WO2011024624A1 - 分散配置リニアモータおよび分散配置リニアモータの制御方法 - Google Patents
分散配置リニアモータおよび分散配置リニアモータの制御方法 Download PDFInfo
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- WO2011024624A1 WO2011024624A1 PCT/JP2010/063289 JP2010063289W WO2011024624A1 WO 2011024624 A1 WO2011024624 A1 WO 2011024624A1 JP 2010063289 W JP2010063289 W JP 2010063289W WO 2011024624 A1 WO2011024624 A1 WO 2011024624A1
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- stator
- mover
- stators
- linear motor
- distance
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/09—Machines characterised by the presence of elements which are subject to variation, e.g. adjustable bearings, reconfigurable windings, variable pitch ventilators
Definitions
- the present invention relates to a linear motor used for driving a carriage of a transfer device, and more particularly to a distributed linear motor in which stators of the linear motor are distributed and a control of the distributed linear motor that controls the linear motor. Regarding the method.
- Patent Document 1 discloses the relationship between the position of the secondary side carriage and the acceleration, and the ground primary side distributed arrangement system that drives in an open loop. There is disclosed a method for reducing the speed fluctuation of a linear motor that does not cause the speed unevenness even if this is adopted.
- Patent Document 1 is a method of reducing the speed fluctuation of the linear motor in order to eliminate speed unevenness in driving mainly when the acceleration is changing.
- this is a control method in the case where the mover once leaves the stator and moves to the next stator again.
- This invention is made in order to solve the said subject, and makes it a subject to provide the control method of the distributed arrangement linear motor suitable for the distributed arrangement of a stator, and a distributed arrangement linear motor.
- the invention according to claim 1 is a linear motor in which a stator and a mover move relative to each other, and the stator and the mover act magnetically with each other.
- the distance between the stators of the adjacent stators that are arranged apart from each other is equal to or less than the length of the mover, and the pole of the stator or the pole of the mover is configured by a coil,
- Current control means for controlling the current to be supplied based on the distance between the stators.
- the current control means calculates the phase of the current supplied to the coil based on the distance between the stators.
- the distance between the stators is a minimum distance between poles of the adjacent stators, and the movable The length of the child is the maximum distance between the poles of the mover.
- any one of the pole of the stator and the pole of the mover is driven.
- a position detecting device that is provided on the stator or the mover on the coil side and that detects the driving permanent magnet and calculates a position.
- the fixed stator distance is calculated based on the information of the position detection device.
- the apparatus further includes a distance calculation unit between the children.
- the stator and the mover have a plurality of types of poles that act magnetically with each other;
- the plurality of types of poles each have a periodic structure in which the types of poles are periodically arranged in the direction of the relative motion in the order of the types, and the stators are arranged apart from each other in the direction of the relative motion and are adjacent to each other.
- a distance between the stators of the stator is a length of the mover or less
- the stator pole or the pole of the mover is a distributed linear motor constituted by a coil, and is supplied to the coil The current to be controlled is controlled based on the distance between the stators.
- a stator and a mover are linear motors in which a stator and a mover move relative to each other, and the stator and the mover include a plurality of types of poles and a plurality of types of poles that act magnetically with each other.
- the stator and the mover include a plurality of types of poles and a plurality of types of poles that act magnetically with each other.
- Current control means for controlling the current supplied to the coil based on the distance between the stators of adjacent stators, the poles of the stator or the mover poles being configured by the coil, the length of the stator being less than the length of the stator Therefore, when the mover moves from the stator to the next stator, the current supplied to the coil is controlled based on the current control means so that the propulsive force of the mover is not lost.
- Distributed arrangement suitable for the distributed arrangement of stators Linear motors and a control method for distributed arrangement linear motor can be provided.
- FIG. 1 is a schematic diagram showing in detail between stators in the distributed linear motor drive system shown in FIG.
- FIG. 5 is a diagram showing two sets of full-bridge magnetic sensors in the magnetic sensor of FIG.
- FIG. 5 ((A) in the figure is a plan view showing the shape of the ferromagnetic thin film metal of the magnetic sensor, and (B) is an equivalent circuit diagram).
- It is. 6 is a graph showing a sine wave signal and a cosine wave signal output from the magnetic sensor of FIG. 5.
- (A) to (E) are schematic views showing an example of an operation pattern of the position information switcher in FIG. 1. It is a perspective view showing typically an example of a stator and a mover of a distributed arrangement linear motor concerning a 2nd embodiment of the present invention. It is a schematic diagram which shows the periodic structure of the pole of the stator in FIG.
- FIG. 1 is a block diagram showing a schematic configuration of a drive system for a distributed linear motor according to the present embodiment.
- FIG. 2 is a perspective view showing a stator and a mover of the distributed linear motor of FIG.
- FIG. 3 is a plan view showing the arrangement of the stators of FIG.
