WO2011158732A1 - Linear motor control device - Google Patents
Linear motor control device Download PDFInfo
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- WO2011158732A1 WO2011158732A1 PCT/JP2011/063275 JP2011063275W WO2011158732A1 WO 2011158732 A1 WO2011158732 A1 WO 2011158732A1 JP 2011063275 W JP2011063275 W JP 2011063275W WO 2011158732 A1 WO2011158732 A1 WO 2011158732A1
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- speed
- control
- mover
- command
- linear motor
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
Definitions
- the present invention relates to a control device for a linear motor.
- the present invention claims priority based on Japanese Patent Application No. 2010-138419 filed in Japan on June 17, 2010, the contents of which are incorporated herein by reference.
- the control of the linear motor is performed based on, for example, the distance between the current position of the mover and the target position to move the mover.
- a magnetic sensor that detects a magnetic field generated by a driving magnet is used (Patent Document 1).
- the output signal may include a periodic fluctuation component.
- the periodic fluctuation component occurs because, for example, the level of a signal to be output differs between the case where the magnetic pole facing the magnetic sensor is the N pole and the case where the magnetic pole is the S pole.
- the position information obtained includes a periodic fluctuation component under the influence of the periodic fluctuation component included in the signal. .
- position detection is performed based on the signal output from the magnetic sensor and the linear motor is controlled using the signal indicating the detected position, the influence of the periodic fluctuation component included in the signal indicating the position As a result, the control of the linear motor is disturbed.
- FIG. 9 is a schematic diagram showing an example of the moving speed of the mover when the linear motor is driven and the current value of the current applied to the linear motor.
- the horizontal axis indicates time
- the vertical axis indicates the speed at which the mover moves and the current value flowing through the linear motor.
- the period from time T1 to time T2 is a period in which the mover is accelerated and driven. From time T2 to time T3 is a period in which the mover is driven at a constant speed. The period from time T3 to time T4 is a period in which the mover is driven at a reduced speed, and the mover is stopped at a desired position at time T4.
- a waveform represented by a broken line indicates a current value when a periodic fluctuation component is not included in the output of the magnetic sensor, and a waveform represented by a solid line is The current value in the case where a periodic fluctuation component is included in the output of the magnetic sensor is shown.
- the device for controlling the linear motor repeatedly controls acceleration and deceleration in an attempt to keep the detected speed constant. For this reason, as shown in FIG. 9, the electric current which flows into a linear motor will change periodically, and control will be disturbed, without being stabilized.
- the linear motor when the linear motor is controlled based on the signal output from the magnetic sensor for detecting the position of the mover, if the output of the magnetic sensor includes a periodic fluctuation component, the periodic fluctuation Due to the influence of the components, the control of the linear motor is unstable and disturbed.
- the present invention has been made to solve the above problems, and an object of the present invention is to control a linear motor that can stably control the linear motor even when the signal output from the magnetic sensor includes a periodic fluctuation component. Providing equipment.
- One aspect of the present invention includes a driving magnet unit including a plurality of driving magnets in which N poles and S poles are alternately arranged at equal intervals, and an armature including a plurality of coils.
- any one of the driving magnet portions is a mover, and the driving magnet is generated by a magnetic field generated by passing a current through a plurality of coils provided in the armature and a magnetic field generated by the driving magnet.
- a control device for a linear motor that linearly moves the mover in the array direction; and a magnetic sensor provided in the armature according to the direction of the magnetic field generated by the drive magnet.
- a magnetic sensor that outputs a detected signal; a speed detector that detects a moving speed of the mover based on a signal output from the magnetic sensor; an average speed of the mover detected by the speed detector; More unit time A first current command indicating a current value to be passed through the plurality of coils based on a difference from a speed command calculated from a position command indicating a distance to move the mover per unit time.
- a linear motor control device comprising: a speed control unit that calculates; and a power conversion unit that applies a current to the plurality of coils based on a first current command calculated by the speed control unit.
