TWI544738B - The control device of a linear motor and the control method of a linear motor - Google Patents
The control device of a linear motor and the control method of a linear motor Download PDFInfo
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- TWI544738B TWI544738B TW101143329A TW101143329A TWI544738B TW I544738 B TWI544738 B TW I544738B TW 101143329 A TW101143329 A TW 101143329A TW 101143329 A TW101143329 A TW 101143329A TW I544738 B TWI544738 B TW I544738B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
- H02P25/064—Linear motors of the synchronous type
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/006—Controlling linear motors
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Description
本發明係關於一種線性馬達控制裝置、及線性馬達之控制方法。 The present invention relates to a linear motor control device and a method of controlling a linear motor.
本案係基於2011年11月25日於日本提交申請之日本專利特願2011-257946號而主張優先權，並將其內容引用於此。 The present application claims priority based on Japanese Patent Application No. 2011-257946, filed on Jan.
線性同步馬達(以下，稱為線性馬達)若未進行對應於設置於動子或定子之任一者之複數個線圈與設置於動子或定子之任意另一者之驅動用磁鐵之相對位置關係(磁極位置)的通電，則無法產生對應於預先設定之推力常數之扭矩(推力)。 The linear synchronous motor (hereinafter referred to as a linear motor) does not have a relative positional relationship with respect to a plurality of coils provided to any one of the mover or the stator and a drive magnet provided to any other of the mover or the stator. When the (magnetic pole position) is energized, the torque (thrust) corresponding to the preset thrust constant cannot be generated.
於線性馬達未具備檢測動子及定子之磁極位置之感測器等之情形時，因開始線性馬達之驅動時初始磁極位置不明確，故必須檢測初始磁極位置。因此，藉由進行對應於特定之磁極位置之通電(直流勵磁)，而將動子引入特定之磁極位置，從而推定初始磁極位置。 In the case where the linear motor does not have a sensor for detecting the magnetic pole position of the mover and the stator, etc., since the initial magnetic pole position is unclear when the linear motor is started to be driven, the initial magnetic pole position must be detected. Therefore, by performing energization (DC excitation) corresponding to a specific magnetic pole position, the mover is introduced to a specific magnetic pole position, thereby estimating the initial magnetic pole position.
但，使用直流勵磁推定初始磁極位置之情形時，有因動子之位置或動子移動時產生之摩擦等，而無法將動子引入初始磁極位置之情形。該情形時，推定之初始磁極位置與實際之動子之磁極位置產生差異，從而推定之初始磁極位置產生誤差。若基於包含誤差之磁極位置控制線性馬達，則有無法產生要求之扭矩之問題。又，若每次啟動線性馬 達時，磁極位置所包含之誤差均發生變化，則有線性馬達產生之扭矩產生不均之問題。 However, when the initial magnetic pole position is estimated using DC excitation, there is a case where the mover is not introduced into the initial magnetic pole position due to the position of the mover or the friction generated when the mover moves. In this case, the estimated initial magnetic pole position is different from the actual magnetic pole position of the mover, so that the estimated initial magnetic pole position produces an error. If the linear motor is controlled based on the magnetic pole position including the error, there is a problem that the required torque cannot be generated. Also, if you start a linear horse every time When the time is reached, the error included in the magnetic pole position changes, and there is a problem that the torque generated by the linear motor is uneven.
對此，研究有進行直流勵磁，並且使用此時之動子之移動量而提高推定初始磁極位置之精度之技術(專利文獻1)。 In this regard, a technique of increasing the accuracy of estimating the initial magnetic pole position by using the amount of movement of the mover at this time has been studied (Patent Document 1).
[專利文獻1]日本專利特開2007-049831號公報 [Patent Document 1] Japanese Patent Laid-Open Publication No. 2007-049831
然而，專利文獻1所記載之技術中，因必須使用檢測動子之移動量之感測器，故有如下問題。因必須確保用以將檢測移動量之感測器安裝於線性馬達之場所，故設計線性馬達時之自由度降低。又，附隨感測器之類比電路及電纜等之安裝成為必要。又，因類比電路及電纜等成為必要，故線性馬達之製造成本增加。 However, in the technique described in Patent Document 1, since it is necessary to use a sensor that detects the amount of movement of the mover, there are the following problems. Since it is necessary to ensure that the sensor for detecting the amount of movement is installed at a place where the linear motor is mounted, the degree of freedom in designing the linear motor is lowered. In addition, it is necessary to install analog circuits such as sensors and cables. Moreover, since analog circuits, cables, and the like are necessary, the manufacturing cost of the linear motor increases.
