CN107015573A - The control method and system of electromagnetic motion platform - Google Patents

Abstract

The invention discloses a control method and system for an electromagnetic motion platform. The system includes: a motion data acquisition unit, a position control unit, a current control unit and an electromagnetic motion platform, wherein the electromagnetic motion platform at least includes: A plurality of permanent magnets on the platform, a plurality of electromagnetic coils arranged on the lower platform and position sensors arranged on each permanent magnet, the motion data acquisition unit is used to obtain the motion data of each permanent magnet, and transfer the motion data of each permanent magnet to Send to the position control unit, the position control unit is used to calculate the current value passing through each electromagnetic coil according to the motion data of each permanent magnet, and send the current value of each electromagnetic coil to the current control unit, and the current control unit is used to receive The current value of each electromagnetic coil controls the current passing into each electromagnetic coil, and the position sensor is used to feed back the moving position data of each permanent magnet to the position control unit.

Description

Control method and system for electromagnetic motion platform

technical field

The present invention relates to the technical field of motion simulation experience, and more specifically, to a control method and system for an electromagnetic motion platform.

Background technique

At present, the driving sources of the control system of the multi-degree-of-freedom motion platform are basically two types: servo motor + lead screw and linear motor. Servo motors and lead screws are heavy, linear motors are heavy, and their physical track dimensions are long. Therefore, the above two driving sources cannot realize the miniaturization and light weight of the multi-degree-of-freedom motion platform. When the above two kinds of driving sources are driven, there is mechanical structure friction, and the mechanical structure friction is likely to generate noise, thereby reducing the service life of the driving source. In addition, the control of the driving source only performs closed-loop feedback for driving the actuator (for example, a motor), and does not perform closed-loop feedback for the transmission mechanism (for example, electric cylinder, cylinder, transmission hinge) after driving the actuator. Due to the multi-degree-of-freedom The motion platform is directly connected to the transmission mechanism, and the motion error of the transmission mechanism will also cause the motion of the multi-degree-of-freedom motion platform to be inappropriate, resulting in low control accuracy of the control system.

Contents of the invention

An object of the present invention is to provide a new technical solution for a control method and system of an electromagnetic motion platform.

According to one aspect of the present invention, a control system of an electromagnetic motion platform is provided, including: a motion data acquisition unit, a position control unit, a current control unit, and an electromagnetic motion platform, wherein the electromagnetic motion platform includes at least: A plurality of permanent magnets arranged on the upper platform, a plurality of electromagnetic coils arranged on the lower platform and position sensors arranged on each permanent magnet, the motion data acquisition unit is used to acquire the motion data of each permanent magnet, and Send the motion data of each permanent magnet to the position control unit, and the position control unit is used to calculate the current value of the current passed into each electromagnetic coil according to the motion data of each permanent magnet, and send The current value of the current passed into each electromagnetic coil is sent to the current control unit, and the current control unit is used to control the current value of the current passed into each electromagnetic coil according to the received current value of the current passed into each electromagnetic coil. The current of the coil, the position sensor is used to feed back the movement position data of each permanent magnet to the position control unit.

Optionally, the motion data acquisition unit at least includes: a receiving unit and a motion data inversion unit, wherein the receiving unit is used to receive motion instructions from the external device of the electromagnetic motion platform, and obtain the motion data of the electromagnetic motion platform, and send the motion data of the electromagnetic motion platform to the motion data inversion unit,

The motion data inversion unit is used to inversely analyze the motion data of the electromagnetic motion platform to obtain the motion data of each permanent magnet.

Optionally, the electromagnetic motion platform further includes: a plurality of current sensors, current sensors are provided at both ends of each electromagnetic coil, and the current sensors are used to convert the actual The current value is fed back to the current control unit.

Optionally, the electromagnetic motion platform further includes: a support component, one end of the support component is connected to the upper platform, and the other end of the support component is connected to the lower platform.