- FIG. 4 is a schematic diagram showing details between the stators in the drive system for the distributed linear motor shown in FIG.
- FIG. 5 is a block diagram showing an example of the configuration of the motor control device of FIG.
- the distributed linear motor drive system includes a distributed linear motor 1 that conveys parts and workpieces, and a plurality of motor drive devices 40, 40B, and 40C that control the distributed linear motor 1. And a host controller 50 for controlling a plurality of motor driving devices (drivers) 40, 40B, 40C.
- the distributed linear motor 1 includes a plurality of stators 10, 10 ⁇ / b> B, 10 ⁇ / b> C and a mover 20 that move relative to each other by magnetic action, and a plurality of positions that detect the relative position of the mover 20 with respect to the stators 10, 10 ⁇ / b> B, 10 ⁇ / b> C.
- the stators 10, 10B, and 10C are arranged at predetermined intervals in the transport direction.
- the host controller 50 and each motor drive device 40 are connected by a control line 51.
- the motor drive device 40 and the position information switch 35 are connected by an encoder cable 52.
- the position information switch 35 and the position detection device 30 installed on the same stator 10, 10 ⁇ / b> B, 10 ⁇ / b> C are connected by an encoder cable 52.
- the motor drive device 40 and the stators 10, 10 ⁇ / b> B, 10 ⁇ / b> C are connected by a power cable 53.
- the mover 20 is guided along a predetermined path by a guide device (not shown), and the gap between the stators 10, 10B, and 10C and the mover 20 is maintained.
- the stator 10, 10 ⁇ / b> B includes a coil 11 that is supplied with a three-phase alternating current and acts magnetically with the mover 20, and a salient pole 12 around which the coil 11 is wound.
- a coil 11 that is supplied with a three-phase alternating current and acts magnetically with the mover 20, and a salient pole 12 around which the coil 11 is wound.
- salient poles 12 corresponding to the coils 11a, 11b, and 11c: a U-phase salient pole 12a, a V-phase salient pole 12b, and a W-phase salient pole 12c.
- These coils 11a, 11b, 11c and salient poles 12a, 12b, 12c are periodically arranged in the direction of relative movement between the stators 10, 10B and the mover 20 in the order of the U phase, the V phase, and the W phase.
- a periodic structure is formed. That is, the coil 11 and the salient pole 12 form a U-phase / V-phase / W-phase periodic structure in the longitudinal direction of the stator 10, 10B, which is an example of the direction of relative motion.
- the core portions of the electromagnets of the stators 10, 10B, and 10C including the salient poles 12 are made of a magnetic material having a small magnetic hysteresis loss such as silicon steel.
- the salient poles 12 extending in the width direction of 10B and projecting to the opposite side of the mover 20 are formed, and the salient poles 12 are arranged in a comb shape in the longitudinal direction of the stators 10 and 10B.
- the stators 10, 10 ⁇ / b> B, and 10 ⁇ / b> C are spaced apart by a certain distance (inter-stator distance), and the stator 10 is arranged in the longitudinal direction of the stators 10, 10 ⁇ / b> B, and 10 ⁇ / b> C, which is an example of the relative motion direction. 10B, 10C, etc. are arranged separately in this order.
- the distance between the stators as shown in FIG. 4, the minimum distance D1 between the poles of the same type of the adjacent stators 10 and 10B and the minimum distance D2 between the poles of the adjacent stators 10 and 10B. Is mentioned.
- the mover 20 includes a table 21 on which parts and workpieces are placed, and a permanent magnet 22 for driving installed on the lower surface of the table 21. To serve as a career.
- the permanent magnet 22 includes an N-pole magnet 22 a having an N-pole on the side facing the stators 10 and 10 ⁇ / b> B, and an S-pole magnet 22 b having an S-pole. Then, a periodic structure is formed in which the N pole magnets 22a and the S pole magnets 22b are alternately arranged in the order of the N poles and the S poles in the direction of relative movement between the stators 10 and 10B and the mover 20.
- the mover 20 has a periodic structure of N poles and S poles in the longitudinal direction of the stator 10, which is an example of the direction of relative motion.
- the length of the mover is, for example, the maximum distance Lmv between the poles of the mover 20.
- a moving magnetic field is generated according to the direction and strength of the three-phase alternating current flowing through the coils 11a, 11b, and 11c of the stator 10, and the salient poles 12a, 12b, and 12c, the N-pole magnet 22a, and
- the S pole magnet 22 b acts magnetically, and relative movement between the stator 10 and the mover 20 occurs in the longitudinal direction of the stator 10. That is, the stator 10 and the mover 20 magnetically act on each other, and the mover 20 moves relative to the longitudinal direction of the stator 10.
- the position detection device 30 (30L, 30R) includes a magnetic sensor 31 that detects magnetism, and a position detection that converts a signal from the magnetic sensor 31 into a signal for specifying and detecting the position. Circuit 32.
