CN111547516A - Dispatching system of magnetic suspension conveying device - Google Patents
Dispatching system of magnetic suspension conveying device Download PDFInfo
- Publication number
- CN111547516A CN111547516A CN202010468818.1A CN202010468818A CN111547516A CN 111547516 A CN111547516 A CN 111547516A CN 202010468818 A CN202010468818 A CN 202010468818A CN 111547516 A CN111547516 A CN 111547516A
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- electrically connected
- cpld
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- rotor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G54/00—Non-mechanical conveyors not otherwise provided for
- B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Control Of Linear Motors (AREA)
- Linear Motors (AREA)
Abstract
The invention discloses a dispatching system of a magnetic suspension conveying device, which comprises: the device comprises a positioning strip, a plurality of sensors, a CPLD positioning encoder, a driving unit, a controller and a power distribution module. The positioning strip is arranged on the rotor; the sensors are uniformly distributed along the track and generate pulse signals through the induction positioning strips; the sensor is electrically connected with the CPLD positioning encoder; the driving unit is electrically connected with the signal output end of the CPLD positioning encoder; the signal input end of the controller is connected with the signal output end of the CPLD positioning encoder, and the signal output end of the controller is electrically connected with the control end of the driver. The scheduling system can monitor the position and the speed of the rotor in the magnetic suspension conveying device in real time, and the rotor can be accurately controlled and positioned.
Description
Technical Field
The invention relates to the field of transportation system control, in particular to a dispatching system of a magnetic suspension conveying device.
Background
At present, each large enterprise and factory widely adopt mechanical conveyor belt or mechanical linear electric motor to carry out article transportation on the production line, the principle of mechanical conveyor belt is that driving belt or link joint through the rotating electrical machines moves, mechanical linear electric motor passes through the converter with the rotating electrical machines and converts linear kinetic energy drive active cell motion into, mechanical conveyor belt or mechanical linear electric motor because mechanical friction inevitable existence efficiency is not high, the noise is big, the friction part damages easily, the follow-up maintenance volume is big, the precision of location is low scheduling problem in the transportation, and mechanical linear electric motor's active cell part still need connect the cable, can receive the restraint of cable during the motion and influence the flexibility.
At present, companies design a magnetic suspension conveying belt for conveying goods through a permanent magnet linear motor, but a control system of a conventional mechanical conveying belt cannot be matched with the permanent magnet linear motor to realize transportation scheduling.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a scheduling system which can monitor the position and the speed of a rotor on a conveyor belt in real time and control the current of a stator core in real time so as to control the motion of the rotor.
According to the scheduling system of the magnetic suspension conveying device provided by the embodiment of the invention, the magnetic suspension conveying device comprises a track, a plurality of stator cores with three-phase windings and a rotor driven by the stator cores to move on the track through magnetic suspension force, and the scheduling system is characterized by comprising:
the positioning strip is arranged on the rotor;
the sensors are uniformly distributed along the track and generate pulse signals through the induction positioning strips;
the sensor is electrically connected with the CPLD positioning encoder and used for feeding back pulse signals, and the CPLD positioning encoder is used for synthesizing motion information of the rotor through the pulse signals;
the driving unit comprises a plurality of drivers which correspond to the stator cores one by one, the drivers are electrically connected with the signal output end of the CPLD positioning encoder to receive the position information and the speed information of the rotor, and the drivers are electrically connected with the three-phase windings of the stator cores to control the current of the three-phase windings;
the signal input end of the controller is connected with the signal output end of the CPLD positioning encoder to be used for receiving the position information and the speed information of the rotor, and the signal output end of the controller is electrically connected with the control end of the driver to be used for sending a control command;
and the power supply distribution module is used for supplying power.