Optionally, the support component at least includes: a plurality of guide rods, flanges and universal joints, wherein one end of the plurality of guide rods is fixed on the lower platform, and the other end of the guide rods is connected to the lower platform. There is a gap left on the upper platform, and the flange is provided with the same number of through holes as the guide rods, each guide rod passes through a through hole, and one end of the universal joint is connected to the flange. connected, the other end of the universal joint is connected with the upper platform.

Optionally, the supporting component includes three guide rods, and the three guide rods are evenly fixed on the lower platform.

Optionally, the current control unit at least includes: a current operation unit, a current modulation unit, and a current drive amplification unit.

Optionally, the electromagnetic moving platform includes three permanent magnets and three electromagnetic coils, wherein the three permanent magnets are evenly fixed on the upper platform, and the three electromagnetic coils are evenly fixed on the lower platform.

According to the second aspect of the present invention, there is provided a control method of an electromagnetic moving platform, the electromagnetic moving platform includes: a plurality of permanent magnets arranged on the upper platform and a plurality of electromagnetic coils arranged on the lower platform,

The method includes: acquiring the motion data of each permanent magnet; calculating the current value of the current passed into each electromagnetic coil according to the motion data of each permanent magnet; The current value controls the current passed into each of the electromagnetic coils; when the control current is passed into each of the electromagnetic coils, each of the permanent magnets moves to a corresponding position, and the movement position data of each of the permanent magnets is obtained; according to the acquired The moving position data of the respective permanent magnets is used to adjust the calculated currents passed into the respective electromagnetic coils.

Optionally, the acquisition of the motion data of each permanent magnet includes: receiving a motion command of the external device of the electromagnetic motion platform, and obtaining the motion data of the electromagnetic motion platform according to the motion command; according to the The motion data of the above-mentioned electromagnetic motion platform is inversely resolved to obtain the motion data of each permanent magnet.

Optionally, after the control current is supplied to each electromagnetic coil, it also includes: measuring the actual current value of the current supplied to each electromagnetic coil; according to the actual current value of the current supplied to each electromagnetic coil The current value adjusts the current value of the control current passed to the respective electromagnetic coils.

The control method and system of the electromagnetic motion platform provided by the present invention generate magnetic fields of different strengths by controlling the magnitude of the current flowing into each electromagnetic coil, and interact with the corresponding permanent magnets to generate suction or thrust, thereby realizing various movements of the upper platform Attitude, the present invention uses non-contact electromagnetic force to drive the motion of the motion platform. Compared with the prior art, it avoids the problems of noise caused by friction between mechanical structures and low service life. In addition, the present invention feeds back the motion position data of each permanent magnet to the position control unit through the position sensors installed on each permanent magnet, and realizes the closed-loop control of the electromagnetic motion platform. Compared with the prior art, only the drive mechanism is In terms of closed-loop feedback, since the motion position of each permanent magnet determines the motion posture of the electromagnetic motion platform, the present invention directly feeds back the motion position data of the electromagnetic motion platform, which improves the control accuracy of the control system of the electromagnetic motion platform Spend.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.

Fig. 1 shows a schematic structural diagram of a control system of an electromagnetic motion platform according to an embodiment of the present invention.

Fig. 2 shows a schematic structural diagram of an electromagnetic motion platform according to an embodiment of the present invention.

Fig. 3 shows another schematic structural diagram of the control system of the electromagnetic motion platform according to an embodiment of the present invention.

Fig. 4 shows a processing flowchart of a control method of an electromagnetic motion platform according to an embodiment of the present invention.

detailed description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description.

In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other instances of the exemplary embodiment may have different values.

