CN109217767A

CN109217767A - Linear transmission system and its control device and more mover cooperative control systems

Info

Publication number: CN109217767A
Application number: CN201710546571.9A
Authority: CN
Inventors: 池峰
Original assignee: Shanghai Chestnut Intelligent Technology Co Ltd
Current assignee: Guoli Zhizao Shanghai Technology Co ltd
Priority date: 2017-07-06
Filing date: 2017-07-06
Publication date: 2019-01-15
Anticipated expiration: 2037-07-06
Also published as: WO2019007202A1; CN109217767B

Abstract

This application discloses a kind of linear transmission system and its control devices and more mover cooperative control systems.The linear transmission system includes stator, multiple movers and control device.Stator has the stator coil component being made of multiple armature winding units.Mover has permanent magnet array.Multiple movers can system motion under control of the control means.All armature winding units are connected to common power amplifier, and are controlled by individual logic gating control cells its power on/off.The linear transmission system servo accuracy of the application is high, fast response time, high reliablity.

Description

Linear transmission system and its control device and more mover cooperative control systems

Technical field

The present invention relates to conveying devices, and in particular to linear transmission system.

Background technique

As manufacturing technology develops to high yield, high-precision densification direction, the research of precise flange technology becomes more next More important, correspondingly, motion positioning control system demand is also increasing, be widely used in automatic production line, packaging with The industries such as transport, assembly automation, silk-screen printing, are provided with higher speed and processing flexibility.Conventional drive system is using rotation Turn motor driving mechanism, transmission system middle gear head, axis, key, sprocket, chain, belt etc. are usually used in traditional rotation motor and pass Dynamic component is very complicated heavy.Linear motor applies a kind of moving magnetic field to directly drive moving component, and reduction finishes Structure complexity, also reduce cost and due to reducing inertia, flexibility, damping, friction and wear bring speed increase etc. it is excellent Point.

Kinetic control system core actuator component --- linear motor, it is under the action of electromagnetic push, motor Son is able to drive the driving that load generates high speed, high thrust, and multiple linear motors can combine building bidimensional or multi-dimensional movement, adopt It can be with the linear transfer equipment of design structure precision, precision XY stage, simple and compact for structure, mechanical dimension with linear motor Small, fast response time, precision is high, and since, without relative friction, there is no abrasions, and service life is very between mover and stator It is long.

It in the linear transmission system of conventionally employed linear motor, is measured using grating or magnetic grid, encoder head is installed on Mover is followed to move together on mover, the data information of the measurement of encoder needs to be connected to controller by cable, thus band To interfere and integrity problem.

In addition, in existing linear transmission system, space that control response speed also further increases.Moreover, when each Mover can have that continuously movement has some setbacks when carrying out movement switching on guide rail of different shapes.

Summary of the invention

The object of the present invention is to provide a kind of linear transmission system of fast response time and its control devices, especially can be real The now linear transmission system of more mover cooperative motions.

To achieve the above object, according to an aspect of the present invention, a kind of control device of linear transmission system, institute are provided Stating linear transmission system includes linear motor, and the linear motor includes stator and multiple movers, and the stator has stator line Coil assembly, the stator coil component include that multiple armature winding units and the mover have permanent magnet array, the control Device processed includes:

Position detection unit, the position detection unit are used to detect and export the rotor position letter of current each mover Breath；

System controller and coil gating control cells, wherein the system controller and the coil gating control cells Communication connection, wherein the system controller receives the rotor position information from the position detection unit and by the mover Location information passes to the coil gating control cells and the coil gating control cells are believed according to the rotor position Breath is to be calculated the armature winding unit for currently needing to be powered；And

Power amplifier, wherein each armature winding unit passes through cable and is connected to the same power amplifier, The power amplifier is electrically connected with the coil gating control cells and according to the letter from the coil gating control cells Breath comes so that corresponding armature winding unit is powered.

In one embodiment, the coil gating control cells and the system controller are physically independent two devices Part, wherein there are the coil gating control cells multiple logics to gate channel, the corresponding armature in each logic gating channel Winding element.

In one embodiment, the open and-shut mode in the logic gating channel of the coil gating control cells is according to from institute The rotor position measurement data feedback of system controller is stated to calculate the channel number of the armature winding unit of mover covering, is gone forward side by side Row gating control.

In one embodiment, the position detection unit is connect with the coil gating control cells, the coil gating control Unit processed handles the rotor position information from the position detection unit, and controls corresponding logic gating channel and open It closes, and then controls corresponding armature winding unit power on/off.

In one embodiment, the power amplifier is equipped with multiple gating channels, and each gating channel is connected to one The armature winding unit, wherein the power amplifier controls phase according to the signal from the coil gating control cells The gating channel answered, so that armature winding unit corresponding to the corresponding gating channel is powered or power-off.

In one embodiment, the control device is arranged to pass through institute's rheme when mover is close to some armature winding unit Set the armature winding list that the collected rotor position information of detection unit makes the closest mover using logic gated fashion Member is powered, and generates electromagnetic field driving mover movement, and when subunit is ceaselessly moved toward some direction, the system The location information that controller is acquired according to the position detection unit by coil magnetization electric current be switched in real time nearest armature around Group unit.

In one embodiment, using UVW phase sequence, arrangement mode configures UVW triple line to the stator coil component alternatively up and down Circle, wherein there are three coil windings for each armature winding unit tool, three coil windings are respectively the armature winding U phase, V phase and the W phase of unit.

In one embodiment, the stator coil component is arranged according to period extension mode, and is arranged as straight line, or arrangement At camber line, or it is arranged into arbitrary curve form.

In one embodiment, the U phase of an armature winding unit and W phase are arranged adjacent each other at same layer, and V phase is in U phase and W phase Upper one layer or next layer are aligned in arrangement and two adjacent armature winding units with the center of U phase and W phase, if one The V phase of armature winding unit is in the U phase of the armature winding unit and the upper layer of W phase, then the armature of another armature winding unit The V phase of winding element is in the U phase of the armature winding unit and the lower layer of W phase.

In one embodiment, the position detection unit includes position-detection sensor and encoder, wherein the position is examined It surveys sensor to be installed on the mover, the encoder is installed on the stator.

In one embodiment, the position measurement sensor is grating sensor, and the encoder is according to equidistant arrangement installation In in stator base；Alternatively, the position measurement sensor is magnetic induction sensor, the encoder is installed on according to equidistant arrangement In stator base.

In one embodiment, the position measurement sensor is grating, and the encoder is installed on stator according to equidistant arrangement On pedestal, wherein the distance per two adjacent encoders is less than the length of the grating on the mover, so that sometime, Grating on the mover may make two adjacent encoders that can collect the same position information of the mover, be supplied to The system controller carries out redundant measurement and servo feedback with the real-time position information to the mover, when the mover toward certain When a direction moves, separate encoder measurement function switch is transferred to neighbouring encoder, by nearest encoder meter Position servo feedback signal of the obtained rotor position information as the system controller；Alternatively, institute's position measurement passes Sensor is magnetic grid, and the encoder is installed in stator base according to equidistant arrangement, wherein per two adjacent encoders away from Length from the magnetic grid being less than on the mover, so that the magnetic grid on the mover may make adjacent two sometime Encoder can collect the same position information of the mover, be supplied to the system controller to the real-time of the mover Location information carries out redundant measurement and servo feedback, and when the mover is moved toward some direction, separate encoder measures function Energy switched and transferred is to neighbouring encoder, and the rotor position information obtained by nearest encoder survey calculation is as the system The position servo feedback signal of controller.

In one embodiment, the control device further comprises input and output processing unit, wherein at the input and output It manages unit and the system controller communicates to connect, and for the instruction of user to be conveyed to the system controller and output phase Close information.

In one embodiment, the instruction of the user includes adding for the position command of mover, the speed command of mover and mover Speed command.

In one embodiment, the power amplifier have multiple groups three-phase current controller, each three-phase current controller with Simultaneously control is opened and closed by the gating of logic all the way channel in one armature winding unit electrical connection.

In one embodiment, the control device further comprises input and output processing board, the input and output processing board with The position detection unit, the power amplifier and the system controller are electrically connected, wherein the input and output are handled Plate, which calculates the rotor position information from the position detection unit, obtains the global position information of each mover, will The global position information is sent to the power amplifier and the system controller simultaneously, and the system controller is to each dynamic The real time position of son is controlled, and sends control signals to the input and output processing board, then at the input and output Reason plate is real-time transmitted to the power amplifier for signal is controlled.