- the linear motor can be stably controlled even when the signal output from the magnetic sensor includes a periodic fluctuation component.
- FIG. 1 is a schematic diagram showing a linear motor device 1 according to an embodiment of the present invention.
- the linear motor device 1 includes a control device 10 and a linear motor 20.
- the control device 10 is a device that performs control to drive the linear motor 20.
- the linear motor 20 includes a long stator 21, a mover 25 that moves on the stator 21, and a pair of guide devices 22 and 22 for assembling the stator 21 and the mover 25.
- the guide device 22 includes, for example, a track rail 23 and a slide block 26 that are attached via balls.
- the track rail 23 of the guide device 22 is fixed to the base 54 of the stator 21, and the slide block 26 of the guide device 22 is fixed to the mover 25. Thereby, the mover 25 is freely guided along the track rail 23 on the stator 21.
- the stator 21 includes a plurality of drive magnets 24 arranged between a pair of track rails 23 and 23.
- the plurality of drive magnets 24 are arranged so that the N-pole and S-pole magnetic poles alternate in the direction in which the mover 25 moves (hereinafter referred to as the movement direction). Further, each drive magnet 24 has the same length in the moving direction, and a constant thrust can be obtained regardless of the position of the mover 25.
- the mover 25 includes an armature 60 having a plurality of coils, a table 53 to which a moving object is attached, and an MR (Magnetoresitive Elements) sensor 27.
- the MR sensor 27 is a kind of magnetic sensor, and outputs a signal corresponding to the direction of the magnetic flux line of the magnetic field generated by the driving magnet 24 arranged in the stator 21 to the control device 10.
- FIG. 2 is a perspective view showing the principle of the MR sensor 27 in the present embodiment. As shown in the figure, it is formed of a ferromagnetic thin film metal of an alloy mainly composed of a silicon (Si) or glass substrate 271 and a ferromagnetic metal such as nickel (Ni) or iron (Fe) formed thereon. Magnetoresistive element 272. The resistance value of the magnetoresistive element 272 changes with respect to the current flow direction (Y-axis direction) according to the angle between the direction of the magnetic flux passing through the magnetoresistive element 272 and the substrate 271.
- the MR sensor 27 is configured such that a plurality of magnetoresistive elements 272 are combined to form two full bridge circuits, and the two full bridge circuits output a signal having a phase difference of 45 °.
- an element whose resistance value changes in a specific magnetic field direction is referred to as an AMR (Anisotropic-Magneto-Resistance) sensor (reference document: "Vertical type MR sensor technical data", [online], October 1, 2005, Hamamatsu Photoelectric Co., Ltd., “May 6, 2010 search”, Internet ⁇ URL; http://www.hkd.co.jp/technique/img/amr-note1.pdf>).
- the control device 10 calculates the position of the mover 25 on the stator 21 and the moving speed based on the signal output from the MR sensor 27. Moreover, the control apparatus 10 sends an electric current through the some coil which the armature 60 has according to the calculated position and speed of the needle
- FIG. 3 is a perspective view of the linear motor 20 in this embodiment (including the cross section of the table 53).
- FIG. 4 is a front view of the linear motor 20 in the present embodiment.
- the linear motor 20 includes a plurality of plate-like drive magnets 24 in which the stator 21 is arranged with the N-pole or S-pole magnetized surface facing the mover 25.
- the mover 25 is a flat type linear motor that linearly moves relative to the stator 21.
- the armature 60 provided in the mover 25 is opposed to the driving magnet 24 via the gap g.
- the plurality of drive magnets 24 described above are arranged in a row in the moving direction on the elongated base 54 of the stator 21.
- the base 54 includes a bottom wall portion 54a and a pair of side wall portions 54b provided on both sides in the width direction of the bottom wall portion 54a.
- the plurality of driving magnets 24 described above are attached to the bottom wall portion 54a.