The scheduling system of the magnetic suspension conveying device according to the embodiment of the invention at least has the following technical effects: a sensor on the track is used for sensing a positioning strip on the rotor to generate a pulse signal; the CPLD positioning encoder is responsible for processing pulse signals from a plurality of sensors, combining the pulse signals into position information and speed information of the rotor and outputting the position information and the speed information to the driving unit; meanwhile, the CPLD positioning encoder transmits the position information and the speed information of each rotor to the controller in real time, a user can input a control instruction through the controller, the controller combines the current position of the rotor according to the input requirements and parameters to form a control instruction of the driving unit, and the driving unit responds to the control instruction to control the current of the stator core so as to realize the motion control of the rotor. The scheduling system can monitor the position and the speed of the rotor in the magnetic suspension conveying device in real time, and the rotor can be accurately controlled and positioned.
According to some embodiments of the present invention, the positioning bars include a first positioning bar for providing encoding information and a second positioning bar for providing position information and speed information of the mover.
According to some embodiments of the invention, the positioning bar is a magnetic scale and the sensor is a magneto-sensitive sensor.
According to some embodiments of the present invention, the CPLD positioning encoder includes a CPLD chip, an input interface module, an output interface module, a communication module, and a clock chip, the CPLD chip is electrically connected to the sensor through the input interface module, the CPLD chip is electrically connected to the driving unit through the output interface module, the CPLD chip is electrically connected to the controller through the communication module, and the clock chip is electrically connected to the CPLD chip for providing a clock signal.
According to some embodiments of the present invention, the input interface module includes a first terminal and an optical coupler, the signal output terminal of the sensor is electrically connected to the input terminal of the optical coupler through the first terminal, and the output terminal of the optical coupler is electrically connected to the input terminal of the CPLD chip.
According to some embodiments of the present invention, the output interface module includes a second terminal and a level shift chip, the output terminal of the CPLD chip is electrically connected to the input terminal of the level shift chip, and the output terminal of the level shift chip is connected to the driver through the second terminal.
According to some embodiments of the present invention, the driving unit includes a plurality of drivers corresponding to the stator cores one by one, the drivers include an MCU, a three-phase current driving circuit, a DC power module, a backward synchronization interface and a forward synchronization interface, an output terminal of the DC power module is electrically connected to a power supply terminal of the MCU through the DC-DC module, the power supply terminal of the three-phase current driving circuit is electrically connected to the DC power module, the MCU is electrically connected to a control terminal of the three-phase current driving circuit, an output terminal of the three-phase current driving circuit is electrically connected to a three-phase winding of the stator core, a signal output terminal of the CPLD positioning encoder is electrically connected to the MCU for feeding back position information and speed information of the mover, the controller is connected to the MCU through a CAN interface for sending a control command, the MCU performs backward synchronization through the backward synchronization interface connected to a driver at, and the MCU is connected with a driver at the front end through a forward synchronous interface to carry out forward synchronization.
According to some embodiments of the invention, the output of the dc power supply module is provided with a power-on buffer module and a braking circuit for protection.
According to some embodiments of the present invention, the three-phase current driving circuit is further connected to a bus voltage sampling circuit and a current sampling circuit, and the bus voltage sampling circuit and the current sampling circuit are respectively electrically connected to the MCU for feeding back voltage and current signals.
According to some embodiments of the invention, the mobile terminal further comprises a touch screen, wherein the touch screen is electrically connected with the controller for realizing human-computer interaction.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a scheduling system in an embodiment of the present invention;
FIG. 2 is a schematic circuit diagram of a driver in an embodiment of the invention;
FIG. 3 is a schematic circuit diagram of a CPLD chip according to an embodiment of the present invention;
FIG. 4 is a schematic circuit diagram of an input interface module according to an embodiment of the present invention;
fig. 5 is a schematic circuit diagram of an output interface module according to an embodiment of the present invention.
Reference numerals
The magnetic sensor type sensor comprises a magnetic sensor 100, a CPLD positioning encoder 200, a driver 300, an MCU310, a direct current power supply module 320, a backward synchronous interface 330, a forward synchronous interface 340, a DC-DC module 350, a power-on buffer module 360, a braking circuit 370, a bus voltage sampling circuit 380, a current sampling circuit 390, a controller 400, a power distribution module 500 and a touch screen 600.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the present number, and larger, smaller, inner, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1, the dispatching system of a magnetic suspension conveying device comprises a track, a plurality of stator cores with three-phase windings, and a rotor, wherein the stator cores are distributed along the track and positioned in the middle of the track, the dispatching system further comprises a rotor with permanent magnets arranged on the track, the stator cores with the three-phase windings generate a magnetic field after being electrified, the permanent magnets and the stator generate a magnetic field to act to generate traction force to drive the rotor to slide on the track, and articles are conveyed through the movement of the rotor.