According to the second aspect of the invention, a kind of linear transmission system is additionally provided, the linear transmission system includes:

Stator base, the stator base are made of one or more sub-bases；

Stator coil component, the stator coil component are fixed in the sub-base；

Multiple movers, each mover are equipped with permanent magnet array and position sensing element, wherein the permanent magnet array produces The excitation field that raw magnetic field and the stator coil component generate can interact and the mover is pushed to generate translation fortune It is dynamic；

Guide rail, the guide rail are installed in the stator base, and the mover is arranged on the guide rail and along institute State guide rail movement；

Sensor array, the sensor array, which is distributed along the guide rail and is arranged to read, to be set on the mover The signal that the position sensing element is issued；

In one embodiment, the system controller is arranged to when mover is close to some armature winding unit, by described The collected rotor position information of position detection unit makes the armature winding closest to the mover using logic gated fashion Unit is powered, and generates electromagnetic field driving mover movement, and when subunit is ceaselessly moved toward some direction, the system Coil magnetization electric current is switched to nearest armature by the location information that system controller is acquired according to the position detection unit in real time Winding element.

In one embodiment, the linear transmission system further comprises input and output processing board, the input and output processing Plate is electrically connected with the position detection unit, the power amplifier and the system controller, wherein the input and output Processing board, which calculates the rotor position information from the position detection unit, obtains the global position letter of each mover The global position information is sent to the power amplifier and the system controller, the system controller pair by breath simultaneously The real time position of each mover is controlled, and sends control signals to the input and output processing board, the then input Output processing board is real-time transmitted to the power amplifier for signal is controlled.

In one embodiment, the stator base includes linear stator pedestal and arcuate stator pedestal, wherein the straight line is fixed Sub-base is equipped with rectangular stator coil block and forms linear stator module and the arcuate stator pedestal is equipped with arc Stator coil component and form arcuate stator module.

In one embodiment, the first sensing element and the second sensing element are installed on each mover, wherein described One sensing element and second sensing element are arranged to when the mover moves in the linear stator module, by described The first signal that first sensing element issues is read by the sensor array in the linear stator module, and when the mover exists When moving on the arcuate stator pedestal, the second signal issued by second sensing element is by the arcuate stator module Sensor array read.

In one embodiment, the installation site cloth of first sensing element and second sensing element on the mover It is set to any moment during the movement of the mover, two adjacent sensors can collect described on the stator The second signal that the first signal or second sensing element that first sensing element issues issue.

In one embodiment, the distance between two adjacent sensors be less than the mover first sensing element and The useful signal of second sensing element transmits distance.

In one embodiment, first sensing element and second sensing element are magnetic grid, and the sensor array is classified as Magnetic grid read head, and the distance between per two adjacent magnetic grid read heads less than first sensing element of the mover and institute State the length of the second sensing element；Alternatively, first sensing element and second sensing element are grating, the sensor Array is grating reading head, and is less than first sensing element of the mover the distance between per two adjacent grating reading heads The length of part and second sensing element.

In one embodiment, the shape of first sensing element is the shape of linear and second sensing element For arc.

In one embodiment, each mover is arranged to be independently relative to the stator movement.

In one embodiment, the mover includes upper and lower two permanent magnet arrays, wherein the sets of stator coils part is located at institute It states between two permanent magnet arrays.

In one embodiment, the controller is electrically connected by cable with the stator coil component and the sensor array It connects.

In one embodiment, the guide rail is removably installed in the stator base.

In one embodiment, the linear transmission system further includes mounting bracket, and the mounting bracket is fixed on the stator On pedestal, and the sensor array is installed in the mounting bracket.

In one embodiment, the mover includes:

Pedestal；

First auxiliary support plate, first auxiliary support plate are installed on the upside of the pedestal；

Second auxiliary support plate, second auxiliary support plate are spaced apart placement with first auxiliary support plate；

First back iron, first back iron are installed on first auxiliary support plate；

Second back iron, second back iron are installed on second auxiliary support plate and are spaced apart with first back iron；

Back iron support plate, the back iron support plate are placed between first back iron and second back iron and with described U-shaped structure is collectively formed in one back iron and second back iron；

First permanent magnet array, the first permanent magnet array are arranged on the surface of first back iron；And

Second permanent magnet array, the second permanent magnet array are arranged on the surface of second back iron, wherein described First permanent magnet array is positioned opposite with the second permanent magnet array surface face and is spaced apart.

In one embodiment, first sensing element and second sensing element are magnetic grid, and the encoder array For magnetic grid read head, wherein first sensing element is installed on the side opposite with side where first back iron of the pedestal On and second sensing element be installed on one vertical with the side for being equipped with first sensing element of the pedestal On side；Alternatively, first sensing element and second sensing element are grating, the encoder array is grating reading head, Wherein first sensing element is installed on the side opposite with side where first back iron of the pedestal and described Second sensing element is installed on the side vertical with the side for being equipped with first sensing element of the pedestal.

In one embodiment, the pedestal is equipped with arc block, and second sensing element is mounted on the arc of the arc block On shape face.

In one embodiment, the mover further comprises slide and idler wheel, and the slide is installed on the downside of the pedestal, And the idler wheel is installed on the slide.

In one embodiment, the mover further comprises anticollison block, and the anticollison block is installed on the pedestal and is located at With the direction of motion of the mover on identical and opposite side.

According to the third aspect of the invention we, a kind of more mover cooperative control systems of linear transmission system, institute are additionally provided Stating linear transmission system includes linear motor, and the linear motor includes stator and multiple movers, and the stator has stator line Coil assembly, the stator coil component includes multiple armature winding units and the mover has permanent magnet array, described more Mover cooperative control system includes:

Multiple mover imaginary axis, wherein each mover imaginary axis is associated with a corresponding mover；

Multiple soft-controllers wherein each soft-controller controls a corresponding mover imaginary axis, and then are controlled Make a corresponding mover；And

Position detection unit, the position detection unit are used to detect the position of each mover；

Power amplifier, wherein each armature winding unit passes through cable and is connected to the same power amplifier；

Input and output processing board, wherein the input and output processing board is to the positional number from the position detection unit According to being calculated and distributed, and each mover imaginary axis desired position data are real-time transmitted to the soft-controller, And the control signal of the position data and each soft-controller is real-time transmitted to institute by the input and output processing board Power amplifier is stated, to carry out power on/off to corresponding armature winding unit.

In one embodiment, Collaborative Control or track independent movement between the mover imaginary axis, described Real-time collaborative control is carried out between soft-controller.

In one embodiment, the quantity of the quantity of the mover imaginary axis, the quantity of the mover and the soft-controller It is identical.

The present invention compared with prior art possessed by progress effect:

1) mover of linear transmission system of the invention does not have cable dragging, compared to employing coils as mover, permanent magnetism Conventional linear motor product of the array as stator is dragged without cable, is improved thrust application efficiency and is improved servo essence Degree also reduces permanent magnet array usage quantity because using short magnetic array to apply, so that cost reduces.

2) linear transmission system of the invention realizes standardized module application, and stator uses standard modular technology, It realizes the free splicing and extension between multiple stators, can satisfy the application demand of client's random length, it can be same on stator The multiple movers of Shi Yunhang.

3) in linear transmission system of the invention, mover can carry out movement switching on the guide rail of different shapes, move Son can be good at continuously moving, without any retardance Caton problem.

4) in linear transmission system of the invention, all stator coil components are connected to common power amplifier control System, structure is more preferably compact, and response speed is faster and reliability is higher.

5) in linear transmission system of the invention, it is provided with the on-off that individual coil gating control cells carry out control coil Faster response speed may be implemented in electricity.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the linear transmission system of an embodiment according to the present invention.

Fig. 2 is the structural schematic diagram of the linear motor straightway of an embodiment according to the present invention.

Fig. 3 is the linear motor straightway of an embodiment according to the present invention and the structural schematic diagram of segmental arc linking.

Fig. 4 is the structural schematic diagram of the stator coil of an embodiment according to the present invention.

Fig. 5 is the structural schematic diagram of the linear motor mover of an embodiment according to the present invention.

Fig. 6 is the magnet array distribution of the linear motor mover of an embodiment according to the present invention.

Fig. 7 is the magnet array distribution of linear motor mover according to another embodiment of the present invention.

Fig. 8 is the structural schematic diagram of the linear motor module of an embodiment according to the present invention.

Fig. 9 is the structural schematic diagram of linear motor module according to another embodiment of the present invention.

Figure 10 is the thrust constant effect curve example of linear motor of the invention.

Figure 11 is the system block diagram of one embodiment of the control device of linear transmission system of the invention.

Figure 12 is the system diagram of one embodiment of the position measuring system of linear transmission system of the invention.

Figure 13 is the system of one embodiment of more mover cooperative control systems of linear transmission system according to the present invention Block diagram.

Figure 14 is the system block diagram of one embodiment of the integrated controller device of linear transmission system of the invention.

Figure 15 is the schematic diagram of the control device of linear transmission system of the invention.

Specific embodiment

Presently preferred embodiments of the present invention is described in detail below with reference to attached drawing, it is of the invention to be clearer to understand Objects, features and advantages.It should be understood that embodiment shown in the drawings does not limit the scope of the present invention, and only it is Illustrate the connotation of technical solution of the present invention.