- the magnetic sensor 31 is in the central portion on the side facing the mover 20 in the position detection device 30 installed on the stator 10.
- the position detection device 30 is arranged outside the salient poles 12 at both ends of the stators 10, 10 ⁇ / b> B, 10 ⁇ / b> C in the longitudinal direction, and the stators 10, 10 ⁇ / b> B, 10 ⁇ / b> C. It is arranged at the center in the width direction. And the magnetic sensor 31 is installed in the side which opposes the needle
- the installation position of the position detection device 30 may be any place provided in the longitudinal direction of the stators 10, 10 ⁇ / b> B, and 10 ⁇ / b> C so as not to be easily affected by the coil 11.
- the position detection device 30R of the stator 10 is outside the salient pole 12c at the right end in the figure, and the position detection device 30L of the stator 10B is outside the salient pole 12a at the left end in the figure. Is installed.
- the magnetic sensor 31 detects the magnetic field by the permanent magnet 22 extended in the direction of relative movement of the stator 10 and the mover 20.
- the magnetic sensor 31 detects a change in the magnetic field due to the relative movement of the stator 10 and the mover 20.
- the magnetic sensor 31 is a sensor that detects the direction of the magnetic field.
- the distance Ds between the position detection devices 30, that is, the distance Ds between the magnetic sensors is equal to or less than the length Lmv of the mover 20. That is, this is an example in which the distance between the first magnetic sensor 31 and the second magnetic sensor 31 is equal to or less than the maximum distance between the poles of the mover 20.
- the position information switcher 35 selects one of them and sends it to the motor drive device 40. Output.
- the position information switch 35 outputs the latest input signal.
- the position information switcher 35 outputs the input signal as it is when there is one input signal, and does not output it when there is no input signal.
- the motor driving device 40 converts the power from the power source 45 based on the controller 41 that controls the current that flows through the stator 10 of the linear motor based on information from sensors and the like.
- Power converter 42 a current sensor 43 that detects the power flowing through the stator 10 by the power converter 42, and input means (not shown) for inputting information on the distance between the stators 10, 10 ⁇ / b> B, and 10 ⁇ / b> C.
- the motor driving devices 40B and 40C have the same configuration.
- the controller 41 is connected to the current sensor 43, the host controller 50 through the control line 51, and the position information switcher 35 through the encoder cable 52.
- the controller 41 controls the power converter 42 such as a PWM inverter (PWM: Pulse Width Modulation) so that the mover 20 moves according to the command value from the host controller 50, and finally the stator.
- PWM Pulse Width Modulation
- the current supplied to the coils 11, 10B, 10C is controlled.
- the control system of the controller 41 includes a position control loop that performs position control, a speed control loop that performs speed control, a current control loop that performs current control, and the like.
- the controller 41 functions as an example of a current control unit that controls the current supplied to the coil 11 based on the distance between the stators.
- the controller 41 obtains information regarding the inter-stator distance and information regarding the current phase based on the inter-stator distance from the host controller 50.
- the motor drive device 40 is controlled based on the command value from the host controller 50, and based on the information from the position detection device 30 until reaching the position according to the command value of the host controller 50.
- the current is supplied to the coil 11 of the stator 10.
- the host controller 50 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, and information on position commands or information on speed commands is set in accordance with a preset work procedure.
- the command value is output to each motor drive device 40, 40B, 40C.
- the host controller 50 determines the phase of the current supplied to the coil 11 through the motor driving devices 40, 40B, and 40C, such as the inter-stator distance between the stators 10, 10B, and 10C, for example, as shown in FIG. Calculation is based on the minimum distance D1 between the same type of poles of the adjacent stators 10 and 10B and the minimum distance D2 between the poles of the adjacent stators 10 and 10B.
- the host controller 50 calculates the phase of the current supplied to the coil 11 as an example of the current control unit based on the inter-stator distances D1 and D2.
- the linear motor 1 has N and S poles attached to both end faces in a direction orthogonal to one axial direction in which N poles and S poles are alternately arranged as one of a mover and a stator.
- a flat type linear motor having a field magnet in which a plurality of magnetized permanent magnets are arranged in the axial direction and having a plurality of coils facing the field magnet via a gap as the other of the mover or the stator It is an example.
- the salient poles 12 of the stators 10 and 10B are arranged in the order of salient poles 12a, 12b, and 12c with a length of one cycle of the coil pitch Cp.
- Coil pitch Cp which is an example of the length of one cycle in the periodic structure of stators 10 and 10B, is the minimum distance between salient poles of the same phase in the UVW phase. For example, it is the distance between the U-phase salient pole 12a and the next U-phase salient pole 12a. In FIG. 4, the distance is drawn based on the central portion of the salient pole 12.
- the distance and length of the stators 10 and 10B and the movable element 20 may be measured by connecting the same phase in the periodic structure that does not consider the types of salient poles 12 and permanent magnets 22.
- the distance or length connecting one corner of the salient pole 12 may be used.