The scheduling system of the present application includes: the device comprises a positioning bar, a plurality of sensors, a CPLD positioning encoder 200, a driving unit, a controller 400 and a power supply distribution module 500 for supplying power.
The positioning bars are arranged on the rotor and comprise a first positioning bar and a second positioning bar, the first positioning bar is used for providing coding information, and the second positioning bar is used for providing position information and speed information of the rotor. The sensors are uniformly distributed along the track, when the rotor passes through the sensors, the sensors generate pulse signals to form position information of the rotor, and the gap between every two adjacent sensors is smaller than the length of the positioning strip, so that the position information of the rotor can be detected by the sensors no matter where the rotor is on the track. Preferably, the positioning bar is a magnetic scale in this embodiment, and the sensor is a magnetic sensor 100, but other types of positioning bars and corresponding sensors may be used for position detection.
The sensors are electrically connected with the CPLD positioning encoder 200 to feed back pulse signals, the CPLD positioning encoder 200 is responsible for processing the pulse signals from the sensors to combine position information and speed information of the rotor, and the position information and the speed information are output to the driving unit on one hand and are transmitted to the control unit through an RS485 interface on the other hand.
The driving unit includes a plurality of drivers 300 corresponding to the stator cores one by one, and each driver 300 controls a current of the corresponding stator core, respectively. Referring to fig. 2, the driver 300 includes an MCU310, a three-phase current driving circuit, a dc power supply module 320, a backward synchronization interface 330, and a forward synchronization interface 340. The output end of the power-on buffer module 360 is connected to the power supply end of the MCU310 through the DC-DC module 350, and is connected to the power supply end of the three-phase current driving circuit, the three-phase current driving circuit comprises a U-phase driving circuit, a V-phase driving circuit and a W-phase driving circuit, the U-phase driving circuit, the V-phase driving circuit and the W-phase driving circuit are all connected with a three-phase winding of the stator core through a switching circuit, and the switching circuit is composed of a plurality of MOS (metal oxide semiconductor) tubes and a freewheeling diode which are connected in parallel.
The signal output end of the CPLD positioning encoder 200 is electrically connected to the MCU310, and transmits the position information and the speed information of the mover to the MCU310, and the controller 400 is connected to the MCU310 through the CAN interface, and implements parameter configuration, information feedback, and motion control through the CAN bus. In order to realize the monitoring of the voltage and the current, the input end of the three-phase current driving circuit is further connected with a bus voltage sampling circuit 380, the grounding end of the three-phase current driving circuit is further connected with a current sampling circuit 390, and the bus voltage sampling circuit 380 and the current sampling circuit 390 are respectively and electrically connected with the MCU310 for feeding back the voltage and the current signals.
In order to ensure smooth transition when the rotor passes through the adjacent stator cores, the MCU310 is connected to the driver at the rear end through the backward synchronization interface 330, the MCU310 is connected to the driver at the front end through the forward synchronization interface 340, and the backward synchronization interface 330 and the forward synchronization interface 340 serve to synchronize the phases of the adjacent drivers.
In this embodiment, the controller 400 is a PLC controller, a signal input end of the controller 400 is connected to a signal output end of the CPLD positioning encoder 200 to receive position information and speed information of the mover, and a signal output end of the controller 400 is electrically connected to a control end of the driver 300 to send a control command. In order to realize human-computer interaction, the controller 400 is further connected with a touch screen 600, and a user can acquire the position and speed information of the mover in real time through the touch screen 600 and can also input requirements, system parameters and the like.
