指令程序，其特征在于，所述计算机指令程序被处理器执行时，使得所述处理器执行如权利要求1至6中任一项所述方法的步骤。
  10. 一种计算机设备，其特征在于，包括至少一个存储器、至少一个处理器，所述存储器存储有计算机指令程序，所述计算机指令程序被所述处理器执行时，使得所述处理器执行如权利要求1至6中任一项所述方法的步骤。
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