In the following description, elaborate certain details to provide for the purpose for illustrating various disclosed embodiments To the thorough understanding of various open embodiments.But it one skilled in the relevant art will recognize that can be in without these details One or more details the case where practice embodiment.Device known under other circumstances, associated with linear motor, Structure and technology may not be illustrated in detail or describe to avoid unnecessarily obscuring the description of embodiment.

Unless context has other needs, and in the whole instruction and claim, word " comprising " and its modification, such as "comprising" and " having " should be understood meaning that is open, including, that is, should be interpreted that " including, but are not limited to ".

Expression is in conjunction with the embodiments described to be referred to " one embodiment " or " embodiment " throughout the specification Certain features, structure or feature are included at least one embodiment.Therefore, in each position of the whole instruction " at one In embodiment " or " in an embodiment " in appearance without all referring to identical embodiment.In addition, certain features, structure or feature It can combine in any way in one or more embodiments.

The singular as used in the specification and appended " one " and " described " include plural object, are removed It is clearly dictated otherwise in non-text.It should be noted that term "or" is usually used with the meaning that it includes "and/or", unless literary In clearly dictate otherwise.

In the following description, structure and working method of the invention in order to clearly demonstrate, will be by many Directional words It is described, but should be by the words such as "front", "rear", "left", "right", "outside", "inner", " outside ", " inside ", "upper", "lower" Language understands for convenience of term, and is not construed as word of limitation.

In addition, " direction D1 " word used in the following description refers mainly to the direction parallel with horizontal direction；" the side D2 To " word refers mainly to direction vertical with the direction D1 simultaneously parallel with horizontal direction；" first direction " or " first axle " word is main Refer to the direction or reference axis parallel with horizontal direction；" second direction " or " the second axis " word refers mainly to parallel with horizontal direction and simultaneously The direction or reference axis vertical with first direction；" third direction " or " third axis " word refers mainly to the direction vertical with horizontal direction Or coordinate.

Fig. 1 is a kind of structural schematic diagram of linear transmission system.As shown in Figure 1, the linear transmission system includes multiple dynamic Son 108, the arc motor stator module 106 of two sections of line motor stator modules 104 and two sections of constant radius, magnetic grid or grating 110, magnetic grid or grating encoder array 109, rail unit 103 fix bracket 102 and stator base 101.Wherein, mover 108 are installed on the stator modules of linear motor, by roller guide rail 103 along guide rail direction translational motion.Each mover 108 move independently of each other relative to other all movers.Mover 108 includes permanent magnet array, is installed on mover magnetic yoke Inner surface.The line motor stator modules and arc motor stator module and fixed bracket 102 that stator modules 104,106 are constituted It is connected.Fixed bracket 102 is installed on stator base 101.Roller guide rail 103 is fixed on stator base by fastening screw On 101.Magnetic grid or grating encoder array 109 are installed on fixed bracket 102.The signal of encoder array 109 is for moving The position measurement of son.Stator modules 104,106 are passed through exciting current, so that specified coil activation is powered and excitation, coil generate Excitation field in the permanent magnetic field that the permanent magnet array of subunit 108 generates interaction form thrust and make subunit 108 along guide rail translational motion.In embodiment, stator modules 104,106 with combination of the mover 108 as kinetic control system Functional independence controls each mover 108 and moves along roller guide rail 103.

Mover motion positions control device further comprises controller (not shown), and controller is electrically connected with encoder array To obtain the location information of mover.Controller is also electrically connected with stator, according to the location information of acquired mover and given Mover target position so that the correspondence coil activation of stator is powered and excitation, so that the excitation field that corresponding coil generates exists Permanent magnet array generate permanent magnetic field in interaction formed thrust make mover generate translational motion.

Fig. 2 shows the structural schematic diagrams of the linear motor straightway of an embodiment according to the present invention.As shown in Fig. 2, line Property motor straightway include two movers 211,212 and stator 200.The print that stator 200 is fixed in stator base 101 by one Circuit board processed is constituted, wherein 213 be positioning hole, for screw connection and fixed stator 200.In printed circuit board 200 On, stator coil component is made of the alternately laminated arrangement of square coil winding.

Stator coil component includes multiple armature winding units.In one embodiment, coil windings 209a, 209b, 209c points Not Wei an armature winding unit U, V, W three-phase coil, coil windings 210a, 210b, 210c be respectively another armature around U, V, W three-phase coil of group unit.Coil windings 209b, 210a and 210c coil in same layer arranged adjacent, 209a, 209c, 210b coil corresponds to V phase coil in upper one layer or next layer of U phase and W phase, with U phase and W phase in same layer arranged adjacent Center be aligned arrangement.When the U phase and W phase coil are arranged adjacent in one layer above, V phase coil is under U phase and W phase One layer of face is aligned arrangement with the geometric center of U phase and W phase two-phase.U, V, W three-phase coil constitute basic armature winding unit, The armature winding unit repeats to arrange along the lateral period, 1 group, 2 groups, 3 groups ... ..., basic unit, and so on, according to line Property motor stroke demand carry out building armature winding unit group number.Wherein, each coil windings have connecting terminal, adjacent Connecting terminal be attached according to UVW tri-phase connected mode, triangle or star-like connection mode.Coil windings 209a, 209b, Each winding of 209c, 210a, 210b, 210c are that lattice coil stacking fabricates, and the connection of each interlayer coil connects The vertical interconnection of mouth, so that every layer line circle is connected into a winding.

Armature winding unit can carry out period extension, can be integrally formed manufacture.Coil windings can be long according to standard The modular manufacture of degree, for the composable splicing stator modules of long stroke application.In addition, armature winding unit can be with stacked on top of one another Splicing application, bigger thrust can be provided.Particularly, armature winding unit is applicable to through printed circuit board process system It makes.Moreover, the air gap of each coil of armature winding unit is very small and relatively uniform, thus, the thrust pad temperature of linear motor Very small, the influence of Slot force cogging is smaller, is specially adapted to high-accuracy control application scenarios.Figure 10 shows of the invention The thrust constant effect curve example of linear motor.Data are shown the result shows that the fluctuation of the thrust constant in the technology is small in figure In 5%, well below the force oscillation of conventional iron core linear motor, even it is better than traditional ironless linear motors.

Also as shown in Fig. 2, the permanent magnet array 211 and 212 of subunit be two movers permanent magnet array, each array by The NS array or Halbach array composition of one group of periodic arrangement, the width of the permanent magnet array unit is W_m, N extremely in The distance at the heart to adjacent S pole center is denoted as τ, and the length of the permanent magnet array is denoted as W_mArray-width.Have with the pole N to the pole N center Have 2 τ width as basic unit, distribution repeats to arrange along the first axle X-direction period, 1 basic unit, 2 groups it is substantially single Member ..., and so on, the group number of building mover magnet array is carried out according to the thrust requirements of linear motor.Magnet array and line The main conversion relation enclosed between winding is as follows:

W_m=n_m·τ

Wherein, W_mFor mover permanent magnet array width, p is width of each coil in centre of pitch circle line, and α is each coil base In the corresponding angular range of pitch circle width, R is pitch radius.τ be pole of magnet away from, be defined as the pole S center to the pole N center away from From n_cFor the number of coil windings, n_mFor the number of magnetic pole pairs of magnet.

When multiple movers are run above stator coil, the corresponding coil windings of each mover permanent magnet overlay area Energization excitation generates horizontal thrust.The reality for each mover that linear transfer control system is obtained by position sensing element measurement Border location information prejudges the stator coil region for the next operation covering that will be moved, in the region that mover will be run Coil is powered in advance.

Fig. 3 shows the linear motor straightway of an embodiment according to the present invention and the structure of (180 °) of segmental arc linkings is shown It is intended to.As shown in figure 3, stator of linear motor 300 includes stator base 301, arcuate stator coil block 302,303, straightway Stator coil component 307 and 308.Straightway stator coil component 307 and 308 is respectively and with constant radius camber (180 °) Arcuate stator coil block 302 is connected with 303, and seamless interfacing connection is realized in the two linking.

The printed circuit board that stator 300 is fixed in stator base 301 by one is constituted, wherein the stator coil of segmental arc Component 302,303 is fan annular, has constant center radius R.Wherein, stator coil component 302 and 303 be screwed in In stator base 301.Stator coil component 302,303 is by having the alternately laminated arrangement of fan loop coil winding to constitute, each line The center of circle is arranged according to the pitch circle line 309 of constant radius, and each coil is p in the width of centre of pitch circle line, it is based on pitch circle Angle be α, it and conversion relation such as following formula of the pole of magnet away from 309 radius R of τ and pitch circle line:

P=R α

Wherein, p is width of each coil in centre of pitch circle line, and α is that each coil is based on the corresponding angle of pitch circle width Range, R are pitch radius.τ is pole of magnet away from being defined as distance of the pole the S center to the pole N center, n_cFor the number of coil windings, n_mFor the number of magnetic pole pairs of magnet.