- An example of the minimum distance D1 between the same type of poles of the adjacent stators 10 and 10B is as follows.
- the U-phase salient pole 12a closest to the stator 10B side and the stator 10B most of the stator 10 This is the distance connecting the U-phase salient poles 12a on the side.
- the mover 20 can straddle between the stator 10 and the stator 10B, and any of the poles of the stator 10, 10B can be obtained. And any one of the poles of the mover 20 are always facing each other.
- the UVW phase poles 12a, 12b and 12c which are pairs of the stators 10 and 10B, and any one of the poles of the mover 20 are always facing each other.
- the relationship between the minimum distance D1 and the length Lmv is an example in which the inter-stator distance D1 between the adjacent stators 10 and 10B is equal to or less than the length Lmv of the mover 20.
- an example of the minimum distance D2 between the poles of adjacent stators 10 and 10B is the W-phase salient pole 12c closest to the stator 10B and the stator 10B.
- This distance D2 is less than or equal to the length Lmv of the mover 20.
- the length Lmv of the mover 20 is a distance connecting the permanent magnets 22 at both ends of the mover 20 in the relative movement direction, as shown in FIG. That is, this is an example of the maximum distance between the poles of the mover 20.
- the mover 20 when the distance D2 is equal to or less than the length Lmv of the mover 20, the mover 20 can be in a state of straddling the stator 10 and the stator 10B. And any one of the poles of the mover 20 are always facing each other.
- the relationship between the minimum distance D2 and the length Lmv is an example in which the inter-stator distance D2 between the adjacent stators 10 and 10B is equal to or less than the length Lmv of the mover 20.
- a phase difference ⁇ is provided for each U-phase, V-phase, and W-phase current. Further, the distance D1 between the adjacent stators 10 and 10B is input to the host controller 50 as a design value of the structure of the distributed linear motor.
- FIG. 6 is a diagram showing two sets of full-bridge magnetic sensors constituting the position detection device of FIG. 1 ((A) is a plan view showing the shape of the ferromagnetic thin film metal of the magnetic sensor, and (B) ) Is an equivalent circuit diagram).
- the magnetic sensor 31 of the position detecting device 30 has a magnetoresistive element made of a ferromagnetic thin film metal of an alloy mainly composed of a ferromagnetic metal such as Ni or Fe formed on Si or a glass substrate.
- a magnetic sensor is called an AMR (Anisotropic-Magnetro-Resistance) sensor (anisotropic magnetoresistive element) because its resistance value changes in a specific magnetic field direction.
- the magnetic sensor of the position detection device 30 is formed on one substrate so that two sets of full-bridge elements are inclined by 45 ° with respect to each other in order to know the direction of movement. .
- the outputs VoutA and VoutB obtained by the two sets of full bridge circuits are a cosine wave and a sine wave having a phase difference of 90 ° from each other, as shown in FIG. Since the magnets 22a and 22b are alternately arranged in the relative motion direction, the output of the position detection device 30 is a cosine wave and a sine wave.
- the position detection device 30 is based on the periodic structure of the permanent magnet 22 for driving the mover 20 and changes the direction of the magnetic field periodically generated by the relative motion to a sinusoidal signal having a phase difference of 90 ° and Output as cosine wave signal.
- the output signal of the magnetic sensor is taken into the position detection circuit 32, and converted into high-resolution phase angle data by digitally interpolating a sine wave signal and a cosine wave signal having a 90 ° phase difference.
- the position detection circuit 32 generates an A-phase encoder pulse signal (corresponding to a sine wave signal) and a B-phase encoder pulse signal (corresponding to a cosine wave signal) from the phase angle data, and the Z-phase once per cycle. Generate a pulse signal.
- These position signals of the A phase encoder pulse signal, the B phase encoder pulse signal, and the Z phase pulse signal are input to the position information switch 35.
- the motor drive device 40 controls the power converter 42 based on the position signals of these A-phase encoder pulse signal, B-phase encoder pulse signal, and Z-phase pulse signal.
- FIG. 8 is a schematic diagram showing the periodic structure of the poles of the stators 10 and 10B and the mover 20.
- the stators 10, 10B are spaced apart from each other so that the distance D1 is a natural number multiple of the coil pitch Cp, and the stators 10, 10B are arranged apart from each other.
- the phase of the periodic structure of the stator 10 and the phase of the periodic structure of the stator 10B coincide with each other. That is, the periodic structure of the UVW phase of the stator 10 is virtually extended to the stator 10B side as indicated by the broken line in FIG. 4, and the stator 10B is overlapped with the periodic structure on the extension. 10 is arranged.
- the coil 11 and the salient pole 12 are continuously formed from the stator 10 to the stator 10B. This corresponds to omitting the coil 11 and the salient pole 12 in the portion of the distance D2 in one stator that has the following periodic structure. However, the coil 11 and the salient pole 12 at both ends of the distance D2 are excluded.