It should be noted that like numbers and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

The invention provides a control system of an electromagnetic motion platform. Fig. 1 shows a schematic structural diagram of a control system of an electromagnetic motion platform according to an embodiment of the present invention. Fig. 2 shows a schematic structural diagram of an electromagnetic motion platform according to an embodiment of the present invention. Referring to FIG. 1 , the control system 100 of the electromagnetic motion platform at least includes: a motion data acquisition unit 110 , a position control unit 120 , a current control unit 130 and an electromagnetic motion platform 140 . 1 and 2, the electromagnetic motion platform 140 at least includes: an upper platform 1410, a lower platform 1420, a plurality of permanent magnets 1430, a plurality of electromagnetic coils 1440 and a position sensor 1450, wherein a plurality of permanent magnets 1430 are arranged on the upper platform On 1410, a plurality of electromagnetic coils 1440 are arranged on the lower platform 1420, and a position sensor 1450 is arranged on each permanent magnet. Each electromagnetic coil generates a magnetic field of different strength according to the magnitude of the current flowing through it, and interacts with the corresponding permanent magnet to generate suction or thrust, thereby realizing various motion postures of the upper platform. The motion data acquiring unit 110 shown in FIG. 1 is used to acquire the motion data of each permanent magnet, and send the motion data of each permanent magnet to the position control unit 120 . The position control unit 120 is used to calculate the current value of the current passing through each electromagnetic coil according to the received motion data of each permanent magnet, and send the calculated current value of the current passing through each electromagnetic coil to the current control unit 130 . The current control unit 130 is used for controlling the current passing through each electromagnetic coil according to the received current value of the current passing through each electromagnetic coil. The position sensor 1450 disposed on each permanent magnet is used to feed back the sensed motion position data of each permanent magnet to the position control unit 120 .

The control system of the electromagnetic motion platform provided by the present invention generates magnetic fields of different strengths by controlling the magnitude of the current flowing into each electromagnetic coil, and interacts with the corresponding permanent magnets to generate suction or thrust, thereby realizing various motion postures of the upper platform, The invention uses non-contact electromagnetic force to drive the motion of the motion platform, and compared with the prior art, it avoids the problems of noise caused by friction between mechanical structures and low service life. In addition, the present invention feeds back the motion position data of each permanent magnet to the position control unit through the position sensors installed on each permanent magnet, and realizes the closed-loop control of the electromagnetic motion platform. Compared with the prior art, only the drive mechanism is In terms of closed-loop feedback, since the motion position of each permanent magnet determines the motion posture of the electromagnetic motion platform, the present invention directly feeds back the motion position data of the electromagnetic motion platform, which improves the control accuracy of the control system of the electromagnetic motion platform Spend.

In the embodiment of the present invention, referring to FIG. 3 , the motion data acquisition unit 110 at least includes a receiving unit 1110 and a motion data inversion unit 1120 . The receiving unit 1110 is used to receive a motion command from an external device of the electromagnetic motion platform, and obtain motion data of the electromagnetic motion platform according to the motion command. Specifically, the external device of the electromagnetic motion platform is a game handle. The user manipulates the game handle to control the movement of the electromagnetic motion platform according to the game content. When the user manipulates the game handle to issue a motion command, the game handle sends the motion command to the electromagnetic The control system of the motion platform. After the receiving unit 1110 in the control system of the electromagnetic motion platform receives the motion instruction, the motion data of the electromagnetic motion platform is obtained according to the motion instruction, for example, the acceleration data and angular velocity data of the electromagnetic motion platform, and the electromagnetic motion The motion data of the platform is sent to the motion data inversion unit 1120 . After receiving the motion data of the electromagnetic motion platform, the motion data inversion unit 1120 performs inverse calculation on the motion data of the electromagnetic motion platform to obtain the motion data of each permanent magnet, for example, the displacement, rotation angle and angular velocity of each permanent magnet data. The external device of the electromagnetic motion platform involved in the embodiment of the present invention is not limited to a game controller, but may also be a bracelet or a remote controller.

Referring to FIG. 3 , the electromagnetic motion platform 140 further includes: a plurality of current sensors 1460 , and the current sensors 1460 are arranged at both ends of each electromagnetic coil. The current sensor 1460 is used to feed back the sensed actual current value passing through each electromagnetic coil to the current control unit 130, so that the current control unit 130 can pass the calculated current value according to the received actual current value passing through each electromagnetic coil and the calculated current value. The current value of each electromagnetic coil is compared to perform current compensation calculation.