Stator coil component includes multiple armature winding units, wherein coil windings 304a, 304b, 304c are respectively one U, V, W three-phase coil of group armature winding unit, 305a, 305b, 305c are respectively U, V, W of another set armature winding unit Three-phase coil.304a, 304b, 304c coil is in same layer arranged adjacent, and 305a, 305b, 305c coil are in same layer Arranged adjacent corresponds to V phase coil in upper one layer or next layer of U phase and W phase, is aligned arrangement with the center of U phase and W phase. The U phase and W phase coil in same layer arranged adjacent, V phase coil U phase and W phase upper one layer or next layer, with U phase and W The geometric center of phase two-phase is aligned arrangement.When the U phase and W phase coil are arranged adjacent in one layer above, V phase coil is in U Mutually and one layer below W phase, arrangement is aligned with the geometric center of U phase and W phase two-phase.U, V, W three-phase coil constitutes base This armature winding unit, the stator coil component repeat to arrange along the lateral period, 1 group, 2 groups, 3 groups ... ..., substantially singly Member, and so on, the group number of building coil unit is carried out according to the stroke demand of linear motor.Its wherein, the coil around Each winding of group 304a, 304b, 304c, 305a, 305b, 305c are that lattice coil stacking fabricates, according to UVW Tri-phase connected mode, triangle or star-like connection mode are attached.

Can carry out period extension with constant radius camber (180 °) stator of linear motor coil block, can integrally at Type manufacture.Winding coil can also be formed according to the module assembled of two groups of standards, 90 ° of arc lengths, can also be by multiple winding wires Circle assembles, for the composable splicing stator modules of long stroke application.In addition, stator coil component can be with stacked on top of one another Splicing application, can provide bigger thrust.Particularly, stator coil component is applicable to through printed circuit board process system It makes.Moreover, the air gap of each coil of stator coil component is very small and relatively uniform, thus, the thrust pad temperature of linear motor Very small, the influence of Slot force cogging is smaller, is specially adapted to high-accuracy control application scenarios.It is proposed by the present invention linear The fluctuation of the thrust constant of motor is far below the force oscillation of conventional iron core linear motor, even it is straight better than traditional iron-core-free Line motor.

Fig. 4 shows the structural schematic diagram of the stator coil of an embodiment according to the present invention.As shown in figure 4, stator coil It is made of lattice coil, including 501,502,503,504 ..., 508 ....Wherein, the coil in the layer where the 501st and 502 Winding 511,512,513 is respectively U, V, W three-phase coil of armature winding unit.U phase and W phase coil are in same layer adjacent row Column, V phase coil are aligned arrangement with the center of U phase and W phase in upper one layer or next layer of U phase and W phase.As the U phase and W Phase coil be arranged adjacent in above one layer when, V phase coil is aligned row one layer below U phase and W phase, with the center of U phase and W phase Cloth.U, V, W three-phase coil constitute basic armature winding unit, which repeats along the first axis direction X period Arrangement, 1 group, 2 groups, 3 groups ... ..., basic unit, and so on, according to the stroke demand of linear motor carry out building armature around The group number of group unit.Similar, the coil windings in layer where the 503rd, 504 carry out three-phase windings after the same method Building, and the armature winding unit repeats to arrange along the first axis direction X period, 1 group, 2 groups, 3 groups ... ..., basic unit, with This analogizes, and the group number of building armature winding unit is carried out according to the stroke demand of linear motor.And so on, the 505th, 506, the 507,508 ..., repeat more than process overlapping combinations layer by layer, can be any number of number of plies building.

Armature winding unit can carry out period extension, can be integrally formed manufacture.Winding coil can be long according to standard The modular manufacture of degree, for the composable splicing stator modules of long stroke application.In addition, the armature winding unit can also on The splicing application of lower stacking, can provide bigger thrust.Particularly, the coil block is applicable to pass through printed circuit The manufacture of plate technique.

Fig. 5 is the structural schematic diagram of the linear motor mover of an embodiment according to the present invention.As shown in figure 5, linear horse It include pedestal 100, the first permanent magnet array 130a, the second permanent magnet array 130b, the first back iron 131a, the second back iron up to mover 131b, the first auxiliary support plate 132a, the second auxiliary support plate 132b, back iron support plate 129, guide rail guide roller 121, slide 122 and anticollison block 111.First auxiliary support plate 132a is installed on the upside of pedestal 100.Second auxiliary support plate 132b and One auxiliary support plate 132a, which is spaced apart, to be placed.First back iron 131a is installed on the first auxiliary support plate 132a.Second back iron 131b is installed on the second auxiliary support plate 132b and is spaced apart with the first back iron 131a.Back iron support plate 129 is placed in the first back iron U-shaped structure is collectively formed between 131a and the second back iron 131b and with the first back iron and the second back iron.The first of linear motor Permanent magnet array 130a is adhered on the first back iron 131a.Second permanent magnet array 130b of linear motor is adhered to the first back iron 131b On.First permanent magnet array 130a and the second permanent magnet array 130b constitute the U-shaped mover of two-sided permanent magnet face to face.Slide 122 is installed In the downside of pedestal 100.One group of guide rail guide roller 121 is installed on 122 downside of slide.

Anticollison block 111 is installed on the both ends of pedestal 100.Anticollison block 111 uses flexible material as such as polyurethane, when Multiple movers are run in the tracks of the same closure, and when accident collision occurs, anticollison block deforms first absorbs impact Energy, reducing impact force protect the safety of material on mover or mover.

Mover is equipped with such as sensing element of straightway magnetic grid or grating 125 and/or segmental arc magnetic grid or grating 126. Straightway magnetic grid or grating 125 are installed on the guide surface of pedestal 100, can be by being installed on encoder array (the i.e. magnetic of straightway Grid or grating reading head) carry out detection measurement.The distance between two adjacent encoders are less than the magnetic grid of mover or having for grating It imitates signal and transmits distance.In the present embodiment, the distance between two adjacent encoders are less than the length of magnetic grid or grating.Arc Section magnetic grid or grating 126 be installed on the lateral of pedestal 100, have with the consistent curved surface arc of guide rail, can be by being installed on segmental arc Encoder array carry out detection measurement.Straightway and segmental arc magnetic grid or grating and encoder are non-interference during exercise.

Here, straightway magnetic grid or grating 125 and segmental arc magnetic grid or grating 126 can be by such as hall sensors Other sensing elements substitute.Sensing element include the first sensing element and the second sensing element, wherein the first sensing element and Second sensing element is arranged to when mover moves in linear stator module, the first signal quilt issued by the first sensing element Encoder array in linear stator module is read, and when mover moves in arcuate stator module, by the second sensing element The second signal of sending is read by the encoder array in arcuate stator module.

First sensing element and the second sensing element are mounted on mover, and its installation site on mover is arranged to At any moment during the movement of mover, two adjacent encoders can collect the sending of the first sensing element on stator The second signal that first signal or the second sensing element issue.

When work, the permanent magnet array of mover generates driving force under the current excitation of stator coil, pushes entire mover logical Guide rail guide roller 121 is crossed to move along guide rail.Guide rail guide roller 121 can move along linear guide or along arc The movement of shape guide rail.Sensing element can detecte the movement position of mover.

Fig. 6 is the magnet array distribution of the linear motor mover of an embodiment according to the present invention.As shown in fig. 6, first Permanent magnet array 131a and the second permanent magnet array 131b is 2 groups of aspectant permanent magnet arrays, and it includes the first permanent magnets, the second permanent magnetism Iron and third permanent magnet, wherein the first and second permanent magnets are main magnet, third permanent magnet is auxiliary magnet.First permanent magnet 413a, 413b, 417a, 417b, 421a, 421b, the direction of magnetization are directed toward the pole N from the pole S, i.e., are directed toward Z axis along third reference axis Positive direction.Second permanent magnet 415a, 415b, 419a, 419b, 423a, 423b, the direction of magnetization from the pole S be directed toward the pole N, i.e., along Third reference axis is directed toward Z axis negative direction.

Third permanent magnet 412a, 412b, 414a, 414b, 416a, 416b, 418a, 418b, 420a, 420b, 422a, 422b, 424a, 424b are auxiliary magnet, and the direction of magnetization is along the first reference axis X-direction.

Third permanent magnet 412a, 414a, the direction of magnetization are directed toward the direction of the first permanent magnet 413a along the first reference axis, The 412a direction of magnetization is directed toward the positive direction of X-axis, and the 414a direction of magnetization is directed toward the negative direction of X-axis.

Third permanent magnet 414a, 416a, the direction of magnetization are directed toward along the first reference axis far from the second permanent magnet 415a Direction, the 416a direction of magnetization are directed toward the positive direction of X-axis.

Third permanent magnet 416a, 418a, the direction of magnetization are directed toward the direction of the first permanent magnet 417a along the first reference axis, The negative direction of 418a direction of magnetization direction X-axis.

