CN118670238A - Electromagnet position identification method - Google Patents
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Abstract
The application relates to the field of automobile part control, and discloses an electromagnet position identification method, which comprises the following steps: controlling the moving direction of the electromagnet by changing the polarity of the voltage applied to the coil; the current position of the electromagnet is judged by monitoring the rising speed of the coil current. Also disclosed is an electromagnet position recognition device, comprising: an electromagnet, a control unit and a current monitoring device: the control unit applies positive and negative voltages to the coil according to a user instruction or a preset program to realize forward and reverse movement of the electromagnet; the current monitoring device monitors the current change in the coil in real time, and deduces the position of the electromagnet by analyzing the rising speed of the current. According to the technical scheme, the position of the electromagnet can be accurately identified and controlled, the actual position of the electromagnet is ensured to be consistent with the target position, and the automobile driving safety problem caused by the abnormal position of the electromagnet can be effectively avoided.
Description
Technical Field
The invention relates to the field of automobile part control, in particular to an electromagnet position identification method.
Background
The electromagnet as a device for converting electric energy into magnetic energy has wide application in various fields such as automation control, mechanical driving, medical equipment and the like, particularly in the field of automobile control. In various application scenes, the position detection of the electromagnet is very important. Taking the application of the electromagnet on the gear selecting mechanism of the automatic transmission as an example, if the actual position of the electromagnet after moving is inconsistent with the target position, the whole vehicle has potential safety hazards of running in the opposite direction to the intention of a driver after gear shifting is completed. Therefore, it is urgent to develop a technique capable of precisely controlling the position of the electromagnet and ensuring that the actual position of the electromagnet coincides with the target position.
The existing electromagnet is mainly applied in two modes of position detection or not and position detection by adding a sensor; for the mode without position detection, once the hardware or the control circuit of the electromagnet is abnormal, the situation that the target position and the actual position of the electromagnet are inconsistent can occur, and then the problem of the whole system is caused. Therefore, in another mode, a position sensor is added to perform position judgment on the electromagnet to effectively avoid the problem, but due to the limitation of an automobile framework, the application space of the electromagnet is often very limited, and the arrangement of the position sensor is very difficult. Meanwhile, the commonly used types of the position sensor, such as Hall, eddy current and the like, are related to electromagnetic effect in principle, and the electromagnet is provided with a strong permanent magnet, so that the arrangement difficulty of the position sensor is further increased.
Most of the existing electromagnet position detection methods have a part of defects. Traditional mechanical position detection methods, which use mechanical contact or lever principles to detect position, are susceptible to wear and environmental impact; the optical position detection is used for detecting the position through a photoelectric sensor or an encoder, has high precision, but has relatively high cost and has strict requirements on installation and calibration; digital position detection, which improves detection accuracy by digital signal processing techniques, is costly and complex in hardware. Therefore, based on the difficult problem, the application provides an electromagnet position identification method.
Disclosure of Invention
Technical problem
In order to solve the above problems, an object of the present invention is to provide a method for identifying the position of an electromagnet, which does not need to intervene in a position sensor, and only needs to add a pair of field effect transistors and a pair of current detection resistors on the basis of an original control circuit, and the moving direction of the electromagnet is controlled by changing the polarity of the voltage applied to a coil, so that the identification of the current position of the electromagnet can be realized by monitoring the rising speed difference of the current of the coil.
Technical proposal
In order to achieve the above object, in a first aspect, the present invention provides an electromagnet position identifying method, including the steps of: the detection PIN is added between the two coils where the electromagnet is located, the position of the electromagnet can be changed by different positions of the electromagnet at the moment of energization in a specific control mode, so that the rising speeds of currents passing through the two coils are different, and the position of the electromagnet is identified based on the difference of the rising speeds of the currents.
Further, the energizing moment is specifically that the currents of the two coils are different from 0 to the same period until the currents reach the same period.
Further, the current rising speed is obtained by collecting a current detecting resistor connected in parallel with the coil.
Further, the method further comprises: setting voltage polarity according to the target moving direction and/or the target moving position of the electromagnet, and identifying whether the electromagnet achieves the target moving direction and/or achieves the target moving position by adjusting the voltage polarity applied to the coil and monitoring current change in the coil.