In the embodiment of the present invention, the electromagnetic motion platform 140 further includes: a support component, wherein one end of the support component is connected to the upper platform 1410 , and the other end of the support component is connected to the lower platform 1420 . Referring to FIG. 2 , the support component at least includes: a plurality of guide rods 1470a, a flange 1470b and a universal joint 1470c. Among them, one end of a plurality of guide rods 1470a is fixed on the lower platform 1420. When the electromagnetic moving platform is in a non-working state, there is a gap between the other ends of the plurality of guide rods 1470a and the upper platform 1410. Rods 1470a have the same number of through holes, wherein each guide rod passes through a through hole, and one end of the universal joint 1470c is connected with the flange 1470b, for example, can be bolted, and the other end of the universal joint 1470c is connected with the upper flange 1470b. The platform 1410 connection may, for example, be a bolted connection. When the electromagnetic moving platform is in a non-working state, the flange 1470b is placed on the lower platform 1420, and when the magnetic field generated by each electromagnetic coil makes each permanent magnet provide an upward driving force, the upper platform 1410 moves upward, and then the upper platform 1410 passes through 10,000 Pulling flange 1470b to knuckle 1470c slides upward along guide rod 1470a. In the embodiment of the present invention, the number of guide rods may be three, and the three guide rods are evenly fixed on the lower platform 1420, wherein the number of guide rods is not limited to three, and may be any other number of guide rods.

In the embodiment of the present invention, referring to FIG. 3 , the current control unit 130 at least includes: a control unit 1310 and a current drive amplification unit 1320 . The control unit 1310 is used to modulate the current passed into each electromagnetic coil to control the magnitude and rate of change of the magnetic field intensity generated by each electromagnetic coil, wherein the control unit 1310 has multiple modulation modes, such as pulse width modulation, pulse frequency modulation and current amplitude modulation, preferably pulse frequency modulation. The current driving amplifying unit 1320 is used to amplify the power of the current signal output by the control unit 1310 .

Referring to Fig. 2, in the embodiment of the present invention, the electromagnetic moving platform includes three permanent magnets and three electromagnetic coils, wherein, the three permanent magnets are evenly fixed on the upper platform, and the three electromagnetic coils are evenly fixed on the lower platform, each The permanent magnets are all arranged opposite to an electromagnetic coil. When current is applied to the three electromagnetic coils, the electromagnetic coils will generate pushing or attracting force to the permanent magnets. When the thrust generated by any electromagnetic coil is equal to the gravity component of the upper platform at this point, the upper platform remains balanced; when the thrust generated by any electromagnetic coil is greater than the gravity component of the upper platform at this point, the platform has an upward force at this point. When the thrust of any electromagnetic coil is less than the gravity component of the upper platform at this point, the platform has a downward acceleration at this point. When the three electromagnetic coils are supplied with appropriate current, the upper platform will move upward or downward. Since the combination of the electromagnetic coil and the permanent magnet lacks a constrained connection, the universal joint restricts the degree of freedom of the upper platform during the movement of the upper platform, so that the central axis of the upper platform's rotational movement can only be located at the axis of the universal joint.

Based on the same inventive concept, the present invention also provides a control method of an electromagnetic moving platform, wherein the electromagnetic moving platform at least includes: a plurality of permanent magnets arranged on the upper platform and a plurality of electromagnetic coils arranged on the lower platform. Fig. 4 shows a processing flowchart of a control method of an electromagnetic motion platform according to an embodiment of the present invention. Referring to Fig. 4, the method at least includes the following steps S402 to S410.

Step S402, acquiring motion data of each permanent magnet;

Step S404, calculating the current value of the current passing through each electromagnetic coil according to the motion data of each permanent magnet;

Step S406, controlling the current passed into each electromagnetic coil according to the current value of the current passed into each electromagnetic coil;

Step S408, when each electromagnetic coil is supplied with a control current, each permanent magnet moves to a corresponding position, and the movement position data of each permanent magnet is obtained;

Step S410 , according to the acquired movement position data of each permanent magnet, adjust the calculated current passing through each electromagnetic coil.