本發明之目的在於提供一種不設置檢測動子之位置或移動量之感測器，且可降低推定之磁極位置所包含之誤差之不均的線性馬達控制裝置及線性馬達之控制方法。 SUMMARY OF THE INVENTION An object of the present invention is to provide a linear motor control device and a control method for a linear motor which do not provide a sensor for detecting the position or amount of movement of a mover, and which can reduce variations in errors included in the estimated magnetic pole position.
本發明之實施態樣係一種線性馬達控制裝置，其係控制線性馬達之驅動者，該線性馬達之動子或定子之任一者具有複數個線圈，而動子或定子之任意另一者具有驅動用磁鐵；且該線性馬達控制裝置包含控制部，該控制部將對應於預先設定之磁極位置之電壓施加於上述複數個線圈而推 定初始磁極位置，並基於推定之初始磁極位置，進行使上述動子移動至可動範圍內之預先設定之基準位置之控制，當判定為上述動子到達上述基準位置時，將對應於上述基準位置之磁極位置作為當前磁極位置。 Embodiments of the present invention are a linear motor control device that controls a driver of a linear motor, the mover or stator of the linear motor having a plurality of coils, and any other of the mover or stator having a driving magnet; and the linear motor control device includes a control unit that pushes a voltage corresponding to a preset magnetic pole position to the plurality of coils Determining the initial magnetic pole position, and based on the estimated initial magnetic pole position, performing control for moving the mover to a predetermined reference position within the movable range, and determining that the mover reaches the reference position, corresponding to the reference position The magnetic pole position is taken as the current magnetic pole position.
本發明之實施態樣係一種控制方法，其係線性馬達之控制方法，該線性馬達之動子或定子之任一者具有複數個線圈，而動子或定子之任意另一者具有驅動用磁鐵；且該控制方法包括控制步驟，該控制步驟係將對應於預先設定之磁極位置之電壓施加於上述複數個線圈而推定初始磁極位置，並基於推定之初始磁極位置，進行將上述動子移動至可動範圍內之預先設定之基準位置之控制，當判定為上述動子到達上述基準位置時，將對應於上述基準位置之磁極位置作為當前磁極位置。 An embodiment of the present invention is a control method which is a control method of a linear motor, wherein any one of a mover or a stator of the linear motor has a plurality of coils, and any other of the mover or the stator has a drive magnet And the control method includes a control step of estimating a initial magnetic pole position by applying a voltage corresponding to a preset magnetic pole position to the plurality of coils, and moving the mover to the estimated initial magnetic pole position based on the estimated initial magnetic pole position When the predetermined reference position is controlled within the movable range, when it is determined that the mover reaches the reference position, the magnetic pole position corresponding to the reference position is taken as the current magnetic pole position.
根據本發明，進行例如直流勵磁後，將線性馬達之動子移動至動子之可動範圍內之預先設定之基準位置。基準位置中，因線圈與驅動用磁鐵之位置關係唯一決定，故藉由進行將動子已移動至基準位置時之磁極位置變更成對應於基準位置之磁極位置之修正，可降低每次推定磁極位置時產生之誤差，並且抑制誤差之不均。藉由降低推定磁極位置時之誤差及抑制誤差之不均，可提高推定之精度，並可使線性馬達產生之扭矩穩定。 According to the present invention, after the DC excitation is performed, for example, the mover of the linear motor is moved to a predetermined reference position within the movable range of the mover. In the reference position, since the positional relationship between the coil and the driving magnet is uniquely determined, the magnetic pole position when the mover has moved to the reference position is changed to the correction of the magnetic pole position corresponding to the reference position, thereby reducing the estimated magnetic pole each time. The error generated at the position and the variation of the error is suppressed. By reducing the error in the estimated magnetic pole position and the unevenness of the suppression error, the accuracy of the estimation can be improved, and the torque generated by the linear motor can be stabilized.
以下，參照圖式說明本發明之實施形態之線性馬達控制 裝置、及線性馬達之控制方法。 Hereinafter, the linear motor control of the embodiment of the present invention will be described with reference to the drawings. Device, and control method for linear motor.