The CPLD positioning encoder 200 includes a CPLD chip, an input interface module, an output interface module, a communication module, and a clock chip, referring to fig. 3, the model of the CPLD chip in this embodiment is 5M1270ZT144I 5. The CPLD chip is electrically connected with the sensor through the input interface module, the CPLD chip is electrically connected with the driving unit through the output interface module, and the CPLD chip is electrically connected with the controller 400 through the communication module.
Each input interface module corresponds to one sensor, taking any one of the input interface modules as an example, referring to fig. 4, the input interface module includes a first terminal J4 and an optical coupler U8, a signal output end of the magnetic sensor is electrically connected with an input end of the optical coupler U8 through the first terminal J4, and an output end of the optical coupler U8 is electrically connected with an input end of the CPLD chip.
Each output interface module corresponds to one driver 300, taking any one of the output interface modules as an example, referring to fig. 5, the output interface module includes a second terminal J18 and a level shift chip U23, an output end of the CPLD chip is electrically connected to an input end of the level shift chip U23, and an output end of the level shift chip is connected to the driver 300 through the second terminal, preferably, the model of the level shift chip U23 in this embodiment is SN74LVC 4245A.
The clock chip is electrically connected with the CPLD chip and used for providing clock signals for the CPLD chip.
The working process of the invention is as follows:
the magnetic sensitive sensor detects the magnetic scale on the rotor and sends the magnetic scale to the CPLD positioning encoder 200 in a pulse mode, and the CPLD positioning encoder 200 is responsible for processing pulse signals from a plurality of sensors, combining the pulse signals into a continuous path of pulse and then synchronously outputting the pulse to the driver 300.
The user carries out man-machine operation through the touch screen 600, the command is sent to the driver 300 through the CAN module on the controller 400, after the driver 300 receives the command, the current of the three-phase winding on the stator core is controlled in real time by combining the position information transmitted by the CPLD positioning encoder 200, so that the rotor CAN act according to a specified mode, and after the command is executed, the information is returned to the controller 400 to be displayed on the touch screen 600.
In summary, in the embodiments of the present invention, the sensor on the track senses the positioning bar on the mover to generate the pulse signal; the CPLD positioning encoder 200 is responsible for processing pulse signals from the plurality of magnetic sensors 100, combining the pulse signals into position information and speed information of the rotor, and outputting the position information and the speed information to the driving unit; meanwhile, the CPLD positioning encoder 200 transmits the position information and the speed information of each mover to the controller 400 in real time, a user can input a control instruction through the controller 400, the controller 400 forms a control instruction of the driving unit according to the input requirements and parameters in combination with the current position of the mover, and the driving unit responds to the control instruction to control the current of the stator core so as to realize the motion control of the mover. The scheduling system can monitor the position and the speed of the rotor in the magnetic suspension conveying device in real time, and the rotor can be accurately controlled and positioned.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. A dispatch system of a magnetic suspension conveying device is characterized by comprising:
the positioning strip is arranged on a rotor of the magnetic suspension conveying device;
a plurality of sensors, the sensors being evenly distributed along the track, the sensors generating a pulse signal by sensing the positioning strip;
the sensor is electrically connected with the CPLD positioning encoder (200) to feed back pulse signals, and the CPLD positioning encoder (200) is used for combining motion information of the rotor through the pulse signals;
the driving unit comprises a plurality of drivers (300) which correspond to the stator cores one by one, the drivers (300) are electrically connected with the signal output end of the CPLD positioning encoder (200) to be used for receiving the position information and the speed information of the rotor, and the drivers (300) are electrically connected with the three-phase windings of the stator cores to be used for controlling the current of the three-phase windings;
a signal input end of the controller (400) is connected with a signal output end of the CPLD positioning encoder (200) to receive position information and speed information of the mover, and a signal output end of the controller (400) is electrically connected with a control end of the driver (300) to send a control command;
and the power supply distribution module (500) is used for supplying power.
2. The scheduling system of magnetic levitation transport device of claim 1, wherein: the positioning bars comprise a first positioning bar and a second positioning bar, the first positioning bar is used for providing coding information, and the second positioning bar is used for providing position information and speed information of the rotor.