- Each drive magnet 24 has an N pole and an S pole formed on both end faces in a direction (vertical direction in FIG. 4) perpendicular to the moving direction.
- the plurality of drive magnets 24 are arranged in a state where the magnetic poles are reversed with respect to a pair of adjacent drive magnets 24. Thereby, when the mover 25 moves with respect to the MR sensor 27 attached to the mover 25, the magnetic poles of the N pole and the S pole of the drive magnet 24 alternately oppose each other.
- the track rail 23 of the guide device 22 is attached to the upper surface of the side wall 54b of the base 54.
- the slide block 26 is slidably attached to the track rail 23.
- a plurality of balls are interposed between the track rail 23 and the slide block 26 so as to allow rolling motion (not shown).
- the slide block 26 is provided with a track-shaped ball circulation path for circulating a plurality of balls.
- a plurality of balls roll and move between them, and the plurality of balls circulate in the ball circulation path. Thereby, the smooth linear motion of the slide block 26 is attained.
- the table 53 of the mover 25 is attached to the upper surface of the slide block 26 of the guide device 22.
- the table 53 is made of, for example, a nonmagnetic material such as aluminum, and a moving object is attached to the table 53.
- An armature 60 is suspended from the lower surface of the table 53. As shown in the front view of FIG. 4, a gap g is provided between the driving magnet 24 and the armature 60.
- the guide device 22 maintains the clearance g constant even when the armature 60 moves relative to the drive magnet 24.
- FIG. 5 is a cross-sectional view taken along the moving direction of the mover 25 in the present embodiment.
- An armature 60 is attached to the lower surface of the table 53 via a heat insulating material 63.
- the armature 60 includes a core 64 made of a magnetic material such as silicon steel, and the above-described plurality of coils, and coils 28u, 28v, and 28w wound around the salient poles 64u, 64v, and 64w of the core 64. .
- a three-phase alternating current having a phase difference is supplied from the control device 10 to each of the coils 28u, 28v, 28w. After winding the three coils 28u, 28v, 28w around the salient poles 64u, 64v, 64w, the three coils 28u, 28v, 28w are sealed with resin.
- a pair of auxiliary cores 67 are attached to the lower surface of the table 53 with the armature 60 interposed therebetween. The auxiliary core 67 is provided to reduce cogging generated in the linear motor 20.
- FIG. 6 is a schematic diagram showing the relative positions of the MR sensor 27 and the coils 28u, 28v, 28w and the driving magnet 24 in the present embodiment.
- the driving magnet 24 is arranged on the stator 21 on the bottom wall portion 54 a of the base 54. More specifically, the driving magnet 24N arranged with the north pole facing the MR sensor 27 and the driving magnet 24S arranged with the south pole facing the MR sensor 27 are alternately arranged in the moving direction. Is arranged.
- the coils 28u, 28v, and 28w are arranged so as to pass through the center of the drive magnet 24 disposed in the stator 21 and pass through a straight line parallel to the moving direction.
- the MR sensor 27 is attached at a position that passes through the center of each driving magnet 24 and passes on a straight line parallel to the moving direction. As a result, the MR sensor 27 can pass through the position where the magnetic field generated by the drive magnet 24 is strongest.
- FIG. 7 is a schematic block diagram showing the configuration of the control device 10 in the present embodiment.
- the control device 10 includes a position controller 101, differentiators 102 and 105, switches 103, 107 and 113, a speed controller 104, an acceleration controller 106, a current controller 108, a power converter 109, A current transformer 110, a pulse generator 111, a velocity detector 112, an averager 114, a position detector 115, and a control mode selector 116 are provided.
- the position controller 101 is based on a signal indicating the position of the mover 25 of the linear motor 20 input from the position detector 115 and a position command input from the host controller.
- a first speed command for moving to a position indicated by the position command is calculated.
- the host control device generates a signal sequence indicating the distance to move the mover 25 per unit time according to the distance to the target position to move the mover 25.
