CN116054670A - Electromagnetic braking system for linear motor in high-speed movement - Google Patents
Electromagnetic braking system for linear motor in high-speed movement Download PDFInfo
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Abstract
The invention discloses an electromagnetic braking system for a linear motor in high-speed motion, which relates to the technical field of motor braking, and the method comprises the following steps: the method comprises the steps of acquiring a plurality of static parameters of the linear motor, establishing a distance coefficient after normalization processing is carried out on the parameters, adjusting an initial distance between a first photoelectric sensor and a second photoelectric sensor by a control end according to the distance coefficient, acquiring a plurality of dynamic parameters of the linear motor in the moving process of an object driven by the linear motor, establishing an adjustment coefficient after normalization processing is carried out on the parameters, and correcting the position of the second photoelectric sensor again by the control end according to the adjustment coefficient, so that a braking system can carry out braking processing on the linear motor in advance. According to the invention, after the brake, the object falls on the designated position under the inertia effect, so that the brake precision of the linear motor is improved, the subsequent adjustment treatment on the position of the object is reduced, and the efficiency is improved.
Description
Technical Field
The invention relates to the technical field of motor braking, in particular to an electromagnetic braking system for a linear motor in high-speed motion.
Background
The linear motor is a transmission device for directly converting electric energy into linear motion mechanical energy without any intermediate conversion mechanism, and can be regarded as a rotary motor which is radially split and developed into a plane, the linear motor is also called a linear motor, a linear motor and a push rod motor, the most commonly used linear motor types are flat plate type and U-shaped groove type and tubular type, the coil is typically three-phase, and brushless phase conversion is realized by a Hall element.
The prior art has the following defects: when the existing linear motor needs to brake in the process of doing high-speed linear motion, the main braking mode is as follows: after the sensor that sets up detects linear electric motor driven article, the sensor sends a signal instruction to the server system, and the server system again controls linear electric motor and passes through electromagnetic brake, however, because linear electric motor is high-speed rectilinear motion, when the sensor detects the article and makes linear electric motor brake, because there is inertia, can lead to the article to continue to remove a section distance, can't realize accurate brake, generally after the brake, the system still needs control linear electric motor to adjust the article and remove to the assigned position, increases the position control time of article, leads to efficiency reduction.
Disclosure of Invention
The invention aims to provide an electromagnetic braking system for a linear motor in high-speed motion so as to solve the defects in the background technology.
In order to achieve the above object, the present invention provides the following technical solutions: an electromagnetic braking system for high-speed linear motor.
In the technical scheme, the invention has the technical effects and advantages that:
1. according to the invention, the distance coefficient is established after the normalization processing is carried out on a plurality of static parameters of the linear motor, the control end adjusts the initial distance between the first photoelectric sensor and the second photoelectric sensor according to the distance coefficient, in the process that the linear motor drives an object to move, a plurality of dynamic parameters of the linear motor are acquired, the adjustment coefficient is established after the normalization processing is carried out on the parameters, and the control end corrects the position of the second photoelectric sensor again according to the adjustment coefficient, so that the braking system can carry out braking processing on the linear motor in advance, the object falls at a designated position under the inertia effect after braking, the braking precision of the linear motor is improved, the subsequent adjustment processing on the position of the object is reduced, and the efficiency is improved;
2. according to the control terminal disclosed by the invention, the position of the first photoelectric sensor is corrected in real time according to the adjustment coefficient Tjxs, so that after the linear motor brakes, an object can accurately stay at the indication position of the second photoelectric sensor, and the accuracy of a braking system is further improved.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, the electromagnetic braking method for a linear motor in high-speed motion according to the present embodiment includes the following steps:
the method comprises the steps that a first photoelectric sensor and a second photoelectric sensor are respectively arranged on a running path of a linear motor, the first photoelectric sensor is used for detecting an object and then sending a signal to a control end, the control end controls the linear motor to brake through electromagnetic induction according to the signal, the second photoelectric sensor is used for correcting the position of the object after the linear motor brakes, when the object is placed on the linear motor, a collecting end collects multiple static parameters of the linear motor, a distance coefficient is built after normalization processing is carried out on the parameters, the control end adjusts the initial distance between the first photoelectric sensor and the second photoelectric sensor according to the distance coefficient, the position of the second photoelectric sensor is unchanged, when the linear motor drives the object to move at a high speed, the collecting end collects multiple dynamic parameters of the linear motor, an adjusting coefficient is built after normalization processing is carried out on the parameters, the control end corrects the position of the first photoelectric sensor again according to the adjusting coefficient, when the first photoelectric sensor detects the object, the control end sends a signal to the control end, the control end receives the signal to control the linear motor to brake, and after the brake, whether the second photoelectric sensor detects the object to judge whether secondary adjustment is needed to the position of the object.