圖1係表示本實施形態之線性馬達裝置1之構成之概略方塊圖。如圖1所示，線性馬達裝置1具備棒狀之線性馬達10、及控制線性馬達10之線性馬達控制裝置20。 Fig. 1 is a schematic block diagram showing the configuration of a linear motor device 1 of the present embodiment. As shown in FIG. 1, the linear motor device 1 includes a rod-shaped linear motor 10 and a linear motor control device 20 that controls the linear motor 10.
圖2係本實施形態之線性馬達10之立體圖(局部剖面圖)。線性馬達10之棒101相對於線圈收納盒102沿軸線方向移動。 Fig. 2 is a perspective view (partial sectional view) of the linear motor 10 of the embodiment. The rod 101 of the linear motor 10 moves in the axial direction with respect to the coil housing case 102.
於線圈收納盒102內，層疊(排列)有由線圈支架105所保持之複數個線圈104。於線圈收納盒102之兩端面，分別安裝有末端盒109。於末端盒109，安裝有用於引導棒101之直線運動之作為軸承之套筒108。 In the coil housing case 102, a plurality of coils 104 held by the coil holder 105 are stacked (arranged). End boxes 109 are attached to both end faces of the coil housing case 102, respectively. In the end box 109, a sleeve 108 as a bearing for guiding the linear movement of the rod 101 is mounted.
棒101係由例如不鏽鋼等非磁性材料構成，並如管般具有中空之空間。於棒101之中空空間，相互同極對向地層疊有圓柱狀之複數個磁體103(扇形磁鐵)。各磁體103係與鄰接之磁體103之一者N極彼此對向，且與鄰接之磁體103之另一者S極彼此對向而層疊。於磁體103之間，介隔有包含例如鐵等磁性體之極靴107(磁極塊)。棒101係貫通層疊之線圈104內，且可沿軸線方向移動地由線圈收納盒102支持。又，於棒101之兩端，安裝有末端擋板110，而使棒101不會超出可動範圍而移動。 The rod 101 is made of a non-magnetic material such as stainless steel, and has a hollow space like a tube. In a hollow space of the rod 101, a plurality of cylindrical magnets 103 (sector magnets) are stacked in the same direction opposite to each other. Each of the magnets 103 is opposed to the N pole of one of the adjacent magnets 103, and is laminated with the other S pole of the adjacent magnet 103. Between the magnets 103, a pole piece 107 (magnetic pole piece) containing a magnetic body such as iron is interposed. The rod 101 is supported by the coil storage case 102 so as to pass through the laminated coil 104 and to be movable in the axial direction. Further, end stops 110 are attached to both ends of the rod 101 so that the rod 101 does not move beyond the movable range.
圖3係表示本實施形態之由線圈支架105所保持之線圈單元之立體圖。如圖3所示，線圈104係將銅線纏繞成螺旋狀者，且由線圈支架105保持。複數個線圈104係以棒101之磁體103排列之方向為中心，沿棒101之外周纏繞銅線者， 各線圈104係排列於與磁體103之排列方向相同之方向上。 Fig. 3 is a perspective view showing the coil unit held by the coil bobbin 105 of the embodiment. As shown in FIG. 3, the coil 104 is formed by winding a copper wire into a spiral shape and held by a coil holder 105. The plurality of coils 104 are centered on the direction in which the magnets 103 of the rods 101 are arranged, and the copper wires are wound around the outer circumference of the rod 101. Each of the coils 104 is arranged in the same direction as the direction in which the magnets 103 are arranged.
因必須將鄰接之線圈104彼此絕緣，故於線圈104彼此之間，介隔有環狀之樹脂製間隔片105a。於線圈支架105上，設置印刷基板106。線圈104之繞組之端部104a係接線於印刷基板106。 Since the adjacent coils 104 must be insulated from each other, a ring-shaped resin spacer 105a is interposed between the coils 104. On the coil holder 105, a printed substrate 106 is provided. The end 104a of the winding of the coil 104 is wired to the printed substrate 106.