Furthermore, the method realizes accurate control of the position of the electromagnet by adjusting the polarity of the applied voltage; the control principle is simple, and the system reliability is high; the accurate control of the voltage ensures that the moving precision of the electromagnet can meet the industrial production requirement; the rapid change in voltage causes the electromagnet to respond quickly, thereby shortening the response time of the system.
Further, the method further comprises: judging whether the electromagnet reaches a preset position according to a comparison result of the current rising speed and a preset threshold value; the system design complexity is low, and the identification of the electromagnet position can be realized only by adding a pair of field effect transistors and a pair of current detection resistors on the basis of the original control circuit; the position sensor required by the position detection of the existing electromagnet is not required to be installed, and the production cost is reduced.
Further, the preset threshold is determined based on physical characteristics of the electromagnet and specific requirements of the target position; the accuracy of electromagnet position judgment is further improved.
Further, the method applies a model predictive control scheme for analyzing the current data and predicting potential faults; the error of the position movement of the electromagnet is reduced, and the abrasion to mechanical parts caused by exceeding the target position is reduced; the moving deviation of the electromagnet can be found and corrected in time, and the accuracy of the position movement of the electromagnet is further improved.
Further, the method also comprises a temperature compensation scheme for adjusting control parameters at different ambient temperatures to maintain consistency of electromagnet performance; the device can maintain a preset performance level under the environment of a polarization end, and the influence of temperature change on performance is reduced; allowing the system to adjust operating parameters based on ambient temperature, reducing device energy consumption.
In a second aspect, the present invention further provides an electromagnet position identifying apparatus, including:
An electromagnet;
the control unit is used for applying positive and negative voltages to the coil according to a user instruction or a preset program to realize forward and reverse movement of the electromagnet;
the current monitoring device is used for monitoring the current change in the coil in real time and deducing the position of the electromagnet by analyzing the rising speed of the current. The device can realize the electromagnet position identification method.
Further, the control unit comprises a position recognition circuit and an input/output interface for receiving user instructions or program inputs; the position identification circuit changes the positive and negative voltage applied to the coil through the switch closing, so that the current flow direction is changed, the electromagnet is controlled to move according to the change of the magnetic field of the coil, and the position of the electromagnet is judged according to the rising speed of the current passing through the coil.
In a third aspect, the invention further provides an electromagnet position identification circuit, which comprises a three-phase bridge control circuit, a first coil, a second coil and a detection PIN PIN arranged between the first coil and the second coil and connected with the first coil and the second coil, wherein the first coil, the second coil and the detection PIN PIN are respectively connected with the three-phase bridge control circuit. The circuit can realize the electromagnet position identification method.
Further, the first coil is connected with a three-phase bridge control circuit through a first current detection resistor.
Further, the current in the first coil is monitored by the first current sensing resistor.
Further, the second coil is connected with the three-phase bridge control circuit through a second current detection resistor.
Further, the current in the second coil is monitored by the second current sensing resistor.
Furthermore, in the electromagnet position identification circuit, the polarity direction and/or the current magnitude of the first coil and the second coil can be adjusted by controlling the three-phase bridge control circuit.
The electromagnet position recognition circuit can reversely deduce the position of the electromagnet by monitoring the difference of the instantaneous current values of the current detection resistors, and can recognize the position of the electromagnet by monitoring the current values only by realizing the polarity conversion of the current flowing through the coil in the circuit and adding a pair of current detection resistors, so that the circuit is more economical and applicable than the scheme of adding a position sensor.
In a fourth aspect, the present invention also provides a computer readable storage medium having stored therein a computer program which when executed by a processor implements the steps of the above described electromagnet position identification method.
The invention controls the moving direction of the electromagnet by changing the polarity of the voltage applied to the coil, and judges the current position of the electromagnet by monitoring the rising speed of the current of the coil. The control principle is simple, the system design complexity is low, the identification of the electromagnet position can be realized without installing a position sensor required by the existing electromagnet position detection, the design difficulty is reduced, the arrangement cost of the device is reduced, the device can be conveniently integrated into the existing control system, large-scale hardware or software transformation is not required, and the portability is strong.