According to the method, the distance coefficient is built after normalization processing is carried out on the parameters through collecting a plurality of static parameters of the linear motor, the control end adjusts the initial distance between the first photoelectric sensor and the second photoelectric sensor according to the distance coefficient, in the moving process of the linear motor driving object, a plurality of dynamic parameters of the linear motor are collected, an adjusting coefficient is built after normalization processing is carried out on the parameters, the control end corrects the position of the second photoelectric sensor again according to the adjusting coefficient, therefore the braking system can carry out braking processing on the linear motor in advance, the object falls at a designated position under the action of inertia after braking, the braking precision of the linear motor is improved, subsequent adjustment processing on the position of the object is reduced, and efficiency is improved.
The guide rail in the linear motor driving mechanism has bearing and guiding functions, and the positioning precision of the mechanism is mainly influenced by the guide rail and the driving system, so that the guide rail with the characteristics of high straightness, high rigidity, small friction force, no creeping phenomenon and the like is generally required to be used in actual precision machining;
the guide rails which are frequently used mainly comprise a hydrostatic guide rail, a rolling guide rail and a sliding guide rail, and the hydrostatic guide rail has high precision, but has high cost, high installation requirement, difficult adjustment, easy influence by surrounding environment and the like;
the sliding guide rail has obvious creeping phenomenon in a low-speed state and has the adverse factors of large friction force, easy abrasion, difficult repair and the like, so the sliding guide rail is rarely applied to high-precision occasions;
the rolling guide rail is convenient to install and adjust, has better precision and economy, and is often applied to occasions driven by the linear motor.
Example 2
In the above embodiment 1, when the object is placed on the linear motor, the collecting end collects a plurality of static parameters of the linear motor, the parameters are normalized to establish a distance coefficient, and the control end adjusts the initial distance between the first photoelectric sensor and the second photoelectric sensor according to the distance coefficient, including the following steps:
the method comprises the steps that the weight of an object, the friction force between a rotor of a linear motor and a last motion moment of a stator, the preset initial moving speed of the linear motor and the air density are collected through a collecting end;
respectively calibrating the weight of an object, the friction force between a rotor of the linear motor and the last motion moment of a stator, the preset initial moving speed of the linear motor and the air density to Zli, mci, sdi, kqi;
carrying out normalization processing on the weight of an object acquired by an acquisition end, the friction force between a mover of a linear motor and a moment of motion on a stator, the preset initial moving speed of the linear motor and the air density, and removing a unit establishment distance coefficient Jlxs, wherein the expression is as follows:
wherein a is 1 、a 2 、a 3 、a 4 A is the proportionality coefficient of the weight of the object, the friction force between the mover of the linear motor and the moment of motion on the stator, the preset initial moving speed of the linear motor and the air density respectively 1 、a 2 、a 3 、a 4 All are larger than 0, C is an error correction factor, the value is 0.926, and a 1 >a 2 >a 3 >a 4 Scaling factor a 1 、a 2 、a 3 、a 4 The specific values of (a) are set by those skilled in the art based on actual experience and are not limited herein.
And after the control end presets a distance coefficient Jlxs established by the initial moving speed and the air density of the linear motor based on the weight of the object, the friction force between the mover of the linear motor and the moment of motion on the stator, the initial distance between the first photoelectric sensor and the second photoelectric sensor is adjusted through the distance coefficient Jlxs.