- the higher-level control device uses a drive pattern according to the distance to the target position for moving the mover 25 (the length of the period in each of the acceleration region, the constant velocity region, and the deceleration region shown in FIG. A combination of speed) is generated, a distance for moving the mover 25 in each unit time is calculated from the generated drive pattern as a position command, and the calculated position command is input to the position controller 101 every unit time. .
- the first speed command is a characteristic of the linear motor 20 such as a frictional resistance when the mover 25 is moved to a deviation (difference) in the distance that the mover 25 has moved within a unit time with respect to the distance indicated by the position command. Is a value calculated by multiplying a preset coefficient in consideration of.
- the coefficient for calculating the first speed command is a value determined based on the result of simulation or measurement.
- the first speed command may be calculated by a PI calculation or a PID calculation using a deviation of the position of the mover 25 with respect to the distance indicated by the position command.
- the differentiator 102 calculates the second speed command based on the distance change amount indicated by the position command input from the outside. Specifically, the differentiator 102 calculates a difference between position commands input every unit time as a second speed command.
- One of the speed commands selected by the switch 103 among the first speed command calculated by the position controller 101 and the second speed command calculated by the differentiator 102 is input to the speed controller 104. Further, the speed controller 104 receives either the speed at which the mover 25 detected by the speed detector 112 moves or the average value (average speed) of the speed selected by the switch 113.
- the speed controller 104 performs the first or second PID calculation by using either the deviation of the moving speed of the mover 25 with respect to the input speed command or the average deviation of the speed with respect to the input speed command. 1 current command is calculated.
- the first current command is a signal indicating a current value to be applied to the coils 28u, 28v, 28w in order to obtain a speed at which the mover 25 indicated by the speed command moves.
- the differentiator 105 calculates an acceleration command based on the change amount of the second speed command calculated by the differentiator 102.
- the acceleration command is a signal indicating the acceleration given to the mover 25.
- the differentiator 105 calculates the difference between the second speed commands input every unit time as the acceleration command.
- the acceleration controller 106 calculates a second current command that is a current value for obtaining the acceleration indicated by the acceleration command calculated by the differentiator 105.
- the second current command is obtained by multiplying the acceleration indicated by the acceleration command by a coefficient set in advance in consideration of characteristics of the linear motor 20 such as frictional resistance when the mover 25 is moved, or PI. It is a signal which shows the electric current value computed by a calculation or a PID calculation.
- the current controller 108 includes a current command selected by the switch 107, one of the first current command calculated by the speed controller 104 and the second current command calculated by the acceleration controller 106, and a variable current command.
- the value of the current flowing through the linear motor 20 detected by the flow device 110 is input. Further, the current controller 108 calculates a voltage command for controlling the power converter 109 so that the value of the current flowing through the linear motor 20 becomes a value indicated by the current command by PI control or PID control.
- the power converter 109 is an inverter circuit provided according to the number of coils of the linear motor 20 and having an upper arm and a lower arm having switching elements.
- the power converter 109 is configured such that the coil 28u provided in the armature 60 via the switching element by PWM control for switching on / off of the switching element in accordance with a voltage command input from the current controller 108. Power is supplied to 28v and 28w, and the mover 25 is driven.
- the switching element for example, a semiconductor element such as IGBT (Insulated Gate Bipolar Transistor) is used.
- the current transformer 110 is provided between the power converter 109 and the linear motor 20, detects a current value of a current flowing from the power converter 109 to the linear motor 20, and a signal indicating the detected current value. Is output to the current controller 108.
- the pulse generator 111 outputs a pulse signal indicating the distance and direction in which the mover 25 moves from the signal output from the MR sensor 27.
- the mover 25 moves with respect to the stator 21 based on the pulse signal input from the pulse generator 111 and the magnetic pole pitch of the drive magnet 24 arranged in the stator 21.
- the speed is calculated and a signal indicating the calculated speed is output.