Third permanent magnet 418a, 420a, the direction of magnetization are directed toward along the first reference axis far from the second permanent magnet 419a Direction, the 420a direction of magnetization are directed toward the positive direction of X-axis.

Third permanent magnet 418a, 420a, the direction of magnetization are directed toward along the first reference axis far from the first permanent magnet 419a Direction, the 420a direction of magnetization are directed toward the positive direction of X-axis.

Third permanent magnet 420a, 422a, the direction of magnetization are directed toward the direction of the second permanent magnet 421a along the first reference axis, The negative direction of 422a direction of magnetization direction X-axis.

Third permanent magnet 422a, 424a, the direction of magnetization are directed toward along the first reference axis far from the first permanent magnet 423a Direction, the 424a direction of magnetization are directed toward the positive direction of X-axis.

Third permanent magnet 412b, 414b, the direction of magnetization are directed toward along the first reference axis far from the first permanent magnet 413b Direction, the 412b direction of magnetization are directed toward the positive direction of X-axis, and the 414b direction of magnetization is directed toward the negative direction of X-axis.

Third permanent magnet 414b, 416b, the direction of magnetization are directed toward the direction of the second permanent magnet 415b along the first reference axis, The negative direction of 416b direction of magnetization direction X-axis.

Third permanent magnet 416b, 418b, the direction of magnetization are directed toward along the first reference axis far from the first permanent magnet 417b Direction, the 418b direction of magnetization are directed toward the positive direction of X-axis.

Third permanent magnet 418b, 420b, the direction of magnetization are directed toward the direction of the second permanent magnet 419b along the first reference axis, The negative direction of 420b direction of magnetization direction X-axis.

Third permanent magnet 420b, 422b, the direction of magnetization are directed toward along the first reference axis far from the second permanent magnet 421b Direction, the 422b direction of magnetization are directed toward the positive direction of X-axis.

Third permanent magnet 422b, 424b, the direction of magnetization are directed toward the direction of the first permanent magnet 423b along the first reference axis, The negative direction of 424b direction of magnetization direction X-axis.

First, second, third permanent magnet is combined into Halbach array unit typically with prismatic magnet block, they Collectively constitute the permanent magnet array of the symmetric configuration of mover.The width of Halbach array unit is W_m, the pole N to adjacent S pole permanent magnetism The distance at center is denoted as τ, and the length of the permanent magnet array is denoted as W_mArray-width.First, second, third permanent magnet building tool There is the Halbach group of magnets of complete cycle, distribution repeats to arrange along the first axle X-direction period, 1 Halbach basic unit, 2 groups of Halbach basic units ..., and so on, building mover magnet array is carried out according to the thrust requirements of linear motor Group number.

First back iron 403, the second back iron 402 are with high-permeability material, such as steel, iron material.It is by Halbach base Magnetic flux of this unit in back iron direction constructs flux loop, reduces magnetic leakage.The Halbach basic unit has unilateral side Flux density characteristic, the flux density distribution towards coil sides is higher than the flux density intensity of traditional NS array, and the magnetic towards back iron side It is close then very weak, thus the thickness application of back iron can tradition NS magnetic array back iron it is thinner.Make using low-density and high-strength material Auxiliary support can reduce subunit weight.In order to reduce local magnetic leakage, the thickness of back iron at least keeps 1mm.In addition, It is influenced to reduce side end leakage field, third permanent magnet 412a, 412b, 424a, 424b is permanent magnetism along the width of third axis X-direction The half of iron 414a, 414b width.The width of first and second permanent magnet along the X direction is 0.5~0.9 times of τ.First auxiliary branch Fagging 401 and the second auxiliary support plate 404 are the Auxiliary support component of low-density high rigidity material, to reinforce the support of back iron Rigidity.

Fig. 7 is the magnet array distribution of linear motor mover according to another embodiment of the present invention.As shown in fig. 7, dynamic The magnet array unit of son is made of the basic unit and magnetic yoke of 2 groups of aspectant NS permanent magnet arrays, the basic unit center First permanent magnet 512a, 512b, 514a, 514b, 516a, 516b, the direction of magnetization is directed toward the pole N from the pole S, i.e., along third coordinate Axis is directed toward Z axis positive direction；Second permanent magnet 513a, 513b, 515a, 515b, 517a, the 517b at the basic unit center, magnetic Change direction and be directed toward the pole N from the pole S, i.e., is directed toward Z axis negative direction along third reference axis.

The first, the second permanent magnet is combined into NS basic unit typically with prismatic magnet block, they collectively constitute dynamic The permanent magnet array of the symmetric configuration of subelement.The width of NS permanent magnet array unit is W_m, the pole N to adjacent S pole permanent magnetism center Distance is denoted as τ.First, second permanent magnet constructs the NS group of magnets of a complete cycle, is distributed along the first axis direction X period It repeats to arrange, 1 NS basic unit, 2 groups of NS basic units ..., and so on, it is carried out according to the thrust requirements of linear motor Construct the group number of mover magnet array.

Back iron 601,602 is soft magnetic materials, such as ferro-cobalt, iron-nickel alloy, silicon steel, iron alusil alloy etc., soft magnetism material Material refer to IEC60404-1 standard, it by NS basic unit back iron direction magnetic flux construct flux loop.The NS base This unit has two-way flux density characteristic, and according to electromagnetic push needs, the flux density intensity distribution towards coil sides needs more Gao Yue It is good, and the flux density towards back iron side then wishes the smaller the better, therefore back iron thickness should have adequate thickness, to reduce magnetic leakage, Its thickness at least keeps 5mm.In addition, the width of first and second permanent magnet along the X direction is 0.5~1 times of τ.

Fig. 8 is the structural schematic diagram of the linear motor module of an embodiment according to the present invention.As shown in figure 8, linear horse It include mover and stator modules up to module.Structure of mover as shown in Figure 5 can be used in mover module.Stator modules include matrix and The stator coil component being fixed on matrix, stator coil component include at least two layers of the coil unit for being layered on top of each other arrangement.Line Coil unit can be made up of iron-less core coil of printed circuit board process.Stator coil component is operably positioned at the first permanent magnet Between array and the second permanent magnet array.

Two layers adjacent of coil unit includes multiple armature winding units, each armature winding unit tool there are three coil around Group 401a, 401b, 401c.Three coil windings 401a, 401b, 401c are respectively the U phase, V phase and W of the armature winding unit Phase, wherein the U phase of each armature winding unit and W phase are arranged adjacent each other at same layer, upper one layer or next in U phase and W phase of V phase Layer, is aligned arrangement with the center of U phase and W phase.In two layers adjacent of coil unit, if in two adjacent armature winding units An armature winding unit V phase in the U phase of the armature winding unit and the upper layer of W phase, then another armature winding unit Armature winding unit V phase in the U phase of the armature winding unit and the lower layer of W phase.

U, V, W three-phase coil constitute basic armature winding unit and repeat to arrange along the first axis direction X period, 1 group, 2 Group, 3 groups ... ..., basic unit, and so on, the group of building armature winding unit is carried out according to the stroke demand of linear motor Number.

Fig. 9 is the structural schematic diagram of linear motor module according to another embodiment of the present invention.As shown in figure 9, linear Motor module includes magnet mover and stator coil unit.Mover by 2 groups of aspectant permanent magnet arrays basic unit and magnetic yoke Composition, first permanent magnet 430a, the 430b at the basic unit center, the direction of magnetization are directed toward the pole N from the pole S, i.e., are sat along third Parameter is directed toward Z axis positive direction；Second permanent magnet 431a, the 431b at the basic unit center, the direction of magnetization are directed toward the pole N from the pole S, Z axis negative direction is directed toward along third reference axis.

The first, the second permanent magnet is combined into NS basic unit typically with prismatic magnet block, they collectively constitute dynamic The permanent magnet array of the symmetric configuration of subelement.The width of NS basic unit is W_m, half period length is denoted as τ.This first, second Magnet constructs the NS group of magnets of a complete cycle, and distribution repeats to arrange along the first axis direction X period, 1 NS basic unit, 2 groups of NS basic units ..., and so on, the group number of building mover magnet array is carried out according to the thrust requirements of linear motor.

NS basic unit has two-way flux density characteristic, and according to electromagnetic push needs, the flux density flux density towards coil sides is strong The higher the better for degree distribution needs, and the flux density towards back iron side then wishes the smaller the better, therefore back iron thickness should be enough to have Thickness, reduces magnetic leakage, and thickness at least keeps 5mm.In addition, the width of the first and second class permanent magnet along the X direction is 0.5~1 times of τ.