- the distance D1 is a natural number multiple of 2 or more of the coil pitch Cp.
- the distance D1 is: It is a natural number multiple of 1 or more of the coil pitch Cp.
- the host controller 50 causes the in-phase current to flow through the motor driving devices 40 and 40B.
- the command value is output.
- the host controller 50 outputs a command value to the motor drive device 40 of the stator 10, 10B, 10C.
- the host controller 50 supplies a current having a phase difference ⁇ to the coils of the stator 10 and the stator 10B based on the distance between the stators 10 and 10B, and the distance between the stators 10B and 10C.
- a command value for supplying a current having a phase difference ⁇ to the coil of the stator 10 and the coil of the stator 10B is output.
- the motor driving device 40 of the stator 10 supplies current to the stator 10.
- the position detection device 30L of the stator 10B starts to output a signal, and the position information switcher 35 outputs the signal to the motor. Output to the driving device 40B.
- the mover 20 obtains the propulsive force from the stator 10 and the propulsive force from the stator 10B, but the host controller 50 uses the motor drive devices 40, 40B with a phase difference based on the distance between the stators 10, 10B.
- the motor drive devices 40 and 40B are controlled so that can supply current.
- the position detection device 30R of the stator 10B starts to output a signal, and the position information switch 35 switches the output signal to this signal.
- the origin on the stator 10 may be the position detection device 30L in the state shown in FIG. 10B or the position detection device 30R in the state shown in FIG. 10C.
- the position of the mover 20 may be corrected in the middle based on these origins, the position may be finally corrected on the next stator 10C.
- the position detection device 30L of the stator 10C starts to output a signal, and the position information switch 35 outputs this signal to the motor drive device 40C.
- the mover 20 obtains the propulsive force from the stator 10B and the propulsive force from the stator 10C, but the host controller 50 uses the motor driving devices 40B and 40C with a phase difference based on the distance between the stators 10B and 10C.
- the motor drive devices 40B and 40C are controlled so that current can be supplied.
- the stator 10, 10 ⁇ / b> B, 10 ⁇ / b> C and the mover 20 are linear motors 1 that move relative to each other, and the stator and the mover are of a plurality of types that magnetically act on each other.
- the stator distances D1 and D2 between the stators adjacent to each other, which are arranged apart from each other in the direction, are less than or equal to the length Lmv of the mover, the stator poles are constituted by the coils 11, and the stators of the adjacent stators
- Current control means for controlling the current supplied to the coil based on the distances D1 and D2, and when the mover moves from the stator to the adjacent stator, the propulsive force of the mover is lost. Based on the current control means so as not to occur, By controlling the current supplied to the yl, that can speed control, it is possible to provide a distributed arrangement linear motor and a control method for a distributed linear motor suitable for distributed stator.
- the distance between the stators 10 and 10B is such that the phase of the periodic structure of the stator 10 and the phase of the periodic structure of the stator 10B coincide with each other, or the distance D1 is Even when the coil pitch Cp is not a natural number multiple, the stator poles and the mover poles can prevent the loss of the propulsive force of the mover. The degree increases.
- the linear motor 1 of the present embodiment is configured so that the distance between the stators D1 and D2 between the adjacent stators is equal to or shorter than the length Lmv of the mover, and the mover 20 straddles between the stators. Since the propulsive force from the child can be prevented from interfering, the movable member 20 can move smoothly.
- the distance between the stators is the minimum distance D1 and D2 between the poles of adjacent stators, and the length of the mover 20 is the maximum distance Lmv between the poles of the mover, the stators 10 and 10B. Any one of the poles and one of the poles of the mover 20 are always facing each other.
- the host controller 50 calculates the phase of the current supplied to the coil 11 as the current control means based on the inter-stator distances D1 and D2, the coil is controlled so that no loss occurs in the propulsive force of the mover 20.
- the current supplied to 11 can be controlled to control the speed.
- the pole of the mover 20 is constituted by a driving permanent magnet 22 and is provided in the stator 10 on the coil 11 side, and the position detection for calculating the position by detecting the driving permanent magnet 22.
- the position detection device 30 can measure the timing when the phase of the current flowing through the coil 11 is changed.
- each fixed magnet 22 is fixed.
- a reference position in the child 10, 10B, 10C or the like can be determined, and any one of the position detection devices 30 can always detect the mover 20. Therefore, the origin mark and the origin detection sensor are not required for each of the stators 10, 10B, 10C, etc., and the position can be accurately controlled with a simpler configuration. In this way, the number of parts corresponding to the origin mark and the origin detection sensor is reduced, and the trouble of installing them can be saved.
- the origin can be determined in accordance with the condition of the mover 20, and when there is an error with respect to the command value, correction is performed, so that a highly accurate transport system can be realized.