- the averager 114 calculates an average value of the speed of the mover 25 from a pulse signal indicating the speed of the mover 25 input from the speed detector 112 via the switch 113, and outputs a signal indicating the calculated average value as a speed. Output to the controller 104.
- the position detector 115 drives from the predetermined reference position to the mover 25 based on the pulse signal input from the pulse generator 111 and the magnetic pole pitch of the drive magnet 24 arranged on the stator 21. The distance in the arrangement direction in which the magnets 24 are arranged is calculated. In other words, the position detector 115 calculates the position of the mover 25 on the track rail 23 provided in the stator 21 and outputs a signal indicating the calculated position to the position controller 101.
- the position detector 115 counts the number of pulses of the input pulse signal and calculates the position of the mover 25. Further, as the reference position, for example, any one point in the movable range on the track rail 23 of the mover 25 is selected. As described above, the MR sensor 27, the pulse generator 111, and the position detector 115 implement a linear encoder that detects the position of the mover 25. Note that the position detector 115 detects an origin serving as a reference position of the position to be detected when the linear motor device 1 is activated.
- the position command from the outside and the acceleration command from the differentiator 105 are input to the control mode selector 116.
- the control mode selector 116 selects one of stop control, acceleration control, and speed control by switching each of the switches 103, 107, and 113 based on the input position command and acceleration command. Then, a current is applied to the linear motor 20.
- the stop control is performed when the switch 103 selects the terminal S1, the switch 107 selects the terminal S5, and the switch 113 selects the terminal S3.
- the control loop by the position controller 101, the speed controller 104, the current controller 108, the power converter 109, the pulse generator 111, and the position detector 115, the speed controller 104, the current controller 108, the power A loop of control by the converter 109, the pulse generator 111, and the speed detector 112 is formed.
- a current is applied so that the mover 25 does not move based on a signal indicating the position of the mover 25 detected by the position detector 115.
- the acceleration control is performed by the switch 107 selecting the terminal S6.
- open loop control based on the position command is performed.
- the speed control is performed by the switch 103 selecting the terminal S2, the switch 107 selecting the terminal S5, and the switch 113 selecting the terminal S4.
- the position controller 101, the speed controller 104, the current controller 108, the power converter 109, the pulse generator 111, the loop of control by the position detector 115, the speed controller 104, the current controller 108, the power A loop of control by the converter 109, the pulse generator 111, the speed detector 112, and the averager 114 is formed.
- FIG. 8 is a flowchart showing the operation of the control mode selector 116 in the present embodiment.
- the control mode selector 116 determines whether or not the distance indicated by the input position command is 0 (step S101).
- step S101: YES When the distance indicated by the input position command is 0 (step S101: YES), the control mode selector 116 selects the stop control by switching the switches 103, 107, 113 (step S102), and proceeds to step S101. Return. On the other hand, when the distance indicated by the input position command is not 0 (step S101: NO), the control mode selector 116 determines whether the value indicated by the input acceleration command is 0 (step). S103).
- step S103: NO When the value indicated by the acceleration command is not 0 (step S103: NO), the control mode selector 116 switches between the switches 103, 107, and 113 to select acceleration control (step S104), and returns to step S101. On the other hand, when the value indicated by the acceleration command is 0 (step S103: YES), the control mode selector 116 switches the switches 103, 107, and 113 to select speed control (step S105), and returns to step S101. .
- the speed controller 104 calculates the difference between the first speed command calculated by the position controller 101 and the average speed value calculated by the averager 114.
- the first current value that flows through the coils 28u, 28v, 28w provided in the armature 60 of the linear motor 20 so that the speed of the stator 25 becomes the speed indicated by the first speed command. Calculate the current command.
- the current controller 108 controls the current to flow through the coils 28u, 28v, 28w in accordance with the first current command calculated by the speed controller 104.
- the linear motor 20 can be controlled stably.