Figure 11 shows one embodiment of the control device of linear transmission system of the invention.As shown in figure 11, this is linear Transmission system includes linear motor mover 601, support plate 602, stator base 604, coil windings 606 and control device, In, coil windings 606A, 606B, 606C are star-like according to UVW three-phase or delta connection connects, according to three intersections of linear motor Stream sequence periodic arrangement is on stator base 604.Control device includes magnetic grid 603, encoder 611, the power of integrated form Amplifier 613, the input and output processing board 614 of integrated form, the system controller 610 and Industrial PC of integrated form.Every three-phase One group of three-phase current controller of UVW coil windings access power amplifier (power amplifier board) 613, each three-phase current Controller can gate channel by logic all the way simultaneously and control is opened and closed.Power amplifier 613 can support 3N phase coil to control, Such as 1 group of 3 phase, 2 group of 3 phase ..., 3 phase winding of N group, and so on, maximum support coil by the board IGBT or MOSFET core Piece quantity determines.

The input and output processing board 614 for the rotor position information access integrated form that encoder array measurement obtains.It inputs defeated Processing board 614 can be supported in the ranges such as 32 tunnels, 64 tunnels, 128 tunnels at the data access of any amount sensor and calculating out Reason, for example, 64 road sensor sample datas is supported to reach sampling renewal frequency at least 20kHz.Input and output processing board 614 passes through It samples obtained rotor position information and the global position information of each mover is calculated, and the global position information is sent to Power amplifier 613.Particularly, input and output processing board 614 is calculated each by the rotor position information that sampling obtains The global position information of mover, while being real-time transmitted to the system controller 610 of integrated form.System controller 610 is realized each The real time position of mover controls, and sends control signals to input and output processing board 614, then input and output processing board 614 Control signal is real-time transmitted to power amplifier 613, to carry out power on/off to corresponding coil windings.

Particularly, power amplifier 613 is equipped with multiple gating channels (or logic gating channel), and each gating channel connects It is connected to an armature winding unit.Power amplifier gates passage switching state according to the position sensor measurement data of mover Feedback calculates mover covering coil channel number, carries out gating control.

Particularly, input and output processing board 614 supports some other auxiliary signals sampled to be sent to industry PC carries out information processing.The auxiliary signal, such as including motor temperature, hall signal, switching signal and power amplification The hardware signals such as device 613, input and output processing board 614.

In the embodiment, system controller 610 receives the client application instruction letter of Industrial PC by communication link simultaneously Number, or equipment state of a control signal is issued into Industrial PC simultaneously.The communication link, including such as EtherCAT, 485, The supporting industries standard agreement such as RS232, optical fiber, CAN bus and wireless telecommunications.

Figure 12 shows one embodiment of the position measuring system of linear transmission system of the invention.As shown in figure 12, should Position measuring system includes position measurement sensor 582, is here magnetic grid or grating.Per adjacent two encoders 583 away from Length from the magnetic grid or grating 582 that are less than on mover, so that the magnetic grid on mover may make adjacent two sometime Encoder can collect the same position information 581 of mover simultaneously, and be supplied to system controller with the real-time position to mover Confidence breath carries out redundant measurement.If some sensor failure generates failure, another adjacent sensor in operational process Its real-time position-measuring functions can be taken over, reliable real-time servo feedback can be carried out.When mover is moved toward some direction, far From encoder measurement function switch be transferred to neighbouring encoder, the position data obtained by nearest encoder survey calculation Position servo feedback signal as system controller.The calculating of the measurement position of each mover module relative stator module is such as Under:

Wherein,The global position data for being i-th of mover in closed loop transmission system, P_sensor(j)It is compiled for j-th Code device with respect to mover magnetic grid measure feedback position calibration value,Present bit is covered simultaneously for mover movement position Set sensor and previous position sensor, switch sampling sensor moment, the global position data of mover.I represents each dynamic The number of submodule, j represent the number of each sensor, and g is global position data.

Particularly, the position measuring system of linear transmission system can realize that multiple movers synchronize global absolute position in real time and survey It measures, the magnetic grid on each mover is as moving cell, and encoder is installed on stator modules, compared to traditional measurement method, mover Upper no cable connection, avoids disturbance, is conducive to carry out precise motion positioning.

Particularly, the position measuring system of linear transmission system passes through multiple sensor redundancy measurement methods, position measurement System configuration has sensor element failure mode snooping logic, under system in a maintenance shut-downs period, can indicate maintenance personnel Failure sensor position.

Another selectable embodiment, the alternative magnetic grid of Hall response element sensor or grating 583 are used for position Measurement, in this embodiment, Hall sensor is installed on each winding center groove location of stator coil component, passes through measurement The magnetic flux of mover permanent magnet array unit converts to obtain position data.

Figure 13 shows one embodiment of more mover cooperative control systems of linear transmission system according to the present invention.Such as figure Shown in 13, more mover cooperative control systems include application software layer 631, multiple soft-controllers 632, the input of integrated form Processing board 633 is exported, multiple mover imaginary axis 634, stator coil component 635, coil windings 606, (power drives power amplifier Movable plate) 636 compositions.In embodiment, each mover is as an independent motion control entity in stator coil component 635 Energization excitation under move.It can be synchronously control between mover, be also possible to asynchronous movement control.Each mover is defined as One independent mover imaginary axis has independent trajectory path planning, is controlled by each corresponding soft-controller 632.

Particularly, mover imaginary axis number is corresponding consistent with the number of mover number and soft-controller 632.Soft control Device 632 is digitial controller.Soft-controller may be present in one based in DSP, ARM or fpga chip controller, may be alternatively located at In multiple physical controllers, each physical controller is cascaded using high speed signal.Typically, the maximum number of soft-controller 632 It can be 8,16,32,64,128 etc. according to the definition of its physical controller, in the model of the maximum number of the soft-controller 632 It can control the mover imaginary axis of any number in enclosing.Particularly, the Collaborative Control between each mover imaginary axis or respectively only Vertical track movement, carries out the control of high speed real-time collaborative between soft-controller.

In embodiment, the function of the input and output processing board 633 of integrated form includes the number for carrying out dynamic position encoder According to calculating and distribution, and each mover imaginary axis desired position measuring signal is real-time transmitted to soft-controller 632.Moreover, The control signal real-time Transmission that the input and output processing board 633 of integrated form calculates position data and each soft-controller is to function Rate amplifier 636, and then energization excitation is carried out to stator sets of stator coils part.Particularly, 633 high speed of input and output processing board is real When Coordination Treatment soft-controller 632, mover imaginary axis, the signal of position sensor array and the driving plate 636 of input and output, So that realizing seamless information data interaction between modules.

In this embodiment, the controller where soft-controller 632 receives the client of application software layer by communication link Command signal is applied at end, or equipment state of a control signal is issued application software layer simultaneously.The communication link, including such as The supporting industries standard agreements such as EtherCAT, 485, RS232, optical fiber, CAN bus and wireless telecommunications.

Figure 14 shows one embodiment of the integrated controller device of linear transmission system of the invention.As shown in figure 14, The integrated form drive control scheme includes linear motor 600, power amplifier 608, and coil gating control cells 603 are System controller 604.Linear motor 600 includes permanent magnetic rotor unit 601 and stator coil component (coil array) 500.Implementing In example, each armature winding unit of stator coil component 500 shares a power source.Each stator coil component module passes through Power cable 605 is connected to power amplifier 602.When mover 601 is moved to some position, the coil for corresponding to covering needs Be powered excitation simultaneously.Coil gating control cells 603 are obtained according to the positional information calculation of each mover of system controller 604 Need to gate the coil unit of energization excitation to the moment.One choosing of every three-phase UVW coil windings access power amplifier 602 Circulation passage.Gating channel logic unit determines that control is opened and closed in the channel of every three-phase current controller by logical communication 606 System.Power amplifier 602 can support 3N phase coil to control, such as 1 group of 3 phase, 2 group of 3 phase ..., 3 phase winding of N group, with such It pushes away, maximum support coil number is determined by IGBT the or MOSFET number of chips of the board.

In addition, coil gating control cells 603 also receive system controller 604 by 607 communication link of communication link Then current control information is real-time transmitted to power amplifier 602.Communication link 607 is typical using communication links such as optical fiber, 485 Road interface.

Particularly, the logic gating passage switching state of coil gating control cells 603 is according to the dynamic of system controller 604 The position measurement feedback of son calculates mover covering coil channel number, carries out gating control.Here, logic gating Channel refers to the switch for determining channel by digital signal level " 0 " or " 1 " in coil gating control cells, i.e., " 0 " is in an off state coil, and " 1 " makes coil be in strobe state.