- the motor driving devices 40, 40B, and 40C are arranged for the stators 10, 10B, and 10C, and the stators 10, 10B, and 10C can be independently moved, a transport system having a high degree of freedom of movement is formed. Can be made. Various movement patterns can be realized, and the mover 20 can be flexibly controlled according to the work procedure.
- the direction of the magnetic field that periodically changes due to relative motion is output as a sine wave signal and a cosine wave signal having a phase difference of 90 °.
- the linear scales installed on the stators 10, 10B, 10C and the mover 20 become unnecessary, and the stators 10, 10B, 10C are dispersedly arranged.
- the made linear motor can be made a simpler configuration.
- the movable element 20 since the position detection device 30 is installed on the stator 10 side, the movable element 20 does not need to be provided with the encoder cable 52, and the encoder cable 52 is not routed and the encoder cables 52 are not entangled with each other. This is particularly effective in a transport system having a plurality of children 20.
- the permanent magnet 22 for a drive is installed in the needle
- FIG. 11 is a perspective view schematically showing an example of the stator and the mover of the distributed linear motor according to the second embodiment of the present invention.
- FIG. 12 is a schematic diagram showing a periodic structure of the poles of the stator in FIG.
- driving permanent magnets are arranged on the stator, and a three-phase coil, a position detection device, and the like are provided on the mover.
- the distributed linear motor drive system includes a distributed linear motor 2 that conveys parts, workpieces, and the like, a plurality of motor drive devices 40 and 40B that control the distributed linear motor 2, and a plurality of motors. And a host controller 50 for controlling the motor driving devices 40 and 40B.
- the distributed arrangement linear motor 2 has a plurality of stators 60, 60B and a mover 70 which move relative to each other by a magnetic action.
- a plurality of stators 60, 60B are arranged at a predetermined interval in the transport direction.
- the coils 71L and 71R of the mover 70 are divided into two coils 71L that are controlled by the motor driving device 40 and two coils 71R that are controlled by the motor driving device 40B. Divided. That is, the coils 71L and 71R are divided into two with the UVW phase as a pair, into a region including a portion of the coil 71L facing the stator 60 and a region including a portion of the coil 71R facing the stator 60B.
- the mover 70 has a position detection device 30 (30L, 30R). And the needle
- the position detection devices 30L and 30R of the mover 70 are connected to a position information switcher (not shown), and the position information switcher and the motor drive devices 40 and 40B are connected by an encoder cable.
- Each motor drive device 40, 40B and the host controller 50 are connected by a control line.
- position detection devices 30L and 30R having magnetic sensors are arranged outside the salient poles 72 at both ends in the longitudinal direction of the mover 70 as shown in FIGS. And the magnetic sensor of position detection apparatus 30L and 30R is installed in the side facing the stator 60 of the needle
- the installation positions of the position detection devices 30L and 30R may be provided so as to be separated from each other in the longitudinal direction of the mover 70 and hardly affected by the coils 71L and 71R.
- the stators 60 and 60 ⁇ / b> B each have a base 61 and a permanent magnet 62 installed on the upper surface of the base 61.
- the permanent magnet 62 includes an N-pole magnet 62 a whose pole on the side facing the mover 70 is an N-pole and an S-pole magnet 62 b which is an S-pole. 70 acts magnetically.
- These N poles and S poles are examples of poles generated on the mover 70 side by the permanent magnet 62.
- a periodic structure is formed in which N-pole magnets 62a and S-pole magnets 62b are alternately arranged in the order of N poles and S poles in the direction of relative movement of the stators 60 and 60B and the mover 70.
- the stators 60 and 60B respectively have N-pole and S-pole periodic structures in the longitudinal direction of the stator 60, which is an example of the direction of relative motion.
- the mover 70 has coils 71L and 70R to which a three-phase alternating current is supplied, and salient poles 72 around which the coils 71L and 70R are wound.
- coils 71L and 70R There are three types of coils 71L and 70R: a U-phase coil 71a, a V-phase coil 71b, and a W-phase coil 71c.
- salient poles 72 There are three types of salient poles 72 corresponding to the coils 71a, 71b and 71c: a U-phase salient pole 72a, a V-phase salient pole 72b and a W-phase salient pole 72c.
- a cycle in which the coils 71a, 71b, 71c and salient poles 72a, 72b, 72c are periodically arranged in the direction of relative movement between the stators 60A1, 60A2 and the mover 70A in the order of the U phase, the V phase, and the W phase.
- a structure is formed.
- coils 71L and 70R are provided with coils 71a, 71b and 71c on the side of position detection device 30L (left in the figure) to which current is supplied from motor drive device 40, and current from motor drive device 40B. Are divided into two coils 71a, 71b, 71c on the position detection device 30R (right side in the figure) side.
- a moving magnetic field is generated according to the direction and strength of the three-phase alternating current flowing through the coils 71a, 71b, 71c of the mover 70, and the salient poles 72 corresponding to the coils 71a, 71b, 71c, N
- the pole magnet 62a and the S pole magnet 62b act magnetically, and relative movement between the stators 60, 60B and the mover 70 occurs in the longitudinal direction of the stators 60, 60B. That is, the stators 60 and 60B and the mover 70 magnetically act with each other, and the mover 70 moves relative to the longitudinal direction of the stators 60 and 60B.