Advantageous effects
By implementing the electromagnet position identification method provided by the invention, the following technical effects are achieved:
(1) The technical scheme realizes the accurate movement of the electromagnet by accurately controlling the voltage applied to the electromagnet: the control principle is simple, and the repair difficulty is low when an abnormality occurs; the accurate control of the voltage ensures that the moving precision of the electromagnet is high, and the requirement of industrial production can be met; the quick change of the voltage makes the electromagnet respond quickly, and shortens the response time of the system.
(2) According to the technical scheme, whether the electromagnet reaches a preset position is judged by monitoring the current rising speed in the coil in real time: the electromagnet position can be identified by only adding a pair of field effect transistors and a pair of current detection resistors on the basis of the original control circuit, so that the application cost is low; the system does not need to be provided with a position sensor, can be conveniently integrated into the existing control system, does not need large-scale hardware or software transformation, and has good applicability.
(3) According to the technical scheme, a model predictive control scheme is applied, current data are analyzed, and potential faults are predicted: excessive movement of the electromagnet can be avoided, abrasion to mechanical parts caused by exceeding the target position is reduced, and the requirement on a complex sensor or a mechanical limiter is reduced; the method is beneficial to maintaining the stable operation of the electromagnet, finding and correcting the movement deviation of the electromagnet in time, and improving the reliability of the system.
(4) According to the technical scheme, the control parameters are adjusted under different environment temperatures by applying the temperature compensation scheme, so that the consistency of the performance of the electromagnet is maintained: the electromagnet can be ensured to keep a preset performance level at different environmental temperatures, the influence of temperature change on performance is reduced, and the electromagnet system can adapt to wider environmental conditions; allowing the system to adjust operating parameters based on ambient temperature, reducing unnecessary energy consumption.
Drawings
In order to make the above-mentioned method for identifying the position of an electromagnet more comprehensible, the drawings used in the detailed description of the invention will be briefly described, and it is apparent that the drawings in the following description are only examples of the invention, and other drawings can be obtained according to the drawings without any inventive effort for those skilled in the art.
FIG. 1 shows a schematic diagram of an electromagnet;
fig. 2 shows a schematic illustration of the electromagnet arrangement simplified from fig. 1;
FIG. 3 shows a schematic diagram of an electromagnet control circuit;
FIG. 4 shows a schematic diagram of an electromagnet position detection control circuit;
FIG. 5 shows a schematic diagram of the current waveform of an electromagnet in the negative direction;
FIG. 6 shows a flow chart of the current waveform of the electromagnet in the forward direction;
fig. 7 shows a schematic diagram of the effect of the model predictive control scheme.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention discloses an electromagnet position identification method, which comprises the following steps: s1: determining the target position of an electromagnet; s2: setting a voltage polarity according to the target position; s3: applying a voltage of a corresponding polarity to the coil through the control unit; s4: the current monitoring device monitors the current change in the coil; s5: and judging whether the electromagnet reaches a preset position or not.
The electromagnet position identification method provided by the invention specifically comprises the following steps:
S1: and determining the target position of the electromagnet.
The system determines the target position to which the electromagnet needs to move according to a user instruction or a preset program.
S2: the voltage polarity is set according to the target position.
The system calculates the polarity, amplitude and duration of the voltage required to be applied to the coil according to the distance between the current position of the electromagnet and the target position.
S3: voltages of corresponding polarities are applied to the coils through the control unit.
The system applies the calculated voltage to the coil through the control unit, and the electromagnet moves from the current position to the target position under the influence of magnetic force.
The electromagnet is formed by combining a double coil and a permanent magnet which are connected in series, and the specific constitution of the electromagnet is shown in figure 1.