The weight of the object is detected by a pressure sensor on a linear motor clamp, the friction force between a linear motor rotor and a stator at a motion moment is the friction force generated between the linear motor rotor and the stator in the previous motion process, and is calculated by a formula f=mu N, wherein mu is a dynamic friction factor, the friction force is related to the materials of the rotor and the stator and the roughness degree of a contact surface, N is pressure, the weight of the object is equal because the linear motor transmits the weight of the object in the same process, N=the weight of the object+the weight of the rotor, the preset initial motion speed of the linear motor is input to a control end by the processing requirement of a tool object of a working staff, and the air density is monitored by an air density detector near the linear motor, wherein the air density is larger, and the air resistance is larger.
According to the method, the weight of the object, the friction force between the mover of the linear motor and the moment of motion on the stator, the preset initial moving speed of the linear motor and the air density are collected, the unit is removed through calculation, the data processing efficiency is improved, the initial distance between the first photoelectric sensor and the second photoelectric sensor is adjusted through the distance coefficient, and the braking precision of the linear motor is effectively improved.
Three-phase symmetrical sine current which changes with time is input into a winding of the synchronous linear motor, an air gap magnetic field is generated inside the motor, the air gap magnetic field is also distributed into sine waves if a longitudinal side effect is ignored, the air gap magnetic field is called a traveling wave magnetic field, electromagnetic thrust is generated under the interaction of the air gap magnetic field and an excitation magnetic field generated by a permanent magnet, and a motor rotor is pushed to perform synchronous linear motion at the same speed, wherein the speed of the traveling wave magnetic field is as follows:
V＝2fτ
wherein V is the speed of a travelling wave magnetic field, f is the frequency (Hz) of three-phase alternating current, and tau is the center distance of magnetic poles of the permanent magnet synchronous motor.
Example 3
In the above embodiment 1, when the linear motor drives the object to move at a high speed, the collecting end collects multiple dynamic parameters of the linear motor, the parameters are normalized, and then an adjustment coefficient is established, and the control end re-corrects the position of the second photoelectric sensor according to the adjustment coefficient, including the following steps:
the acquisition end acquires real-time speed, flux linkage circle radius of the rotor and the stator and real-time current value in the running process of the linear motor;
and (5) calibrating the real-time speed, the flux linkage radius of the rotor and the stator as Ssi, ybi, dli respectively.
Based on the real-time speed, the flux linkage radius of the rotor and the stator and the real-time current value, establishing an adjustment coefficient Tjxs after normalization processing, wherein the expression is as follows:
Tjxs＝e 1 Ssi+e 2 Ybi+e 3 Dl i
in the formula e 1 、e 2 、e 3 The real-time speed, the flux linkage radius of the rotor and the stator, the proportionality coefficient of the real-time current value, and e 1 、e 2 、e 3 Are all greater than 0, e 1 >e 2 >e 3 Scale factor e 1 、e 2 、e 3 The specific values of (a) are set by those skilled in the art according to actual experience and are not limited herein;
the control end corrects the position of the first photoelectric sensor in real time according to the adjusting coefficient Tjxs, so that after the linear motor brakes, the object can accurately stay at the indication position of the second photoelectric sensor, and the accuracy of the braking system is further improved.
In the embodiment, the real-time speed is detected by a speed sensor arranged on the rotor, and the real-time current value is detected by a current sensor arranged on the device;
the flux linkage circle radius is calculated by the following formula:
wherein U is the effective value of the line voltage of the linear motor, and f is the frequency of the power supply.
As can be seen from the expression of the radius Yb i of the flux linkage circle, the magnitude of Yb i depends on the ratio of the effective value U of the motor line voltage to the frequency f of the power supply.
When the voltage-frequency ratio U/f is fixed, the size of Yb i is obviously not changed, the electric angle theta is also changed along with the change of time t, and the flux linkage vector Clsi forms a circular track with the radius of Yb i to obtain an ideal flux linkage circle.
When three-phase symmetrical sinusoidal voltage power supply is applied, the ideal flux linkage of the motor stator is used as a reference, and the reference flux linkage circle is tracked by the actual flux linkage vector formed by different switch states of the three-phase inverter.