Figure 15 shows the schematic diagram of the control system of linear transmission system of the invention.As shown in figure 15, control system packet Include position command generator 520, positioner 521, speed control 523, differentiation element 522, summer 519, commutation control Unit 524 processed, control sensor processing unit 510, summer 518, current controller 525, coil on-off processing unit 526, Summer 517, amplifier 528, current sensor 527, position sensor array 210, subunit 501, stator coil component 500.Motion planning position needed for position command generator 520 determines mover can also work out the application journey of different mode Sequence, for example, be calculated according to the time position, speed, acceleration geometric locus.Moreover, position command generator 520 can also Enough response external events, such as signal, external axis servomotor move synchronously signal in place for register pulse signal, station.Summation What device 519 obtained control sensor processing unit 510 orders with the position readings of the immediate position sensor of mover and position The position for enabling generator 520 given is compared, and the difference of the two is sent to positioner 521, by positioner 521 Tuning and enhanced processing obtain based on speed be unit information, be then sent to summer 518.It is single to control sensor processing First 510 collected location informations are that velocity information is sent to summer 518 by the processing of differentiation element 522.Summer 518 will The information based on current unit is handled and is obtained after being amplified after two kinds of velocity information summations, it is single together with control sensor processing First 510 collected location informations send commutation control unit 524 to together and carry out commutation processing.Permanent magnet linear synchronous motor In vector controlled, its three-phase current is synthesized into power current phasor, is positioned at the q axis in magnetic field, and enables the d axis excitation current vector be 0, in this way, synchronous motor can be controlled in the way of direct current generator, power output is X axis power along a first direction. Permanent magnet linear synchronous motor generallys use i_d=0 control model, wherein in three-phase windings electric current according to difference 120 ° of phases friendship Galvanic electricity is given, and commutation algorithm realizes the current transformation process of dq0 to three-phase coil UVW, shown in following formula:

The inverse transformation formula that commutation calculates is as follows:

Permanent magnetic linear synchronous motor is controlled, d axis and 0 axis are zero control, are converted into iq by controller power output The current commutation calculating process of the given coil of the realization of shaft current.

Summer 517 is passed the three-phase coil UVW's that the processing of commutation control unit 524 obtains to constant current with by electric current Sensor 527 samples obtained coil current and carries out summation comparison, then sends current deviation to current controller 525 and carries out electricity The shaping and tuning of stream.

Conventional current controller is controlled using PI, and the signal after tuning is sent to power amplifier 528 and carries out Current amplifier Processing, the amplifier 528 can use MOSFET IGBT constant power device.

In the control system of motion control device, each coil is all connected on power amplifier 528, this is with electric current The power amplifier of the Digital Logic control of closed loop.When mover 501 moves to the specified coil on calculating position, control sensor Processing unit 510 determines that immediate coil is switched to power using the location information of the acquisition of position sensor array 210 In amplifier gating connection, the logical message that coil gates is passed to the processing of coil on-off by control sensor processing unit 510 On the logic circuit of unit 526, with the position for establishing electromagnetic field on armature winding to promote or keep static mover.Each line No independent analog line driver is enclosed, all coils shared one has the power amplifier of multichannel electric current loop closed loop, only Coil windings closest to target position carry out powering on enabled operation by gated information, fixed in mover ceaselessly movement position The coil of sub-line coil assembly powers on continuous logic switch and establishes electromagnetic field so that mover generates corresponding movement.It is this logical The mode for crossing logic switch makes all coils share a power amplifier, and the manufacturing cost of system is more economical, obtain with A same mover of traditional line motor configures the efficiency of a power amplifier.

Presently preferred embodiments of the present invention has already been described in detail above, it is understood that if desired, the side of embodiment can be modified Face provides other embodiment to use the aspect, feature and design of various patents, application and publication.

In view of detailed descriptions above, these and other variation can be made to embodiment.In general, in claim In, term used should not be construed as limited to specific embodiment disclosed in description and claims, but be understood that Being includes whole equivalency ranges that all possible embodiment is enjoyed together with these claims.

Claims

1. a kind of control device of linear transmission system, the linear transmission system include linear motor, the linear motor packet Stator and multiple movers are included, the stator has stator coil component, and the stator coil component includes multiple armature winding lists Member and the mover have permanent magnet array, which is characterized in that the control device includes:

Position detection unit, the position detection unit are used to detect and export the rotor position information of current each mover；

System controller and coil gating control cells, wherein the system controller and coil gating control cells communication Connection, wherein the system controller receives the rotor position information from the position detection unit and by the rotor position Information pass to the coil gating control cells and the coil gating control cells according to the rotor position information come The armature winding unit for currently needing to be powered is calculated；And

Power amplifier, wherein each armature winding unit, which passes through cable, is connected to the same power amplifier, it is described Power amplifier be electrically connected with the coil gating control cells and according to the information from the coil gating control cells come So that corresponding armature winding unit is powered.

2. control device as described in claim 1, which is characterized in that the coil gating control cells and system control Device is physically independent two devices, wherein there are the coil gating control cells multiple logics to gate channel, each Logic gates the corresponding armature winding unit in channel.

3. control device as described in claim 1, which is characterized in that the logic of the coil gating control cells gates The open and-shut mode in channel calculates mover covering according to the rotor position measurement data feedback from the system controller The channel number of armature winding unit, and carry out gating control.

4. control device as described in claim 1, which is characterized in that the position detection unit and coil gating control Unit connection, the coil gating control cells handle the rotor position information from the position detection unit, and Corresponding logic gating passage switching is controlled, and then controls corresponding armature winding unit power on/off.

5. control device as described in claim 1, which is characterized in that the power amplifier is equipped with multiple gating channels, often A gating channel is connected to the armature winding unit, wherein the power amplifier is selected according to from the coil The signal of logical control unit controls corresponding gating channel, so that armature winding corresponding to the corresponding gating channel Unit is powered or power-off.

6. control device as described in claim 1, which is characterized in that the control device is arranged to electric close to some when mover When pivot winding element, most to connect using logic gated fashion by the collected rotor position information of the position detection unit The armature winding unit of the nearly mover is powered, and generates electromagnetic field driving mover movement, and when subunit is ceaselessly past When some direction moves, location information that the system controller is acquired according to the position detection unit is by coil magnetization electric current It is switched to nearest armature winding unit in real time.

7. control device as described in claim 1, which is characterized in that the stator coil component is handed over up and down using UVW phase sequence UVW three-phase coil is configured for arrangement mode, wherein there are three coil windings, three lines for each armature winding unit tool Circle winding is respectively the U phase, V phase and W phase of the armature winding unit.

8. control device as described in claim 1, which is characterized in that the stator coil component is arranged according to period extension mode Cloth, and be arranged as straight line, be perhaps arranged in camber line or be arranged into arbitrary curve form.

9. control device as described in claim 1, which is characterized in that the U phase of an armature winding unit is adjacently positioned with W phase In same layer, V phase is aligned arrangement and adjacent two with the center of U phase and W phase in upper one layer or next layer of U phase and W phase In a armature winding unit, if the V phase of an armature winding unit in the U phase of the armature winding unit and the upper layer of W phase, The V phase of the armature winding unit of another armature winding unit is in the U phase of the armature winding unit and the lower layer of W phase.

10. control device as described in claim 1, which is characterized in that the position detection unit includes position detection sensing Device and encoder, wherein the position-detection sensor is installed on the mover, the encoder is installed on the stator.

11. control device as claimed in claim 10, which is characterized in that the position measurement sensor is grating sensor, The encoder is installed in stator base according to equidistant arrangement；Alternatively, the position measurement sensor is magnetic induction sensor, institute Encoder is stated to be installed in stator base according to equidistant arrangement.

12. control device as claimed in claim 10, which is characterized in that the position measurement sensor is grating, the volume Code device is installed in stator base according to equidistant arrangement, wherein the distance per two adjacent encoders is less than on the mover The length of grating, so that the grating on the mover may make two adjacent encoders that can collect institute sometime The same position information for stating mover is supplied to the system controller with the real-time position information to the mover and carries out redundancy survey Amount and servo feedback, when the mover is moved toward some direction, separate encoder measurement function switch is transferred to neighbouring Encoder, the rotor position information obtained by nearest encoder survey calculation are anti-as the position servo of the system controller Feedback signal；Alternatively,

The position measurement sensor is magnetic grid, and the encoder is installed in stator base according to equidistant arrangement, wherein every phase The distance of two adjacent encoders is less than the length of the magnetic grid on the mover, so that the magnetic sometime, on the mover Grid may make two adjacent encoders that can collect the same position information of the mover, be supplied to the system controller Redundant measurement and servo feedback are carried out with the real-time position information to the mover, when the mover is moved toward some direction, Separate encoder measurement function switch is transferred to neighbouring encoder, the mover position obtained by nearest encoder survey calculation Confidence ceases the position servo feedback signal as the system controller.

13. control device as described in claim 1, which is characterized in that the power amplifier has multiple groups three-phase electricity flow control Device processed, each three-phase current controller are electrically connected with an armature winding unit and control are opened and closed by the gating of logic all the way channel System.

14. control device as described in claim 1, which is characterized in that the control device further comprises at input and output Plate is managed, the input and output processing board and the position detection unit, the power amplifier and the system controller are electric Connection, is obtained wherein the input and output processing board calculates the rotor position information from the position detection unit The global position information is sent to the power amplifier simultaneously and the system controls by the global position information of each mover Device, the system controller control the real time position of each mover, and send control signals to the input and output Processing board, then the input and output processing board is real-time transmitted to the power amplifier for signal is controlled.

