Method for controlling direct drive transmission system and related device

A method for controlling a direct drive transmission system, wherein the direct drive transmission system comprises a plurality of stators successively connected into a stator unit, a guide rail mounted to the stator unit, a plurality of movers forming a slidable connection with the guide rail and being movable relative to the plurality of stators, a plurality of first incremental position feedback means, a plurality of second incremental position feedback means, a plurality of actuators, and a controller, wherein each of the first incremental position feedback means is mounted on one of the movers, and each of the second incremental position feedback means is mounted on each of the stators;

• a first zero mark and a second zero mark spaced from each other are preset on each of the first incremental position feedback means, a distance between the first zero mark and the second zero mark is a preset value, and the plurality of actuators are connected to the plurality of second incremental position feedback means respectively and are connected to the controller,
• wherein the method comprises:
• S1:
• starting the direct drive transmission system for overall zero returning so that all the movers move in a same direction;
• S2:
• reading, by each of the actuators, a zero signal of the first incremental position feedback means identified by a corresponding second incremental position feedback means;
• S3:
• determining whether any one of the actuators reads two zero signals;
• if yes, performing step S4;
• otherwise, returning to step S1;
• S4:
• determining according to a distance between the two zero signals fed back by the actuator that a corresponding mover of the movers has completed zero returning, and further completing zero returning of the direct drive transmission system;
• and
• S5:
• acquiring, by the controller based on the direct drive transmission system after zero returning, position information of each of the movers, and driving the movers to move.