Example 1
Referring to fig. 1, an electromagnetic braking system for a linear motor in the present embodiment during high-speed movement includes a first positioning module, a second positioning module, a processing module, a first acquisition module, and a second acquisition module;
wherein,,
a first positioning module: the linear motor is used for sensing the object and then sending a signal to the processing module, and the processing module controls the linear motor to brake through electromagnetic induction according to the signal;
and a second positioning module: after the linear motor is used for braking, judging whether the object falls at a designated position or not;
the first acquisition module: the method comprises the steps of acquiring a plurality of static parameters of the linear motor, and establishing a distance coefficient after normalizing the parameters;
the second acquisition module: the method comprises the steps of acquiring a plurality of dynamic parameters of the linear motor, and establishing an adjusting coefficient after normalizing the parameters;
the processing module is used for: after the object is placed on the linear motor moving table, the distance between the first positioning module and the second positioning module is adjusted based on the distance coefficient, and when the linear motor operates, the position of the first positioning module is corrected in real time based on the adjusting coefficient.
The establishment logic of the distance coefficient is as follows: the first acquisition module acquires the weight of an object, the friction force between a mover of the linear motor and the moment of motion on the stator, the preset initial moving speed of the linear motor and the air density, and the initial moving speed and the air density are respectively calibrated as Zli, mci, sdi, kqi, and the weight, the friction force, the preset initial moving speed and the air density are calculated by the formula Jlxs=C
Establishing a distance coefficient Jlxs, a 1 、a 2 、a 3 、a 4 A is the proportionality coefficient of the weight of the object, the friction force between the mover of the linear motor and the moment of motion on the stator, the preset initial moving speed of the linear motor and the air density respectively 1 、a 2 、a 3 、a 4 All are larger than 0, C is an error correction factor, the value is 0.926, and a 1 >a 2 >a 3 >a 4 。
The weight of the object is detected by a pressure sensor on a linear motor clamp, the friction force between a linear motor rotor and a stator at a motion moment is the friction force generated between the linear motor rotor and the stator in the previous motion process, and is calculated by a formula f=mu N, wherein mu is a dynamic friction factor, the friction force is related to the materials of the rotor and the stator and the roughness degree of a contact surface, N is pressure, the weight of the object is equal because the linear motor transmits the weight of the object in the same process, N=the weight of the object+the weight of the rotor, the preset initial motion speed of the linear motor is input to a control end by the processing requirement of a tool object of a working staff, and the air density is monitored by an air density detector near the linear motor, wherein the air density is larger, and the air resistance is larger.
The establishment logic of the adjustment coefficient is as follows: the second acquisition module acquires real-time speed, flux linkage circle radius of the rotor and the stator and real-time current values, and respectively calibrates the real-time speed, the flux linkage circle radius of the rotor and the stator to Ssi, ybi, dli, and the real-time speed, the flux linkage circle radius of the rotor and the stator pass through the formula Tjxs=e 1 Ssi+e 2 Ybi+e 3 Dli establishes a regulating coefficient Tjxs, where e 1 、e 2 、e 3 The real-time speed, the flux linkage radius of the rotor and the stator, the proportionality coefficient of the real-time current value, and e 1 、e 2 、e 3 Are all greater than 0, e 1 >e 2 >e 3 。
The flux linkage circle radius is calculated by the following formula:
wherein U is the effective value of the line voltage of the linear motor, and f is the frequency of the power supply.
As can be seen from the expression of the radius Yb i of the flux linkage circle, the magnitude of Yb i depends on the ratio of the effective value U of the motor line voltage to the frequency f of the power supply.
When the voltage-frequency ratio U/f is fixed, the size of Yb i is obviously not changed, the electric angle theta is also changed along with the change of time t, and the flux linkage vector Clsi forms a circular track with the radius of Yb i to obtain an ideal flux linkage circle.
When three-phase symmetrical sinusoidal voltage power supply is applied, the ideal flux linkage of the motor stator is used as a reference, and the reference flux linkage circle is tracked by the actual flux linkage vector formed by different switch states of the three-phase inverter.