- the first current command is calculated based on the average speed of the mover 25, so that the periodic variability included in the speed is averaged. Therefore, the first current command can be stabilized.
- the current applied to the coils 28u, 28v, 28w can be stabilized, and excessive heat generation of the coils 28u, 28v, 28w due to the change in the current value can be suppressed.
- the current value flowing through the coils 28u, 28v, 28w can be stabilized, and an increase in power consumption can be prevented. Furthermore, since excessive heat generation of the coils 28u, 28v, and 28w can be suppressed, deterioration of the linear motor 20 due to heat generation of the coils 28u, 28v, and 28w can be suppressed.
- the switching of the control method in the control device 10 can be easily realized by changing a program such as a control microcomputer provided in the control device 10. Therefore, stable control of the linear motor 20 can be realized without increasing the manufacturing cost as compared with the case of using an expensive MR sensor in which measures are taken to prevent periodic fluctuation components from being included in the output signal. can do.
- control device 10 selects the acceleration control when the value indicated by the acceleration command is not 0 by the control mode selector 116. That is, when driving the mover 25 by accelerating (decelerating), the power converter 109 controls the current to flow through the coils 28u, 28v, 28w based on the second current command calculated by the acceleration controller 106. Do. As a result, when the control device 10 is driven by accelerating (decelerating) the mover 25, the control device 10 performs open loop control based on the input position command, so that the periodicity included in the signal output from the MR sensor 27 Since the linear motor 20 is controlled without being affected by the fluctuation component, the linear motor 20 can be stably controlled.
- the control mode selector 116 selects speed control when the acceleration command calculated by the differentiator 105 indicates 0 (zero), and selects acceleration control when the acceleration command does not indicate 0 (zero). did. Thereby, since the control method of the linear motor 20 is selected using the acceleration command calculated for acceleration control, the calculation performed by the control mode selector 116 can be facilitated.
- the averager 114 calculates the average value of the speeds input after the switch 113 selects the terminal S4. That is, the averager 114 calculates the average value of the speeds detected by the speed detector 112 between the time when speed control is selected and the present time. As a result, since the average is calculated using all the information indicating the speed detected by the speed detector 112, the periodic fluctuation component included in the average value (average speed) can be sufficiently suppressed, and the mover More stable control can be performed when moving 25 at a constant speed.
- the averager 114 calculates the average value of the speed of the mover 25 from the time when speed control is selected to the present time.
- the control mode selector 116 controls the speed control. Is selected for each section determined by a distance obtained by multiplying the magnetic pole pitch of the drive magnet 24 by an integer, the average value of the speeds detected by the speed detector 112 is calculated, and the newest average among the calculated average values is calculated. The value may be output to the speed controller 104.
- the amount of calculation for calculating the average value of the speed can be reduced to improve the responsiveness, and the control is stably performed even when the mover 25 is moved at a high speed. be able to. This is particularly effective when the periodic fluctuation component included in the signal output from the MR sensor 27 changes according to the magnetic pole pitch of the drive magnet 24.
- the flat type linear motor 20 in which the mover 25 including the armature 60 moves linearly relative to the stator 21 including the driving magnet 24 is controlled.
- the present invention is not limited to this, and a mover provided with a rod-type drive magnet may be applied to a rod-type linear motor that linearly moves relative to a stator provided with an armature (coil). Good.
- the average speed is calculated by calculating the average of the speeds input by the averager 114.
- the distance moved while the speed control is selected is required for the movement of the distance. It may be calculated by dividing by the determined time.
- the control device 10 for the linear motor 20 described above may have a computer system therein.
- the process performed by each functional unit provided in the control device 10 described above is stored in a computer-readable recording medium in the form of a program, and this program is read and executed by the computer.
- the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like.
- the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.
- the linear motor can be stably controlled, so that an increase in power consumption of the linear motor 20 is prevented and deteriorated. Can be suppressed.