- the motor driving devices 40 and 40B supply in-phase currents.
- the position detection device 30R ahead of the moving direction of the mover 70 detects the stator 60B, and based on the information from the position detection device 30R, the host controller 50 drives the motor.
- the phase of the current flowing through the devices 40 and 40B is changed.
- the host controller 50 determines the phase difference of the current supplied to the coils 71L and 70R in the motor driving devices 40 and 40B as the distance between the stators 60 and 60B, that is, as shown in FIG. 12, the adjacent stators 60 and 60B. Is calculated based on the inter-stator distances D1 and D2.
- the host controller 50 when controlling the motor driving devices 40 and 40B, the host controller 50 adds information on the phase difference and outputs information on the position command or information on the speed command to the motor driving devices 40 and 40B.
- the host controller 50 calculates the phase of the current supplied to the coils 71L and 70R based on the inter-stator distances D1 and D2 as an example of the current control unit.
- the motor drive devices 40 and 40B function as an example of a current control unit that obtains phase difference information from the host controller 50 and controls the current supplied to the coils 71L and 70R based on the inter-stator distances D1 and D2. To do.
- the permanent magnets 62 of the stator 60 are alternately arranged in the order of N-pole magnets 62a and S-pole magnets 62b with a length of one cycle of the magnet pitch Mp.
- the magnet pitch Mp which is an example of the length of one cycle in the periodic structure of the stator 60, is the minimum distance between the same poles of the N-pole magnet 62a and the S-pole magnet 62b. For example, the distance between the N-pole magnet 62a and the next N-pole magnet 62a.
- An example of the minimum distance D1 between the same type of poles of the adjacent stators 60 and 60B is as follows.
- the N pole magnet 62a that is closest to the stator 60 and the stator 60B are closest to the stator 60B. This is the distance connecting a certain N-pole magnet 62a.
- the mover 70 can be in a state of straddling the stator 60 and the stator 60B, and the poles of the stators 60 and 60B Either one of the poles of the mover 70 always faces each other.
- the relationship between the minimum distance D1 and the length Lmv is an example in which the inter-stator distance D2 between the adjacent stators 60 and 60B is equal to or less than the length Lmv of the mover 20.
- an example of the minimum distance D2 between the poles of the adjacent stators 60 and 60B is that in the stator 60, the S pole magnet 62b closest to the stator 60 and the stator 60B. This is the distance connecting the N pole magnet 62a closest to the stator 60 side.
- This distance D2 is less than or equal to the length Lmv of the mover 70.
- the length Lmv of the mover 70 is a distance connecting the salient poles 72 at both ends in the relative movement direction of the mover 70 as shown in FIG. That is, this is an example of the maximum distance between the poles of the mover 70.
- the mover 70 when the distance D2 is equal to or less than the length Lmv of the mover 70, the mover 70 can be in a state of straddling the stator 60 and the stator 60B, and the poles of the stators 60 and 60B Either one of the poles of the mover 70 always faces each other.
- the relationship between the minimum distance D2 and the length Lmv is an example in which the inter-stator distance D2 between the adjacent stators 60 and 60B is equal to or less than the length Lmv of the mover 20.
- the motor driving devices 40 and 40B have the movable element 70 straddling the stators 60 and 60B. Even in such a case, it is only necessary to supply an in-phase current.
- the stator 60, 60B and the mover 70 are linear motors 2 in which the stator 70 and the mover 70 move relative to each other.
- the distance between the stators D1 and D2 between the adjacent stators that are arranged apart from each other is equal to or less than the length Lmv of the mover, and the poles of the mover are configured by the coils 71L and 70R.
- Current control means for controlling the current supplied to the coil based on the distances D1 and D2, and when the mover moves from the stator to the adjacent stator, the propulsive force of the mover is lost. Based on current control means so that it does not occur By controlling the phase of the current supplied to the coil, that can speed control, it is possible to provide a distributed arrangement linear motor and a control method for a distributed linear motor suitable for distributed stator.
- the poles of the stators 60 and 60B are constituted by a driving permanent magnet 62, provided on the mover 70 on the coils 71L and 70R side, and the position is calculated by detecting the driving permanent magnet 62.
- the motor driving devices 40 and 40B pass in-phase currents, but the mover 70 is connected to the stator 60.
- 60B for example, the position detection device 30R in front of the moving direction of the mover 70 detects that it has straddled the stators 60, 60B, and is supplied from the motor drive devices 40, 40B. The timing for changing the phase of the current can be measured.