本實施形態中，藉由將線圈104及線圈支架105裝於模具內，並將熔融之樹脂或特殊陶瓷注入模具內之嵌入成形，而將線圈收納盒102與線圈104成形為一體。如圖2所示，於線圈收納盒102上形成有複數個散熱片102a，以提高線圈104之散熱性。亦可將由線圈支架105所保持之線圈104收納於鋁製之線圈收納盒102內，並以接著劑填埋線圈104與線圈收納盒102之間之縫隙，而將線圈104及線圈支架105固定於線圈收納盒102。 In the present embodiment, the coil housing 104 and the coil 104 are integrally formed by inserting the coil 104 and the coil holder 105 into a mold, and inserting the molten resin or the special ceramic into the mold. As shown in FIG. 2, a plurality of fins 102a are formed on the coil housing case 102 to improve heat dissipation of the coil 104. The coil 104 held by the coil holder 105 may be housed in the coil storage case 102 made of aluminum, and the gap between the coil 104 and the coil storage case 102 may be filled with an adhesive to fix the coil 104 and the coil holder 105 to the coil holder 105. The coil storage case 102.
圖4係表示本實施形態之線性馬達10之磁體103與線圈104之位置關係之圖。於棒101內之中空空間，以互為同極對向之方式排列有圓柱狀之複數個磁體103(扇形磁鐵)。線圈104成為由U相、V相、W相3個形成之一組之三相線圈。將一組之三相線圈組合複數組而構成線圈單元。若於分成U相、V相、W相之三相之複數個線圈104中流入相位各差120°之三相電流，則產生沿線圈104之軸線方向移動之移動磁場。棒101於作為驅動用磁鐵之各磁體103所產生之磁場、及移動磁場之作用下獲得推力，而與移動磁場之速度同步地對線圈104相對地進行直線運動。 Fig. 4 is a view showing the positional relationship between the magnet 103 and the coil 104 of the linear motor 10 of the present embodiment. In the hollow space in the rod 101, a plurality of cylindrical magnets 103 (sector magnets) are arranged in a cylindrical shape so as to face each other. The coil 104 is a three-phase coil formed of one of a U phase, a V phase, and a W phase. A set of three-phase coils is combined into a plurality of arrays to form a coil unit. When a three-phase current having a phase difference of 120° flows into a plurality of coils 104 which are divided into three phases of a U phase, a V phase, and a W phase, a moving magnetic field that moves in the axial direction of the coil 104 is generated. The rod 101 obtains a thrust force by a magnetic field generated by each of the magnets 103 as a driving magnet and a moving magnetic field, and linearly moves the coil 104 in synchronization with the speed of the moving magnetic field.
返回至圖1，就線性馬達控制裝置20之構成進行說明。 Returning to Fig. 1, the configuration of the linear motor control device 20 will be described.
線性馬達控制裝置20具備控制部201、電力轉換器202、變流器203、及修正值記憶部204。控制部201於自上位之裝置輸入有控制開始信號時，進行線性馬達10之初始磁極位置之推定、及原點返回處理。又，控制部201基於自上位之裝置輸入之位置指令信號、及流入線性馬達10之U相、V相、W相各自之線圈104之電流值，算出施加於U相、V相、W相各自之線圈之電壓。又，控制部201將表示算出之電壓之電壓指令信號輸出至電力轉換器202。 The linear motor control device 20 includes a control unit 201, a power converter 202, a current transformer 203, and a correction value storage unit 204. When the control start signal is input from the upper device, the control unit 201 performs estimation of the initial magnetic pole position of the linear motor 10 and the origin return processing. Further, the control unit 201 calculates the current values applied to the U phase, the V phase, and the W phase based on the position command signal input from the upper device and the current value of the coil 104 flowing into the U phase, the V phase, and the W phase of the linear motor 10 . The voltage of the coil. Moreover, the control unit 201 outputs a voltage command signal indicating the calculated voltage to the power converter 202.
電力轉換器202將對應於自控制部201輸入之電壓指令信號之電壓施加於線性馬達10之U相、V相、W相各自之線圈104。 The power converter 202 applies a voltage corresponding to the voltage command signal input from the control unit 201 to the coils 104 of the U phase, the V phase, and the W phase of the linear motor 10 .
變流器203係安裝於連接電力轉換器202及線性馬達10之電力線上，測定流經該電力線之電流值，並將測定結果輸出至控制部201。 The converter 203 is mounted on a power line connecting the power converter 202 and the linear motor 10, measures a current value flowing through the power line, and outputs the measurement result to the control unit 201.