In the embodiment of the present invention, the above-mentioned step S402 is specifically: receiving the movement instruction of the external equipment of the electromagnetic movement platform, and obtaining the movement data of the electromagnetic movement platform according to the movement instruction; obtaining each permanent magnet according to the movement data of the electromagnetic movement platform exercise data. Specifically, the external device of the electromagnetic motion platform is a game handle. The user manipulates the game handle to control the movement of the electromagnetic motion platform according to the game content. Data, for example, the acceleration data and angular velocity data of the electromagnetic motion platform, and then, the motion data of the electromagnetic motion platform is processed, that is, the motion data of the electromagnetic motion platform is reversely calculated to obtain the motion data of each permanent magnet, For example, the displacement, rotation angle and angular velocity data of each permanent magnet. The external device of the electromagnetic motion platform involved in the embodiment of the present invention is not limited to a game controller, but may also be a bracelet or a remote controller.

In the embodiment of the present invention, after the control current is passed into each electromagnetic coil, the method further includes: measuring the actual current value of the current passed into each electromagnetic coil; The current value of the control current of the electromagnetic coil is adjusted. Specifically, the current compensation operation is performed by comparing the received actual current value passing through each electromagnetic coil with the calculated current value passing through each electromagnetic coil.

The present invention can be a system, method and/or computer program product. A computer program product may include a computer readable storage medium having computer readable program instructions thereon for causing a processor to implement various aspects of the present invention.

A computer readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. A computer readable storage medium may be, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory), static random access memory (SRAM), compact disc read only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanically encoded device, such as a printer with instructions stored thereon A hole card or a raised structure in a groove, and any suitable combination of the above. As used herein, computer-readable storage media are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., pulses of light through fiber optic cables), or transmitted electrical signals.

Computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or downloaded to an external computer or external storage device over a network, such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. A network adapter card or a network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .

Computer program instructions for performing operations of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or Source or object code written in any combination, including object-oriented programming languages—such as Smalltalk, C++, etc., and conventional procedural programming languages—such as the “C” language or similar programming languages. Computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement. In cases involving a remote computer, the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as via the Internet using an Internet service provider). connect). In some embodiments, an electronic circuit, such as a programmable logic circuit, field programmable gate array (FPGA), or programmable logic array (PLA), can be customized by utilizing state information of computer-readable program instructions, which can Various aspects of the invention are implemented by executing computer readable program instructions.

Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It should be understood that each block of the flowcharts and/or block diagrams, and combinations of blocks in the flowcharts and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine such that when executed by the processor of the computer or other programmable data processing apparatus , producing an apparatus for realizing the functions/actions specified in one or more blocks in the flowchart and/or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause computers, programmable data processing devices and/or other devices to work in a specific way, so that the computer-readable medium storing instructions includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks in flowcharts and/or block diagrams.

It is also possible to load computer-readable program instructions into a computer, other programmable data processing device, or other equipment, so that a series of operational steps are performed on the computer, other programmable data processing device, or other equipment to produce a computer-implemented process , so that instructions executed on computers, other programmable data processing devices, or other devices implement the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, a portion of a program segment, or an instruction that includes one or more Executable instructions. In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified function or action , or may be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by means of hardware, implementation by means of software, and implementation by a combination of software and hardware are all equivalent.

Having described various embodiments of the present invention, the foregoing description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and alterations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principle of each embodiment, practical application or technical improvement in the market, or to enable other ordinary skilled in the art to understand each embodiment disclosed herein. The scope of the invention is defined by the appended claims.

