Patent ID: 11881752
Assignee: ZHEJIANG UNIVERSITY ADVANCED ELECTRICAL EQUIPMENT INNOVATION CENTER
Field: Electrical machinery, apparatus, energy (Electrical engineering)
Classification: CPC H  B | IPC B  H

Claim 8:
9. A collaborative control method applied to the direct-drive type annular flexible transportation system, the direct-drive type annular flexible transportation system comprising:
the system comprising an annular base and a primary excitation type linear motor, wherein the primary excitation type linear motor is installed on an annular side surface of the annular base; the primary excitation type linear motor comprises a long stator and a plurality of movers, the movers operate independently of one another without electromagnetic coupling, the movers are attached onto the long stator by magnetic attraction, and air gaps are provided between the movers and the long stator,
the long stator is fixedly connected to the annular base and is formed by seamless connection of stator iron cores presenting a multi-segment cogging structure arranged along the annular side surface of the annular base, inner surfaces of the stator iron cores are fixed on the annular side surface of the annular base, and outer surfaces of the stator iron cores are provided with slots in an annular direction of the annular base,
each mover comprises a short primary and roller guide rail assemblies, the short primary and the roller guide rail assemblies are fixedly connected together by brackets, the short primary is located outside the long stator, an air gap is provided between the short primary and the long stator, both sides of the short primary are provided with the roller guide rail assemblies, each roller guide rail assembly comprises a roller and a guide rail, the guide rail is laid in the annular direction of the annular base, parallel to an arrangement direction of the long stator, and fixedly connected to the annular side surface of the annular base, and the roller is connected to the guide rail and moves along the guide rail,
the method comprising:
step one: the movers is used a parallel synchronization controlling and sending, by a master computer, control commands to each of the movers in parallel;
step two: monitoring real-time positions [P1, P2, . . . , PN] of N movers in real time according to a position signal feedback and calculating operating distances [L1, L2, . . . , LN] among N movers according to the real-time positions, where L1 represents the distance between a first mover and a second mover, L2 represents the distance between a second mover and a third mover, and LN represents the distance between a Nth mover and the first mover;
step three: comparing and determining the relationship between the operating distances [L1, L2, . . . , LN] among the N movers and a minimum safe operating distance Ls and retrieving operation data of kth and k+1th movers when a kth operating distance Lk is less than the minimum safe operating distance Ls;
step four: determining the deviation of actual operating speeds and position values of the kth and k+1th movers from a command value according to speed and position commands, wherein when the deviation is greater than a set threshold, the mover having a fault is determined, the speed and position command values are re-issued to the mover, and the power driving module adjusts a magnitude of an output driving current to correct a movement state; and
step five: monitoring the operation data of the faulty mover, wherein in ten control cycles, if the operating distance from the adjacent movers is still less than the minimum safe operating distance Ls, all of the movers stop in an emergency, and the faulty movers sends a fault signal to the master computer.