於修正值記憶部204中，記憶有進行原點返回處理時修正磁極位置之修正值。具體而言，線性馬達10之棒101位於預先設定之基準位置之情形時之磁極位置作為修正值而記憶於修正值記憶部204中。記憶於修正值記憶部204中之磁極位置為例如2個末端擋板110中任一者接觸末端盒109時之磁極位置、及末端擋板110中任意另一者接觸末端盒109時之磁極位置。該情形時，基準位置為末端擋板110與末端盒109接觸之位置(可動範圍之兩端)。 The correction value storage unit 204 stores a correction value for correcting the magnetic pole position when the origin return processing is performed. Specifically, the magnetic pole position when the rod 101 of the linear motor 10 is at the predetermined reference position is stored as the correction value in the correction value storage unit 204. The magnetic pole position stored in the correction value memory unit 204 is, for example, the magnetic pole position when any one of the two end shutters 110 contacts the end box 109, and the magnetic pole position when any one of the end shutters 110 contacts the end box 109. . In this case, the reference position is the position at which the end stop 110 is in contact with the end box 109 (both ends of the movable range).
圖5係表示本實施形態之修正磁極位置之處理之流程圖。 Fig. 5 is a flow chart showing the process of correcting the magnetic pole position in the embodiment.
控制部201於例如電力供給開始後等，輸入有控制開始信號時，將對應於預先設定之磁極位置之具有相位差之電壓(直流勵磁)施加於U相、V相、W相各自之線圈104，而將棒101引入預先設定之磁極位置(步驟S11)。 The control unit 201 applies a voltage having a phase difference (DC excitation) corresponding to a predetermined magnetic pole position to a coil of each of the U phase, the V phase, and the W phase, for example, when a control start signal is input after the start of power supply or the like. 104, the rod 101 is introduced into a preset magnetic pole position (step S11).
控制部201係看作棒101位於預先設定之磁極位置，進行向可動範圍之兩端中預先設定之一端移動棒101之控制作為原點返回處理(步驟S12)。控制部201進行移動棒101之控制直至安裝於棒101之一端之末端擋板110與末端盒109接觸為止。 The control unit 201 regards that the rod 101 is located at a magnetic pole position set in advance, and performs control for setting the one end moving rod 101 to both ends of the movable range as the origin return processing (step S12). The control unit 201 performs control of the moving rod 101 until the end flap 110 attached to one end of the rod 101 comes into contact with the end box 109.
控制部201判定流經線性馬達10之U相、V相、W相各者之電流之電流值的任一者是否為預先設定之電流閾值以上(步驟S13)，於所有電流值未達電流閾值之情形時(步驟S13：NO)，重複進行判定直至流經U相、V相、W相之電流之任一者為電流閾值以上。 The control unit 201 determines whether or not any of the current values of the currents flowing through the U-phase, the V-phase, and the W-phase of the linear motor 10 is equal to or greater than a preset current threshold (step S13), and the current threshold is not reached at all current values. In the case (step S13: NO), the determination is repeated until any of the currents flowing through the U phase, the V phase, and the W phase is equal to or higher than the current threshold.
另一方面，於流經U相、V相、W相之電流之任一者為電流閾值以上之情形時(步驟S13：YES)，控制部201判定為棒101到達可動範圍之一端，自修正值記憶部204讀出對應於該端之磁極位置(修正值)，進行將棒101之當前磁極位置變更為讀出之磁極位置之修正(步驟S14)，而結束修正磁極位置之處理。 On the other hand, when any of the currents flowing through the U phase, the V phase, and the W phase is equal to or higher than the current threshold (step S13: YES), the control unit 201 determines that the rod 101 reaches one end of the movable range, and corrects itself. The value memory unit 204 reads the magnetic pole position (correction value) corresponding to the end, and corrects the current magnetic pole position of the rod 101 to the corrected magnetic pole position (step S14), and ends the process of correcting the magnetic pole position.
步驟S13之電流閾值係基於使用實機之測定結果或模擬結果而決定。 The current threshold of step S13 is determined based on the measurement result or the simulation result using the actual machine.
本實施形態之線性馬達控制裝置20係自電力供給剛開始後棒101之磁極位置不明確之狀態起，藉由直流勵磁將棒 101引入預先設定之磁極位置，並將棒101之初始磁極位置看作預先設定之磁極位置而開始線性馬達10之驅動。 In the linear motor control device 20 of the present embodiment, the rod is excited by DC excitation from the state where the magnetic pole position of the rod 101 is not clear immediately after the power supply is started. The driving of the linear motor 10 is started by introducing a predetermined magnetic pole position and considering the initial magnetic pole position of the rod 101 as a preset magnetic pole position.