The control unit comprises a position identification circuit and an input/output interface, and the specific connection mode of the electromagnet and the control unit is shown in figure 3. The control unit changes the direction of the magnetic field of the coil by applying positive and negative voltage to the coil, so that the axial positive and negative bidirectional movement of the driving disc is realized, and the electromagnet structure of fig. 1 can be simplified into fig. 2. As shown in fig. 2, a negative voltage is applied to U, a positive voltage is applied to W, the magnetic field direction of the coil 1 is the same as the magnetic field direction of the permanent magnet, a larger magnetic force F1 is generated, the magnetic field direction of the coil 2 is opposite to the magnetic field direction of the permanent magnet, a magnetic force F2 is generated after the magnetic fields cancel each other, and when f=f1-F2 > F3, the driving disk moves in the negative direction under the action of the magnetic force. Conversely, when a positive voltage is applied to U and a negative voltage is applied to W, the drive disk moves in the positive direction. Specific mode of controlling the electromagnet by the control unit is shown in fig. 3, and the control unit controlsAndClosing, wherein the current flow direction is shown by an arrow in the figure, and the electromagnet moves to the negative direction under the action of electromagnetic force; control ofAndAnd closing, wherein the current flows as shown by an arrow in the figure, and the electromagnet moves in the positive direction under the action of electromagnetic force. The response time of controlling the electromagnet to move by the method is shortened by about 60 percent compared with that of the traditional mechanical control electromagnet, the deviation is reduced by about 70 percent, and the specific effect is shown in the table 1.
Table 1, summary of comparison of effects of electronic control and mechanical control
S4: the current monitoring device monitors a current change in the coil.
The current monitoring device monitors current changes in the coils in real time, and draws a current waveform chart according to the real-time current rising speed through the two coils.
The coil of the electromagnet has an inductance element besides a resistor, and the current passing through the inductance element does not jump at the moment of energization, but gradually rises according to a certain curve. Thus, at the moment of coil energization, the current in the coil slowly increases from 0. The special detection PIN V exists in the two coils of the electromagnet, the characteristics of the two coils of the electromagnet are changed due to the difference of the positions of the electromagnet at the moment of energization by a specific control mode, the rising speed of the current passing through the two coils is further caused to be different, and the position of the electromagnet can be identified based on the characteristic. The method can realize the identification of the position of the electromagnet by only adding a pair of field effect transistors and a pair of current detection resistors on the basis of the original control circuit, and a position sensor is not required to be installed.
A specific manner of detecting the position of the electromagnet by the control circuit is shown in fig. 4, and in the control circuit, the electromagnet is controlled by software、、Closing, the UV and WV phases are turned on and current flows as indicated by the arrows in FIG. 4. Current sensing resistor in control circuitAndFor detecting the current flowing through both coilsAnd. As described above, since the positions of the electromagnets are different, the rising speeds of the currents flowing to the two coils are different, the operation can be based onAndAnd the size of the current electromagnet is identified. The control mode of fig. 4 is realized by software when the electromagnet is in the negative direction position, and the electromagnet flows through two coils at the momentAndThe current waveform is shown in fig. 5. When the electromagnet is in the positive direction, the control mode of fig. 4 is realized by software, and at the moment, the electromagnet flows through two coilsAndThe current waveform is shown in fig. 6. In summary, the electromagnet is controlled in the position detection control manner shown in fig. 4, and when the electromagnet is in the negative direction, the W-phase current is equal to the W-phase currentIs greater than U-phase current; When the electromagnet is in the positive direction, the U-phase currentIs greater than W phase current。
The electromagnet position identification method also comprises a temperature compensation scheme, wherein the influence of environmental temperature change on the electromagnet performance is comprehensively considered, particularly the characteristic of resistance along with temperature change and the influence of the change on the electromagnet magnetic field intensity and the coil current rising speed are comprehensively considered, and target current test data under the temperature condition of-55 ℃ to 125 ℃ after compensation are shown in table 2.