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Abstract
A control device for controlling a linear motor selects either constant speed control for moving a movable element at a constant speed, or acceleration control for accelerating the speed of the movable element, on the basis of a position command indicating the distance that the movable element is to be moved per externally inputted unit time. When constant speed control is selected, a current command indicating a current value to be applied to the linear motor is calculated on the basis of the average speed, which is the average speed of the movable part, and a speed command. When acceleration control is selected, a current command is calculated on the basis of the speed of the movable element and a speed command, and a current is applied to the linear motor on the basis of the calculated current command.
Description
本発明は、リニアモータの制御装置に関する。
本発明は、2010年6月17日に、日本に出願された特願2010-138419号に基づき優先権を主張し、その内容をここに援用する。 The present invention relates to a control device for a linear motor.
The present invention claims priority based on Japanese Patent Application No. 2010-138419 filed in Japan on June 17, 2010, the contents of which are incorporated herein by reference.
本発明は、2010年6月17日に、日本に出願された特願2010-138419号に基づき優先権を主張し、その内容をここに援用する。 The present invention relates to a control device for a linear motor.
The present invention claims priority based on Japanese Patent Application No. 2010-138419 filed in Japan on June 17, 2010, the contents of which are incorporated herein by reference.
リニアモータの制御は、例えば、可動子の現在の位置と、可動子を移動させる目標位置との距離に基づいて行われている。リニアモータの可動子の位置を検出するために、例えば、駆動用磁石が生じさせている磁界を検出する磁気センサが用いられている(特許文献1)。
The control of the linear motor is performed based on, for example, the distance between the current position of the mover and the target position to move the mover. In order to detect the position of the mover of the linear motor, for example, a magnetic sensor that detects a magnetic field generated by a driving magnet is used (Patent Document 1).
しかしながら、磁気センサは、その特性上、出力する信号に周期的な変動成分が含まれることがある。周期的な変動成分は、例えば、磁気センサに対向する磁極がN極の場合と、S極の場合とにおいて、出力する信号のレベルなどが異なるために生じる。
この場合、磁気センサが出力する信号に基づいて可動子の位置検出を行うと、信号に含まれる周期的な変動成分の影響を受けて、得られる位置の情報に周期的な変動成分が含まれる。
このような場合、磁気センサが出力する信号に基づいて位置検出を行い、検出した位置を示す信号を用いてリニアモータの制御を行うと、位置を示す信号に含まれる周期的な変動成分の影響により、リニアモータの制御が乱れてしまう。 However, due to the characteristics of the magnetic sensor, the output signal may include a periodic fluctuation component. The periodic fluctuation component occurs because, for example, the level of a signal to be output differs between the case where the magnetic pole facing the magnetic sensor is the N pole and the case where the magnetic pole is the S pole.
In this case, when the position of the mover is detected based on a signal output from the magnetic sensor, the position information obtained includes a periodic fluctuation component under the influence of the periodic fluctuation component included in the signal. .
In such a case, if position detection is performed based on the signal output from the magnetic sensor and the linear motor is controlled using the signal indicating the detected position, the influence of the periodic fluctuation component included in the signal indicating the position As a result, the control of the linear motor is disturbed.
この場合、磁気センサが出力する信号に基づいて可動子の位置検出を行うと、信号に含まれる周期的な変動成分の影響を受けて、得られる位置の情報に周期的な変動成分が含まれる。
このような場合、磁気センサが出力する信号に基づいて位置検出を行い、検出した位置を示す信号を用いてリニアモータの制御を行うと、位置を示す信号に含まれる周期的な変動成分の影響により、リニアモータの制御が乱れてしまう。 However, due to the characteristics of the magnetic sensor, the output signal may include a periodic fluctuation component. The periodic fluctuation component occurs because, for example, the level of a signal to be output differs between the case where the magnetic pole facing the magnetic sensor is the N pole and the case where the magnetic pole is the S pole.