又，線性馬達控制裝置20將棒101移動至可動範圍之一端，以檢測棒101之絕對位置。此時，線性馬達控制裝置20將當前磁極位置修正成對應於可動範圍之一端之磁極位置，藉此對直流勵磁時所推定之初始磁極位置修正產生之誤差，而修正磁極位置之不均。 Further, the linear motor control device 20 moves the rod 101 to one end of the movable range to detect the absolute position of the rod 101. At this time, the linear motor control device 20 corrects the current magnetic pole position to the magnetic pole position corresponding to one end of the movable range, thereby correcting the error caused by the initial magnetic pole position correction estimated at the time of DC excitation, and correcting the unevenness of the magnetic pole position.
於藉由利用直流勵磁之棒101之引入而推定初始磁極位置之情形時，有因施加於棒101之摩擦等而使初始磁極位置產生誤差之情形。對此，因將棒101移動至可動範圍之一端時之磁極位置係由設置於棒101內之磁體103與線圈104之位置關係而唯一決定，故可降低推定之磁極位置之誤差。 When the initial magnetic pole position is estimated by the introduction of the DC excitation bar 101, there is a case where an error occurs in the initial magnetic pole position due to friction applied to the rod 101 or the like. On the other hand, since the magnetic pole position when the rod 101 is moved to one end of the movable range is uniquely determined by the positional relationship between the magnet 103 and the coil 104 provided in the rod 101, the error of the estimated magnetic pole position can be reduced.
進而，線性馬達控制裝置20係利用若移動棒101時所需之扭矩變大則流經線圈104之電流值變大之情況，而判定棒101是否到達可動範圍之末端。藉此，不設置檢測棒101(動子)之位置之感測器，便可檢測棒101是否到達可動範圍之末端，從而可提高推定棒101之磁極位置之精度。 Further, the linear motor control device 20 determines whether or not the rod 101 has reached the end of the movable range by increasing the current value flowing through the coil 104 when the torque required to move the rod 101 is increased. Thereby, it is possible to detect whether or not the rod 101 reaches the end of the movable range without providing a sensor for detecting the position of the rod 101 (mover), thereby improving the accuracy of the magnetic pole position of the estimated rod 101.
又，線性馬達控制裝置20於由微控制器等安裝控制部201之情形時，不對使用直流勵磁而推定磁極位置之裝置構成進行硬體之追加，便可安裝圖5所示之控制方法。因此，不會增加製造成本且可提高磁極位置之推定精度。 Further, when the control unit 201 is mounted by a microcontroller or the like, the linear motor control device 20 does not add hardware to the device configuration that estimates the magnetic pole position using DC excitation, and the control method shown in FIG. 5 can be attached. Therefore, the manufacturing cost is not increased and the estimation accuracy of the magnetic pole position can be improved.
又，於進行無感測器控制之線性馬達10中，因必定進行原點返回，故可不對使用者強加時間上之負擔而進行磁極 位置之修正。 Further, in the linear motor 10 in which the sensorless control is performed, since the origin return is inevitably performed, the magnetic pole can be applied without imposing a burden on the user. Correction of location.
一般而言，線性馬達10產生之推力(扭矩)係由「推力常數」與流入線性馬達10之「電流值」之乘積而算出。該推力常數係可推定線圈104與磁體103之正確之相對位置(磁極位置)時之值，且表觀上之推力常數會隨著相位偏移而減小。該關係為餘弦(餘弦函數)，於相位一致時獲得對應於推力常數之推力，若相位偏移60度則表觀上之推力常數變成一半。於藉由直流勵磁而進行磁極位置之推定之情形時，有時會因磁極位置產生之誤差，而無法獲得按照推力常數之推力。 In general, the thrust (torque) generated by the linear motor 10 is calculated from the product of the "thrust constant" and the "current value" flowing into the linear motor 10. The thrust constant is a value at which the correct relative position (magnetic pole position) of the coil 104 and the magnet 103 can be estimated, and the apparent thrust constant decreases with the phase shift. This relationship is a cosine (cosine function), and the thrust corresponding to the thrust constant is obtained when the phases are the same, and if the phase is shifted by 60 degrees, the apparent thrust constant becomes half. When the magnetic pole position is estimated by DC excitation, the thrust due to the thrust constant may not be obtained due to the error in the magnetic pole position.