Table 2, summary of temperature Compensation scheme test data
| -55 | 0.5 | 0.859 | 1.223 | 1.587 | 1.952 | 2.316 | 2.680 | 3.045 | 3.409 | 3.772 | 4.137 |
| -40 | 0.5 | 0.860 | 1.224 | 1.588 | 1.952 | 2.316 | 2.680 | 3.045 | 3.409 | 3.774 | 4.137 |
| 0 | 0.5 | 0.861 | 1.226 | 1.590 | 1.954 | 2.318 | 2.682 | 3.046 | 3.410 | 3.773 | 4.138 |
| 25 | 0.5 | 0.864 | 1.229 | 1.593 | 1.957 | 2.320 | 2.684 | 3.048 | 3.411 | 3.774 | 4.137 |
| 80 | 0.5 | 0.864 | 1.228 | 1.593 | 1.957 | 2.320 | 2.684 | 3.048 | 3.411 | 3.775 | 4.138 |
| 125 | 0.5 | 0.864 | 1.228 | 1.593 | 1.957 | 2.320 | 2.684 | 3.048 | 3.411 | 3.775 | 4.138 |
The core aim is to ensure that the electromagnet can accurately move to a preset position under different temperature conditions and maintain the required current rising speed, comprising the following steps:
measuring current And ambient temperature；
Resistance temperature compensation, calculating resistance at current temperature；
According to the target currentCalculating an ideal supply voltage；
According toAdjusting the supply voltage while taking into account the voltage limit:；
Applying the regulated supply voltage To the coil, controlling the electromagnet to move;
calculating the current rising speed ; If it isBelow a preset threshold, and if the electromagnet has moved to the target position, then the electromagnet is considered to have arrived;
if the position judgment does not meet the expectation, continuing to adjust the power supply voltage and monitoring the current change;
Wherein the method comprises the steps of Indicating a reference temperatureLower coil resistance; The temperature coefficient of the resistor (unit:. Degree. C. Times. -1); The reference temperature (typically 25 ℃) is indicated; And Representing maximum and minimum limits of the supply voltage; Representing the maximum value of the coil current;
For example, assume that ，，，，，，; The current resistance has a value ofThe ideal power supply voltage is; In view of the voltage limitation, 203.9V exceedsIs limited, thus selectingAs a supply voltage.
The scheme can ensure that the electromagnet can keep a preset performance level at different environmental temperatures, reduce the influence of temperature change on performance, and enable the electromagnet system to adapt to wider environmental conditions; allowing the system to adjust operating parameters based on ambient temperature, reducing unnecessary energy consumption.
S5: and judging whether the electromagnet reaches a preset position or not.
The current monitoring device is used for periodically carrying out average processing on the collected current and judging whether the electromagnet reaches a preset position or not according to a comparison result of the current rising speed and a preset threshold value.
The threshold value is comprehensively determined based on the magnetic field intensity, magnetic force line distribution, hysteresis characteristic, coil turns, current magnitude, iron core material and the like of the electromagnet, and the detection precision and response speed required by the system.
The current monitoring device applies a model prediction control scheme, which predicts the accurate position of the electromagnet and adjusts the voltage parameter in real time based on the current rising speed of the coil in the moving process of the electromagnet, and the effect diagram is shown in fig. 7, and comprises the following steps:
It is assumed that the dynamics of the electromagnet can be reduced to a first order system, the position of which And current flowThe following are related:
Wherein, Is the time constant, K is the system gain;
further, discretizing the differential equation described above:
Wherein, Is the sampling period of time that is required for the sample,AndThe position and current of the kth sampling period, respectively;
Defining an objective function For future predicted and expected positionsThe sum of squares of the errors between, while taking into account the variation of the control inputs:
Wherein, Is the length of the prediction time domain,Is to control the length of the time domain,Is a weight coefficient for balancing tracking error and input variation;
defining upper and lower limit constraints of the current: ；
at each control step, according to the current state And predicted control input sequencesTo predict future state sequences；
At each sampling period, the following optimization problem is solved: meeting state prediction and constraint conditions;
Solution of application optimization problem To the system and use the new measurement state in the next sampling periodAs an initial condition, the optimization process is repeated.
The scheme can avoid excessive movement of the electromagnet, reduce abrasion to mechanical parts caused by exceeding a target position, and reduce the requirement on a complex sensor or a mechanical limiter; the method is beneficial to maintaining the stable operation of the electromagnet, finding and correcting the movement deviation of the electromagnet in time, and improving the reliability of the system.