The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the processes or functions described in accordance with the embodiments of the present application are all or partially produced. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wired (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more sets of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a solid state disk.
It should be understood that the term "and/or" is merely an association relationship describing the associated object, and means that three relationships may exist, for example, a and/or B may mean: there are three cases, a alone, a and B together, and B alone, wherein a, B may be singular or plural. In addition, the character "/" herein generally indicates that the associated object is an "or" relationship, but may also indicate an "and/or" relationship, and may be understood by referring to the context.
In the present application, "at least one" means one or more, and "a plurality" means two or more. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural.
It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or other various media capable of storing program codes.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An electromagnetic braking method for a linear motor in high-speed motion is characterized by comprising the following steps: the method comprises the following steps:
s1: a first photoelectric sensor and a second photoelectric sensor are respectively arranged on the running path of the linear motor;
s2: when an object is placed on the linear motor, the acquisition end acquires a plurality of static parameters of the linear motor, and distance coefficients are established after the parameters are normalized;
s3: the control end adjusts the initial distance between the first photoelectric sensor and the second photoelectric sensor according to the distance coefficient;
s4: when the linear motor drives the object to move, the acquisition end acquires a plurality of dynamic parameters of the linear motor, and an adjustment coefficient is established after the parameters are normalized;
s5: the control end corrects the position of the first photoelectric sensor again according to the adjusting coefficient;
s6: when the first photoelectric sensor detects an object, a signal is sent to the control end, and the control end receives the signal to control the linear motor to brake;
s7: after braking, whether the position of the object needs to be adjusted secondarily is judged by judging whether the second photoelectric sensor detects the object.
2. The electromagnetic braking method for high-speed motion of a linear motor according to claim 1, wherein: in step S1, the first photoelectric sensor is used for detecting an object and then sending a signal to the control end, the control end controls the linear motor to brake through electromagnetic induction according to the signal, and the second photoelectric sensor is used for correcting the position of the object after the linear motor brakes.
3. The electromagnetic braking method for high-speed motion of a linear motor according to claim 1, wherein: in step S2, the acquisition end acquires a plurality of static parameters of the linear motor, and the distance coefficient is established after the parameters are normalized, and the method comprises the following steps:
s2.1: the method comprises the steps that the weight of an object, the friction force between a rotor of a linear motor and a last motion moment of a stator, the preset initial moving speed of the linear motor and the air density are collected through a collecting end;
s2.2: respectively calibrating the weight of an object, the friction force between a rotor of the linear motor and the last motion moment of a stator, the preset initial moving speed of the linear motor and the air density to Zli, mci, sdi, kqi;
s2.3: carrying out normalization processing on the weight of an object acquired by an acquisition end, the friction force between a mover of a linear motor and a moment of motion on a stator, the preset initial moving speed of the linear motor and the air density, and removing a unit establishment distance coefficient Jlxs, wherein the expression is as follows:
wherein a is 1 、a 2 、a 3 、a 4 A is the proportionality coefficient of the weight of the object, the friction force between the mover of the linear motor and the moment of motion on the stator, the preset initial moving speed of the linear motor and the air density respectively 1 、a 2 、a 3 、a 4 All are larger than 0, C is an error correction factor, the value is 0.926, and a 1 >a 2 >a 3 >a 4 。
4. The electromagnetic braking method for high-speed motion of a linear motor according to claim 1, wherein: the weight of the object is detected by a pressure sensor arranged on a linear motor clamp, the friction force between a linear motor rotor and a stator at a motion moment is the friction force generated between the linear motor rotor and the stator in the previous motion process, and is calculated by a formula f=mu N, wherein mu is a dynamic friction factor, the dynamic friction factor is related to the material of the rotor and the stator and the roughness degree of a contact surface, N is pressure, the weight of the object transmitted by the linear motor in the same process is equal, N=the weight of the object+the weight of the rotor, the preset initial motion speed of the linear motor is input to a control end by the processing requirement of a tool object of a working staff, and the air density is monitored by an air density detector near the set linear motor.