對此，本實施形態之線性馬達控制裝置20藉由降低磁極位置之誤差，可降低驅動線性馬達10時之推力之不均。又，每次啟動線性馬達裝置1時，線性馬達控制裝置20均進行磁極位置之修正，故可降低推定之磁極位置上所含之誤差，且可抑制誤差之不均，因此可進行穩定之推力控制。 On the other hand, the linear motor control device 20 of the present embodiment can reduce the unevenness of the thrust when the linear motor 10 is driven by reducing the error of the magnetic pole position. Further, each time the linear motor device 1 is started, the linear motor control device 20 corrects the magnetic pole position, so that the error included in the estimated magnetic pole position can be reduced, and the unevenness of the error can be suppressed, so that stable thrust can be performed. control.
圖6係表示應用線性馬達裝置1之加工裝置之構成例之圖。 Fig. 6 is a view showing a configuration example of a processing apparatus to which the linear motor device 1 is applied.
如圖6所示，加工裝置包括線性馬達裝置1、X軸致動器2、安裝於棒101之一端之切割器3、及具有相對於X軸致動器之可動方向平行之主面之作業台4。 As shown in FIG. 6, the processing apparatus includes a linear motor device 1, an X-axis actuator 2, a cutter 3 attached to one end of the rod 101, and an operation having a main surface parallel to the movable direction of the X-axis actuator. Taiwan 4.
線性馬達10以使棒101沿鉛垂方向移動之方式安裝於X軸致動器2，藉由驅動X軸致動器2，而使線性馬達10相對於作業台4之主面平行地移動。於棒101之兩端中下方之一端 安裝有切割器3，對應於線性馬達10之驅動而使切割器3沿鉛垂方向上下移動。 The linear motor 10 is attached to the X-axis actuator 2 so as to move the rod 101 in the vertical direction, and the linear motor 10 is moved in parallel with respect to the main surface of the work table 4 by driving the X-axis actuator 2. One of the lower ends of the rods 101 A cutter 3 is mounted to move the cutter 3 up and down in the vertical direction in response to the driving of the linear motor 10.
加工裝置係藉由驅動線性馬達10及X軸致動器2使切割器3移動，而對配置於作業台4之主面上之材料6進行加工之裝置。 The processing device is a device that processes the material 6 disposed on the main surface of the work table 4 by moving the cutter 3 by driving the linear motor 10 and the X-axis actuator 2.
於材料6包含第1層6a及第2層6b(基礎層)之情形時，進行使用加工裝置僅切斷第1層6a之加工時，為不損傷第2層6b而切斷第1層6a，需要高精度之按壓控制(推力控制)。要求於驅動線性馬達10時之推力之不均較小。 When the material 6 includes the first layer 6a and the second layer 6b (base layer), when the processing of the first layer 6a is performed only by the processing device, the first layer 6a is cut without damaging the second layer 6b. High-precision press control (thrust control) is required. It is required that the unevenness of the thrust when driving the linear motor 10 is small.
對此，線性馬達控制裝置20藉由降低推定之磁極位置產生之誤差，可降低驅動線性馬達10時之推力產生之不均，從而可進行高精度之按壓控制。因此，線性馬達控制裝置20適合於該種加工裝置。 On the other hand, the linear motor control device 20 can reduce the unevenness of the thrust generated when the linear motor 10 is driven by lowering the error caused by the estimated magnetic pole position, thereby enabling high-precision press control. Therefore, the linear motor control device 20 is suitable for such a processing device.
又，該種加工裝置中，因線性馬達10之棒101係以可沿鉛垂方向移動之方式設置，故進行直流勵磁時會受到重力之干擾，因此推定之磁極位置容易產生誤差。但，線性馬達控制裝置20藉由使用圖5所示之磁極位置之修正處理(控制方法)，可降低推定之磁極位置之誤差，從而進行高精度之按壓控制。 Further, in this type of processing apparatus, since the rod 101 of the linear motor 10 is provided so as to be movable in the vertical direction, it is disturbed by gravity when DC excitation is performed, and thus the estimated magnetic pole position is liable to cause an error. However, the linear motor control device 20 can reduce the error of the estimated magnetic pole position by using the correction processing (control method) of the magnetic pole position shown in FIG. 5, thereby performing high-precision pressing control.