The electromagnet position identification method provided by the invention realizes accurate movement of the electromagnet by accurately controlling the voltage applied to the electromagnet, has simple control principle and high electromagnet movement precision, and can meet the industrial production requirement; the current rising speed in the coil is monitored in real time to judge whether the electromagnet reaches a preset position, so that the device is simple, a position sensor is not required to be installed, the application cost is low, and the applicability is good; by applying a model predictive control scheme, current data are analyzed and potential faults are predicted, so that the abrasion of mechanical parts is reduced, and the reliability of the system is improved; the control parameters are adjusted under different environmental temperatures by a temperature compensation method, so that the consistency of the performance of the electromagnet is maintained, the influence of temperature change on the performance of the electromagnet is reduced, and the operation parameters are adjusted according to the environmental temperatures so as to reduce unnecessary energy consumption.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media having computer-usable program code embodied therein.
The invention may provide computer program instructions to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions of the method.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function of the method.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions of the method.
Claims (10)
1. An electromagnet position identification method is characterized in that: the detection PIN is arranged in the middle of the coil where the electromagnet is located, and the characteristics of the two coils of the electromagnet are changed due to the position difference of the electromagnet at the moment of electrifying in a specific control mode, so that the rising speeds of the currents passing through the two coils are different, and the position of the electromagnet is identified based on the difference of the rising speeds of the currents.
2. The electromagnet position identification method as set forth in claim 1 wherein: further comprises: setting voltage polarity according to the target moving direction and/or the target moving position of the electromagnet, and identifying whether the electromagnet achieves the target moving direction and/or achieves the target moving position by adjusting the voltage polarity applied to the coil and monitoring current change in the coil.
3. The electromagnet position identification method according to claim 1 or 2, characterized in that: the method realizes accurate control of the position of the electromagnet by adjusting the polarity of the applied voltage.
4. The electromagnet position identification method according to claim 1 or 2, characterized in that: the method derives the position of the electromagnet by monitoring the difference of the instantaneous current values of the two coils.
5. The electromagnet position identification method according to claim 1 or 2, characterized in that: the method analyzes the current data and predicts potential faults based on a model predictive control scheme.
6. The electromagnet position identification method according to claim 1 or 2, characterized in that: the method is based on a temperature compensation scheme, and control parameters are adjusted at different ambient temperatures to maintain consistency of electromagnet performance.
7. An electromagnet position recognition device is characterized in that: comprising the following steps:
An electromagnet;
the control unit is used for applying positive and negative voltages to the coil according to a user instruction or a preset program to realize forward and reverse movement of the electromagnet;
the current monitoring device is used for monitoring the current change in the coil in real time and deducing the position of the electromagnet by analyzing the rising speed of the current.
8. The electromagnet position identification apparatus as set forth in claim 7 wherein: the control unit includes a position recognition circuit and an input/output interface for receiving user instructions or program inputs.
9. An electromagnet position identification circuit is characterized in that: the three-phase bridge control circuit comprises a three-phase bridge control circuit, a first coil, a second coil and a detection PIN PIN arranged between the first coil and the second coil and connected with the first coil and the second coil, wherein the first coil, the second coil and the detection PIN PIN are respectively connected with the three-phase bridge control circuit.
10. A computer readable storage medium having a computer program stored therein, characterized in that the method according to any of claims 1-6 is implemented when the computer program is run.
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| CN115031618A (en) * | 2022-05-31 | 2022-09-09 | 湖南行必达网联科技有限公司 | Position detection and control method for holding electromagnet |
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2024
- 2024-08-16 CN CN202411123913.2A patent/CN118670238A/en active Pending
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| CN103363185A (en) * | 2012-03-26 | 2013-10-23 | 比尔克特韦尔克有限公司 | Solenoid valve having a condition monitoring unit, and a method of condition monitoring a solenoid valve |
| CN110352466A (en) * | 2017-01-19 | 2019-10-18 | 福伊特专利有限公司 | The method and apparatus for determining electromagnet armature position |
| CN115031618A (en) * | 2022-05-31 | 2022-09-09 | 湖南行必达网联科技有限公司 | Position detection and control method for holding electromagnet |
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