5. The electromagnetic braking method for high-speed motion of a linear motor according to claim 1, wherein: in step S4, when the linear motor drives the object to move, the collecting end collects multiple dynamic parameters of the linear motor, and the parameters are normalized to establish an adjustment coefficient, which includes the following steps:
s4.1: the acquisition end acquires real-time speed, flux linkage circle radius of the rotor and the stator and real-time current value in the running process of the linear motor;
s4.2: and (5) calibrating the real-time speed, the flux linkage radius of the rotor and the stator as Ssi, ybi, dli respectively.
S4.3: based on the real-time speed, the flux linkage radius of the rotor and the stator and the real-time current value, establishing an adjustment coefficient Tjxs after normalization processing, wherein the expression is as follows:
Tjxs＝e 1 Ssi+e 2 Ybi+e 3 Dli
in the formula e 1 、e 2 、e 3 The real-time speed, the flux linkage radius of the rotor and the stator, the proportionality coefficient of the real-time current value, and e 1 、e 2 、e 3 Are all greater than 0, e 1 >e 2 >e 3 。
6. The electromagnetic braking method for high-speed motion of a linear motor according to claim 1, wherein: the real-time speed is detected by a speed sensor arranged on the rotor, and the real-time current value is detected by a current sensor arranged on the device.
7. The electromagnetic braking method for high-speed motion of a linear motor according to claim 1, wherein: the flux linkage circle radius is calculated by the following formula:
in the formula, U is the effective value of the linear voltage of the linear motor, f is the frequency of the power supply, and the size of Ybi is not changed when the voltage-frequency ratio U/f is fixed.
8. An electromagnetic braking system for a linear motor in high speed motion, for implementing the braking system according to any one of claims 1 to 7, characterized in that: the device comprises a first positioning module, a second positioning module, a processing module, a first acquisition module and a second acquisition module;
the method comprises the steps that a first acquisition module acquires a plurality of static parameters of a linear motor, distance coefficients are established after the parameters are subjected to normalization processing, a second acquisition module acquires a plurality of dynamic parameters of the linear motor, adjustment coefficients are established after the parameters are subjected to normalization processing, a processing module adjusts the distance between a first positioning module and a second positioning module based on the distance coefficients after an object is placed on a linear motor mobile station, when the linear motor operates, the position of the first positioning module is corrected in real time based on the adjustment coefficients, the first positioning module senses the object and then sends signals to the processing module, and the processing module controls the linear motor to brake through electromagnetic induction according to the signals; and the second positioning module judges whether the object falls at the designated position after the linear motor brakes.
9. An electromagnetic braking system for high-speed motion of a linear motor according to claim 1, wherein: the establishment logic of the distance coefficient is as follows: the first acquisition module acquires the weight of an object, the friction force between a mover of the linear motor and the last motion moment of a stator, the preset initial moving speed of the linear motor and the air density, and the initial moving speed and the air density are respectively calibrated to Zli, mci, sdi, kqi, and the weight, the friction force, the preset initial moving speed and the air density are calculated according to the formula
Establishing a distance coefficient Jlxs, a 1 、a 2 、a 3 、a 4 Respectively the weight of the object, the friction force between the mover of the linear motor and the moment of motion on the stator and the linearThe motor presets the initial moving speed and the proportionality coefficient of air density, a 1 、a 2 、a 3 、a 4 All are larger than 0, C is an error correction factor, the value is 0.926, and a 1 >a 2 >a 3 >a 4 。
10. An electromagnetic braking system for high-speed motion of a linear motor according to claim 1, wherein: the establishment logic of the adjustment coefficient is as follows: the second acquisition module acquires real-time speed, flux linkage circle radius of the rotor and the stator and real-time current values, and respectively calibrates the real-time speed, the flux linkage circle radius of the rotor and the stator to Ssi, ybi, dli, and the real-time speed, the flux linkage circle radius of the rotor and the stator pass through the formula Tjxs=e 1 Ssi+e 2 Ybi+e 3 Dli establishes a regulating coefficient Tjxs, where e 1 、e 2 、e 3 The real-time speed, the flux linkage radius of the rotor and the stator, the proportionality coefficient of the real-time current value, and e 1 、e 2 、e 3 Are all greater than 0, e 1 >e 2 >e 3 。
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