	US 12,237,787 B2
	Method for controlling direct drive system and related device
Min Chen, Shenzhen (CN); Lin Qian, Shenzhen (CN); Weiling Shi, Shenzhen (CN); Xueyuan Zhu, Shenzhen (CN); and Shun Guo, Shenzhen (CN)
Assigned to AAC Microtech (Changzhou) Co., Ltd., Changzhou (CN)
Appl. No. 17/918,553
Filed by AAC Microtech (Changzhou) Co., Ltd., Changzhou (CN)
PCT Filed Jul. 28, 2022, PCT No. PCT/CN2022/108445 § 371(c)(1), (2) Date Oct. 12, 2022, PCT Pub. No. WO2024/000712, PCT Pub. Date Jan. 4, 2024.
Claims priority of application No. 202210770583.0 (CN), filed on Jun. 30, 2022.
Prior Publication US 2024/0213902 A1, Jun. 27, 2024
Int. Cl. H02P 25/06 (2016.01); H02P 23/14 (2006.01)

CPC H02P 25/06 (2013.01) [H02P 23/14 (2013.01)]

9 Claims

1. A method for controlling a direct drive system, wherein the direct drive system comprises: a guide rail, stators attached to the guide rail, movers slidable on the guide rail, actuators each corresponding to one of the stators, and a controller configured to control the actuators, wherein each of the stators comprises a stator body, windings fixed to the stator body, and a first position feedback means, and each of the movers comprises a mover body, a magnet fixed to the mover body, and a second position feedback means, and wherein the windings are arranged directly opposite to the magnet, wherein the method comprises:

S1: outputting, by the actuator, a current to the winding of the stator corresponding to the actuator to cause the windings to drive the mover corresponding to the windings to move in a single direction along the guide rail;

S2: sensing a position of the second position feedback means through the first position feedback means, and acquiring position information of the mover relative to the stator; and

S3: changing a drive mode of the actuator according to the position information, so that the actuator adjusts, according to the drive mode, magnitude of the current outputted to the windings of the stator corresponding to the actuator; wherein the drive mode comprises a main shaft mode and an auxiliary shaft mode, and the actuator adjusts, in real time according to the position information, the magnitude of the current outputted to the windings of the corresponding stator when the actuator is in the main shaft mode; and

the magnitude of the current outputted by the actuator to the windings of the corresponding stator is fixed when the actuator is in the auxiliary shaft mode;

when the actuator is in the main shaft mode, the actuator outputs a large current to the windings of the corresponding stator when the actuator moves in the direction of its movement and is gradually close to the stator; when the actuator gradually moves away from the stator in the direction of its movement, the current output of the actuator to the windings of the corresponding stator gradually becomes smaller.