本實施形態中，就於電力供給開始後進行磁極位置之修正處理之情形進行了說明，但亦可根據來自上位之裝置之要求而適當進行修正處理。 In the present embodiment, the case where the magnetic pole position correction processing is performed after the start of the power supply has been described. However, the correction processing may be appropriately performed in accordance with the request from the upper device.
本實施形態中，就線性馬達控制裝置20控制棒狀之線性馬達10之情形進行了說明，但亦可控制動子具有U相、V 相、W相之線圈，且定子具有排列於可動方向上之驅動用磁鐵之扁形之線性馬達等。 In the present embodiment, the case where the linear motor control device 20 controls the rod-shaped linear motor 10 has been described, but the mover may have a U phase and a V. A coil of a phase and a W phase, and the stator has a flat linear motor or the like which is arranged in a movable direction.
上述線性馬達控制裝置20亦可於內部具有電腦系統。該情形時，上述修正磁極位置之處理之過程以程式之形式記憶於可由電腦讀取之記錄媒體中，藉由電腦讀出該程式並予以執行，而進行上述處理。所謂可由電腦讀取之記錄媒體係指磁碟、磁光碟、CD-ROM(Compact Disc-Read Only Memory，唯讀型光碟)、DVD-ROM(Digital Versatile Disc-Read Only Memory，唯讀型數位多功能光碟)、半導體記憶體等。亦可將該電腦程式由通信線路傳輸至電腦，由接收該傳輸之電腦執行該程式。 The linear motor control device 20 described above may also have a computer system inside. In this case, the process of correcting the magnetic pole position is stored in a program format on a recording medium readable by a computer, and the program is read and executed by a computer to perform the above processing. The recording medium that can be read by a computer refers to a magnetic disk, a magneto-optical disk, a CD-ROM (Compact Disc-Read Only Memory), and a DVD-ROM (Digital Versatile Disc-Read Only Memory). Function CD), semiconductor memory, etc. The computer program can also be transmitted from the communication line to the computer, and the program can be executed by the computer receiving the transmission.
1‧‧‧線性馬達裝置 1‧‧‧Linear motor unit
10‧‧‧線性馬達 10‧‧‧Linear motor
20‧‧‧線性馬達控制裝置 20‧‧‧Linear motor control unit
101‧‧‧棒 101‧‧‧ great
110‧‧‧末端擋板 110‧‧‧End baffle
201‧‧‧控制部 201‧‧‧Control Department
202‧‧‧電力轉換器 202‧‧‧Power Converter
203‧‧‧變流器 203‧‧‧Transformer
204‧‧‧修正值記憶部 204‧‧‧Revised Value Memory
圖1係表示本實施形態之線性馬達裝置1之構成之概略方塊圖。 Fig. 1 is a schematic block diagram showing the configuration of a linear motor device 1 of the present embodiment.
圖2係本實施形態之線性馬達10之立體圖(局部剖面圖)。 Fig. 2 is a perspective view (partial sectional view) of the linear motor 10 of the embodiment.
圖3係表示本實施形態之由線圈支架105所保持之線圈單元之立體圖。 Fig. 3 is a perspective view showing the coil unit held by the coil bobbin 105 of the embodiment.
圖4係表示本實施形態之線性馬達10之磁體103與線圈104之位置關係之圖。 Fig. 4 is a view showing the positional relationship between the magnet 103 and the coil 104 of the linear motor 10 of the present embodiment.
圖5係表示本實施形態之修正磁極位置之處理之流程圖。 Fig. 5 is a flow chart showing the process of correcting the magnetic pole position in the embodiment.
圖6係表示應用線性馬達裝置1之加工裝置之構成例之圖。 Fig. 6 is a view showing a configuration example of a processing apparatus to which the linear motor device 1 is applied.
1‧‧‧線性馬達裝置 1‧‧‧Linear motor unit
10‧‧‧線性馬達 10‧‧‧Linear motor
20‧‧‧線性馬達控制裝置 20‧‧‧Linear motor control unit
101‧‧‧棒 101‧‧‧ great
110‧‧‧末端擋板 110‧‧‧End baffle
201‧‧‧控制部 201‧‧‧Control Department
202‧‧‧電力轉換器 202‧‧‧Power Converter
203‧‧‧變流器 203‧‧‧Transformer
204‧‧‧修正值記憶部 204‧‧‧Revised Value Memory
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