3. The scheduling system of magnetic levitation transport device of claim 1 or 2, wherein: the positioning strip is a magnetic grid ruler, and the sensor is a magnetic-sensitive sensor (100).
4. The scheduling system of magnetic levitation transport device of claim 1, wherein: the CPLD positioning encoder (200) comprises a CPLD chip, an input interface module, an output interface module, a communication module and a clock chip, wherein the CPLD chip is electrically connected with the sensor through the input interface module, the CPLD chip is electrically connected with the driving unit through the output interface module, the CPLD chip is electrically connected with the controller (400) through the communication module, and the clock chip is electrically connected with the CPLD chip for providing clock signals.
5. The scheduling system of magnetic levitation transport device of claim 4, wherein: the input interface module comprises a first terminal and an optical coupler, the signal output end of the sensor is electrically connected with the input end of the optical coupler through the first terminal, and the output end of the optical coupler is electrically connected with the input end of the CPLD chip.
6. The scheduling system of magnetic levitation transport device of claim 4, wherein: the output interface module comprises a second terminal and a level conversion chip, the output end of the CPLD chip is electrically connected with the input end of the level conversion chip, and the output end of the level conversion chip is connected with the driver (300) through the second terminal.
7. The scheduling system of magnetic levitation transport device of claim 1, wherein: the driver (300) comprises an MCU (310), a three-phase current driving circuit, a direct current power supply module (320), a backward synchronous interface (330) and a forward synchronous interface (340), wherein the output end of the direct current power supply module (320) is electrically connected with the power supply end of the MCU (310) through a DC-DC module (350), the power supply end of the three-phase current driving circuit is electrically connected with the direct current power supply module (320), the MCU (310) is electrically connected with the control end of the three-phase current driving circuit, the output end of the three-phase current driving circuit is electrically connected with a three-phase winding of a stator core, the signal output end of the CPLD positioning encoder (200) is electrically connected with the MCU (310) for feeding back position information and speed information of a rotor, and the controller (400) is connected with the MCU (310) through a CAN interface for sending a control command; the MCU (310) is connected with a driver at the rear end through the backward synchronous interface (330), and the MCU (310) is connected with a driver at the front end through the forward synchronous interface (340) so as to be used for synchronizing the phases of adjacent drivers.
8. The scheduling system of magnetic levitation transport device of claim 7, wherein: the output end of the direct current power supply module (320) is provided with a power-on buffer module (360) and a braking circuit (370) for protecting the circuit.
9. The scheduling system of magnetic levitation transport device of claim 7, wherein: the three-phase current driving circuit is further connected with a bus voltage sampling circuit (380) and a current sampling circuit (390), and the bus voltage sampling circuit (380) and the current sampling circuit (390) are respectively electrically connected with the MCU (310) to feed back voltage and current signals.
10. The scheduling system of magnetic levitation transport device of claim 1, wherein: the intelligent control system is characterized by further comprising a touch screen (600), wherein the touch screen (600) is electrically connected with the controller (400) to achieve human-computer interaction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010468818.1A CN111547516A (en) | 2020-05-28 | 2020-05-28 | Dispatching system of magnetic suspension conveying device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010468818.1A CN111547516A (en) | 2020-05-28 | 2020-05-28 | Dispatching system of magnetic suspension conveying device |
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| CN111547516A true CN111547516A (en) | 2020-08-18 |
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| CN202010468818.1A Pending CN111547516A (en) | 2020-05-28 | 2020-05-28 | Dispatching system of magnetic suspension conveying device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024000711A1 (en) * | 2022-06-30 | 2024-01-04 | 瑞声光电科技(常州)有限公司 | Control method for multi-rotor direct drive transmission system and related device |
-
2020
- 2020-05-28 CN CN202010468818.1A patent/CN111547516A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024000711A1 (en) * | 2022-06-30 | 2024-01-04 | 瑞声光电科技(常州)有限公司 | Control method for multi-rotor direct drive transmission system and related device |
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