- the inter-stator distance calculating means for calculating the inter-stator distances D1 and D2 based on the information of the position detection device 30 instead of measuring the distance between the stators. You may prepare. For example, based on information from the position detection device 30, the host controller 50 calculates the speed of the movers 20, 70 and the passing time in which the moving direction heads of the movers 20, 70 pass between the stators. The distance between the stators is calculated from the speed of the movers 20 and 70 and the passage time.
- the motor driving devices 40, 40B, and 40C may calculate the phase or the distance between the stators.
- the motor drive devices 40, 40B, and 40C have a CPU or the like, and calculate the distance between the stators, or calculate the phase of the current supplied to the coils based on the distance between the stators.
- the present invention is not limited to the above embodiments.
- Each of the embodiments described above is an exemplification, and any configuration that has substantially the same configuration as the technical idea described in the claims of the present invention and has the same operational effects can be used. It is included in the technical scope of the present invention.
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Abstract
Description
まず、本発明の第1実施形態に係る分散配置リニアモータの駆動システムの概略構成および機能について、図に基づき説明する。
λ=D1-Cp×自然数 (λ<Cp)・・・(1)
である。このとき、固定子10のコイル11に流す電流と、固定子10Bのコイル11に流す電流との位相差ψは、
ψ=2π・λ/Cp ・・・(2)
となる。固定子10のコイル11に流す電流の波形をcos(ωt)とすると、固定子10Bのコイル11に流す電流の波形は、cos(ωt+ψ)となる。
D1=D2+2/3・Cp ・・・(3)
となる。
図8は、固定子10、10Bおよび可動子20の極の周期構造を示す模式図である。
次に、本発明の第2実施形態に係る分散配置リニアモータの駆動システムについて説明する。まず、第2実施形態に係る分散配置リニアモータの駆動システムの概略構成について、図を用いて説明する。なお、前記第1実施形態と同一または対応する部分には、同一の符号を用いて異なる構成および作用のみを説明する。その他の実施形態および変形例も同様とする。
λ=D1-Mp×自然数 (λ<Mp)・・・(4)
である。このとき、図12において、位置検出装置30L側のUVW相のコイル71Lに流す電流と、位置検出装置30R側のUVW相のコイル71Rに流す電流との位相差ψは、
ψ=2π・λ/Mp ・・・(5)
となる。
D1=D2+1/2・Mp ・・・(6)
となる。
Claims (6)
- 固定子と可動子とが互いに相対運動するリニアモータであって、
前記固定子と前記可動子とは、互いに磁気的に作用をする複数の種類の極と、前記複数の種類の極が前記種類の順に前記相対運動の方向に周期的に配列された周期構造とを各々有し、
前記固定子は、前記相対運動の方向に複数離れて配列され、
隣り合う前記固定子の固定子間距離が、前記可動子の長さ以下であり、
前記固定子の極または前記可動子の極が、コイルにより構成され、
前記コイルに供給する電流を、前記固定子間距離に基づき制御する電流制御手段と、
を備えたことを特徴とする分散配置リニアモータ。 - 請求項1に記載の分散配置リニアモータにおいて、
前記電流制御手段が、前記コイルに供給する電流の位相を、前記固定子間距離に基づき算出することを特徴とする分散配置リニアモータ。 - 請求項1または請求項2に記載の分散配置リニアモータにおいて、
前記固定子間距離が、隣り合う前記固定子の極同士の最小距離であり、
前記可動子の長さが、前記可動子の極同士の最大距離であることを特徴とする分散配置リニアモータ。 - 請求項1から請求項3のいずれか1項に記載の分散配置リニアモータにおいて、
前記固定子の極および前記可動子の極のいずれか一方が、駆動用の永久磁石により構成され、
前記コイル側の前記固定子または前記可動子に設けられ、かつ、前記駆動用の永久磁石を検出して位置を算出するための位置検出装置を更に備えたことを特徴とする分散配置リニアモータ。 - 請求項1から請求項4のいずれか1項に記載の分散配置リニアモータにおいて、
前記位置検出装置の情報に基づき、前記固定子間距離を算出する固定子間距離算出手段を更に備えたことを特徴とする分散配置リニアモータ。 - 固定子と可動子とが互いに相対運動するリニアモータにおいて、
前記固定子と前記可動子とは、互いに磁気的に作用をする複数の種類の極と、前記複数の種類の極が前記種類の順に前記相対運動の方向に周期的に配列された周期構造とを各々有し、
前記固定子は、前記相対運動の方向に複数離れて配列され、
隣り合う前記固定子の固定子間距離が、前記可動子の長さ以下であり、
前記固定子の極または前記可動子の極が、コイルにより構成された分散配置リニアモータであって、
前記コイルに供給する電流を、前記固定子間距離に基づき制御することを特徴とする分散配置リニアモータの制御方法。
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DE112010003456.7T DE112010003456B4 (de) | 2009-08-28 | 2010-08-05 | Verteilte-anordnung-linearmotor und steuerungsverfahren eines verteilte-anordnung-linearmotors |
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