15. a kind of linear transmission system, which is characterized in that the linear transmission system includes:

Stator base, the stator base are made of one or more sub-bases；

Stator coil component, the stator coil component are fixed in the sub-base；

Multiple movers, each mover are equipped with permanent magnet array and position sensing element, wherein what the permanent magnet array generated Magnetic field and the excitation field that generates of the stator coil component can interact and the mover is pushed to generate translational motion；

Guide rail, the guide rail are installed in the stator base, and the mover is arranged on the guide rail and leads along described Rail movement；

Sensor array, the sensor array along the guide rail be distributed and be arranged to read be set on the mover described in The signal that position sensing element is issued；

16. linear transmission system as claimed in claim 15, which is characterized in that the coil gating control cells and the system Controller of uniting is physically independent two devices, wherein the coil gating control cells have multiple logics gating logical Road, the corresponding armature winding unit in each logic gating channel.

17. linear transmission system as claimed in claim 15, which is characterized in that the described of the coil gating control cells is patrolled The open and-shut mode for collecting gating channel calculates mover according to the rotor position measurement data feedback from the system controller The channel number of the armature winding unit of covering, and carry out gating control.

18. linear transmission system as claimed in claim 15, which is characterized in that the position detection unit and the coil select Logical control unit connection, the coil gating control cells are at the rotor position information of the position detection unit Reason, and corresponding logic gating passage switching is controlled, and then control corresponding armature winding unit power on/off.

19. linear transmission system as claimed in claim 15, which is characterized in that it is logical that the power amplifier is equipped with multiple gatings Road, each gating channel are connected to the armature winding unit, wherein the power amplifier is according to from described The signal of coil gating control cells controls corresponding gating channel, so that electricity corresponding to the corresponding gating channel Pivot winding element is powered or power-off.

20. linear transmission system as claimed in claim 15, which is characterized in that the system controller is arranged to connect when mover When some nearly armature winding unit, logic gated fashion is used by the collected rotor position information of the position detection unit So that the armature winding unit closest to the mover is powered, electromagnetic field driving mover movement is generated, and work as subunit When ceaselessly moving toward some direction, location information that the system controller is acquired according to the position detection unit is by coil Exciting current is switched to nearest armature winding unit in real time.

21. linear transmission system as claimed in claim 15, which is characterized in that the stator coil component uses UVW phase sequence Arrangement mode configures UVW three-phase coil alternatively up and down, wherein there are three coil windings for each armature winding unit tool, it is described Three coil windings are respectively the U phase, V phase and W phase of the armature winding unit.

22. linear transmission system as claimed in claim 15, which is characterized in that the stator coil component extends according to the period Mode is arranged, and is arranged as straight line, is perhaps arranged in camber line or is arranged into arbitrary curve form.

23. linear transmission system as claimed in claim 15, which is characterized in that the U phase and W phase phase of an armature winding unit Neighbour is arranged in same layer, and V phase is aligned arrangement, Yi Jixiang with the center of U phase and W phase in upper one layer or next layer of U phase and W phase In two adjacent armature winding units, if the V phase of an armature winding unit is in the U phase and W phase of the armature winding unit Upper layer, then the V phase of the armature winding unit of another armature winding unit is in the U phase of the armature winding unit and the lower layer of W phase.

24. linear transmission system as claimed in claim 15, which is characterized in that the position detection unit includes position detection Sensor and encoder, wherein the position-detection sensor is installed on the mover, the encoder is installed on described fixed On son.

25. linear transmission system as claimed in claim 24, which is characterized in that the position measurement sensor is grating sensing Device, the encoder are installed in stator base according to equidistant arrangement；Alternatively, the position measurement sensor is magnetic grid sensing Device, the encoder are installed in stator base according to equidistant arrangement.

26. linear transmission system as claimed in claim 24, which is characterized in that the position measurement sensor is grating, institute It states encoder to be installed in stator base according to equidistant arrangement, wherein the distance per two adjacent encoders is less than the mover On grating length so that the grating on the mover may make two adjacent encoders that can acquire sometime To the same position information of the mover, it is superfluous with the real-time position information progress to the mover to be supplied to the system controller Remaining measurement and servo feedback, when the mover is moved toward some direction, separate encoder measurement function switch is transferred to neighbour Close encoder is watched by the rotor position information that nearest encoder survey calculation obtains as the position of the system controller Take feedback signal；Alternatively, the position measurement sensor is magnetic grid, the encoder is installed on stator base according to equidistant arrangement On, wherein the distance per two adjacent encoders is less than the length of the magnetic grid on the mover, so that sometime, it is described Magnetic grid on mover may make two adjacent encoders that can collect the same position information of the mover, be supplied to described System controller carries out redundant measurement and servo feedback with the real-time position information to the mover, when the mover is toward some side To when movement, separate encoder measurement function switch is transferred to neighbouring encoder, is obtained by nearest encoder survey calculation Position servo feedback signal of the rotor position information arrived as the system controller.

27. linear transmission system as claimed in claim 15, which is characterized in that the linear transmission system further comprises defeated Enter and exports processing board, the input and output processing board and the position detection unit, the power amplifier and the system control Device processed is electrically connected, wherein the input and output processing board counts the rotor position information from the position detection unit It calculates and obtains the global position information of each mover, which is sent to the power amplifier and described simultaneously System controller, the system controller control the real time position of each mover, and send control signals to described Input and output processing board, then the input and output processing board is real-time transmitted to the power amplifier for signal is controlled.

28. linear transmission system as claimed in claim 15, which is characterized in that the stator base includes linear stator pedestal With arcuate stator pedestal, wherein the linear stator pedestal is equipped with rectangular stator coil block and forms linear stator module, And the arcuate stator pedestal is equipped with arcuate stator coil block and forms arcuate stator module.

29. linear transmission system as claimed in claim 15, which is characterized in that the guide rail is removably installed in described fixed In sub-base.

30. linear transmission system as claimed in claim 15, which is characterized in that the linear transmission system further includes installation branch Frame, the mounting bracket are fixed in the stator base, and the sensor array is installed in the mounting bracket.

31. linear transmission system as claimed in claim 15, which is characterized in that the mover includes:

Pedestal；

Back iron support plate, the back iron support plate are placed between first back iron and second back iron and carry on the back with described first U-shaped structure is collectively formed in iron and second back iron；

32. linear transmission system as claimed in claim 31, which is characterized in that be equipped with the first sensing on each mover Element and the second sensing element, wherein first sensing element and second sensing element are arranged to when the mover is in institute It states when being moved in linear stator module, the first signal issued by first sensing element is by the linear stator module Sensor array is read, and when the mover moves on the arcuate stator pedestal, it is issued by second sensing element Second signal by the arcuate stator module sensor array read.

33. linear transmission system as claimed in claim 32, which is characterized in that first sensing element and described second passes Sensing unit is magnetic grid, and the encoder array is magnetic grid read head, wherein first sensing element is installed on the pedestal On the side opposite with side where first back iron and second sensing element is installed on the pedestal and be equipped with On the vertical side in the side of first sensing element；Alternatively, first sensing element and second sensing element are Grating, the encoder array are grating reading head, wherein first sensing element be installed on the pedestal with described first On the opposite side in side where back iron and second sensing element is installed on the pedestal and be equipped with described first and pass On the vertical side in the side of sensing unit.

34. linear transmission system as claimed in claim 32, which is characterized in that the pedestal is equipped with arc block, and described the Two sensing elements are mounted on the arcwall face of the arc block.

35. linear transmission system as claimed in claim 31, which is characterized in that the mover further comprises slide and rolling Wheel, the slide is installed on the downside of the pedestal and the idler wheel is installed on the slide.

36. linear transmission system as claimed in claim 31, which is characterized in that the mover further comprises anticollison block, institute Anticollison block is stated to be installed on the pedestal and be located on the side identical and opposite with the direction of motion of the mover.

37. a kind of more mover cooperative control systems of linear transmission system, the linear transmission system includes linear motor, described Linear motor includes stator and multiple movers, and the stator has stator coil component, and the stator coil component includes multiple Armature winding unit and the mover have permanent magnet array, which is characterized in that more mover cooperative control system packets It includes:

Multiple soft-controllers, wherein each soft-controller controls a corresponding mover imaginary axis, and then control pair The mover answered；And

Input and output processing board, wherein the input and output processing board to the position data from the position detection unit into Row calculates and distribution, and each mover imaginary axis desired position data are real-time transmitted to the soft-controller, and The control signal of the position data and each soft-controller is real-time transmitted to the function by the input and output processing board Rate amplifier, to carry out power on/off to corresponding armature winding unit.

38. more mover cooperative control systems as claimed in claim 37, which is characterized in that the association between the mover imaginary axis With control or track independent movement, real-time collaborative control is carried out between the soft-controller.

39. more mover cooperative control systems as claimed in claim 37, which is characterized in that the quantity of the mover imaginary axis, The quantity of the mover and the quantity of the soft-controller are identical.