Claims (11)

1. A control system of an electromagnetic motion platform, characterized in that, comprising: a motion data acquisition unit, a position control unit, a current control unit and an electromagnetic motion platform, wherein, The electromagnetic moving platform at least includes: a plurality of permanent magnets arranged on the upper platform, a plurality of electromagnetic coils arranged on the lower platform and position sensors arranged on each permanent magnet, The movement data acquiring unit is used to acquire the movement data of the respective permanent magnets, and send the movement data of the respective permanent magnets to the position control unit, The position control unit is used to calculate the current value of the current passing through each electromagnetic coil according to the motion data of each permanent magnet, and send the current value of the current passing through each electromagnetic coil to the current control unit. unit, The current control unit is used for controlling the current passing through the respective electromagnetic coils according to the received current value of the current passing through the respective electromagnetic coils, The position sensor is used to feed back the moving position data of each permanent magnet to the position control unit. 2. The control system according to claim 1, wherein the motion data acquisition unit at least comprises: a receiving unit and a motion data inversion unit, Wherein, the receiving unit is used to receive the motion instruction of the external equipment of the electromagnetic motion platform, obtain the motion data of the electromagnetic motion platform according to the motion instruction, and send the motion data of the electromagnetic motion platform to to the motion data inversion unit, The motion data inversion unit is used to inversely analyze the motion data of the electromagnetic motion platform to obtain the motion data of each permanent magnet. 3. The control system according to claim 1, wherein the electromagnetic motion platform further comprises: a plurality of current sensors, the two ends of each electromagnetic coil are provided with current sensors, and the current sensors are used for The actual current value of the current passing through each electromagnetic coil is fed back to the current control unit. 4. The control system according to claim 1, wherein the electromagnetic motion platform further comprises: a support member, one end of the support member is connected to the upper platform, and the other end of the support member is connected to the upper platform. The platform connection is described below. 5. The control system according to claim 4, wherein the support member at least comprises: a plurality of guide rods, a flange and a universal joint, wherein one end of the plurality of guide rods is fixed on the On the lower platform, there is a gap between the other end of the guide rod and the upper platform, and the flange is provided with the same number of through holes as the guide rod, and each guide rod passes through a through hole, so One end of the universal joint is connected with the flange, and the other end of the universal joint is connected with the upper platform. 6 . The control system according to claim 5 , wherein the supporting member includes three guide rods, and the three guide rods are evenly fixed on the lower platform. 7. The control system according to claim 1, wherein the current control unit at least comprises: a current calculation unit, a current modulation unit and a current drive amplification unit. 8. The control system according to any one of claims 1-7, wherein the electromagnetic motion platform comprises three permanent magnets and three electromagnetic coils, wherein the three permanent magnets are uniform fixed on the upper platform, and the three electromagnetic coils are evenly fixed on the lower platform. 9. A control method for an electromagnetic moving platform, characterized in that, the electromagnetic moving platform comprises: a plurality of permanent magnets arranged on the upper platform and a plurality of electromagnetic coils arranged on the lower platform, the method comprising: Acquiring motion data of each permanent magnet; Calculate and obtain the current value of the current passed into each electromagnetic coil according to the motion data of each permanent magnet; controlling the current passed to each electromagnetic coil according to the current value of the current passed to each electromagnetic coil; After the control current is applied to each electromagnetic coil, each permanent magnet moves to a corresponding position, and the movement position data of each permanent magnet is acquired; According to the acquired motion position data of each permanent magnet, the calculated current passing through each electromagnetic coil is adjusted. 10. The method according to claim 9, wherein said obtaining the motion data of each permanent magnet comprises: receiving motion instructions from the external equipment of the electromagnetic motion platform, and obtaining motion data of the electromagnetic motion platform according to the motion instructions; According to the motion data of the electromagnetic motion platform, the motion data of the respective permanent magnets are obtained by reverse analysis. 11. The method according to claim 9, characterized in that, after the control current is fed into each electromagnetic coil, the method further comprises: measuring the actual current value of the current passed to each electromagnetic coil; The current value of the control current passed into each electromagnetic coil is adjusted according to the actual current value of the current passed into each electromagnetic coil.