In this case, when the position of the mover is detected based on a signal output from the magnetic sensor, the position information obtained includes a periodic fluctuation component under the influence of the periodic fluctuation component included in the signal. .
In such a case, if position detection is performed based on the signal output from the magnetic sensor and the linear motor is controlled using the signal indicating the detected position, the influence of the periodic fluctuation component included in the signal indicating the position As a result, the control of the linear motor is disturbed.
図9は、リニアモータを駆動した際における可動子の移動速度と、リニアモータに印加する電流の電流値との一例を示す模式図である。同図において、横軸は時間を示し、縦軸は可動子が移動する速度及びリニアモータに流れる電流値を示している。
FIG. 9 is a schematic diagram showing an example of the moving speed of the mover when the linear motor is driven and the current value of the current applied to the linear motor. In the figure, the horizontal axis indicates time, and the vertical axis indicates the speed at which the mover moves and the current value flowing through the linear motor.
同図には、一般的なリニアモータの駆動パターンが示されている。時刻T1から時刻T2までは、可動子を加速させて駆動する期間である。時刻T2から時刻T3までは、可動子を一定の速度にて駆動させる期間である。時刻T3から時刻T4までは、可動子を減速させて駆動する期間であり、時刻T4において可動子を所望の位置に停止させる。
In the figure, the drive pattern of a general linear motor is shown. The period from time T1 to time T2 is a period in which the mover is accelerated and driven. From time T2 to time T3 is a period in which the mover is driven at a constant speed. The period from time T3 to time T4 is a period in which the mover is driven at a reduced speed, and the mover is stopped at a desired position at time T4.
時刻T2から時刻T3の等速域において、破線により表されている波形は、磁気センサの出力に周期的な変動成分が含まれていない場合の電流値を示し、実線により表されている波形は、磁気センサの出力に周期的な変動成分が含まれている場合の電流値を示している。
In the constant velocity region from time T2 to time T3, a waveform represented by a broken line indicates a current value when a periodic fluctuation component is not included in the output of the magnetic sensor, and a waveform represented by a solid line is The current value in the case where a periodic fluctuation component is included in the output of the magnetic sensor is shown.
リニアモータにおいて、可動子を等速で駆動する場合、一般に、可動子と固定子との間に生じる摩擦力に相当する力を可動子に加える必要がある。そのために、図において破線により示されている波形のように、可動子に対する推力と、摩擦力とがつりあう一定の電流をリニアモータに流す。
In a linear motor, when the mover is driven at a constant speed, it is generally necessary to apply a force corresponding to a frictional force generated between the mover and the stator to the mover. For this purpose, as shown by the waveform indicated by a broken line in the figure, a constant current is applied to the linear motor in which the thrust on the mover and the frictional force are balanced.
しかし、磁気センサが出力する信号に周期的な変動成分が含まれていると、当該信号に基づいて検出された速度が周期的に変動してしまう。このとき、リニアモータを制御する装置は、検出される速度を一定に保とうとして、加速と減速とを繰り返す制御をしてしまう。このため、図9に示すようにリニアモータに流す電流が周期的に変化することになり、制御が安定せずに乱れてしまう。
However, if a periodic fluctuation component is included in the signal output from the magnetic sensor, the speed detected based on the signal fluctuates periodically. At this time, the device for controlling the linear motor repeatedly controls acceleration and deceleration in an attempt to keep the detected speed constant. For this reason, as shown in FIG. 9, the electric current which flows into a linear motor will change periodically, and control will be disturbed, without being stabilized.
すなわち、可動子の位置を検出するための磁気センサから出力される信号に基づいてリニアモータの制御を行っている場合、磁気センサの出力に周期的な変動成分が含まれると、周期的な変動成分の影響により、リニアモータの制御が安定せずに乱れてしまう。
That is, when the linear motor is controlled based on the signal output from the magnetic sensor for detecting the position of the mover, if the output of the magnetic sensor includes a periodic fluctuation component, the periodic fluctuation Due to the influence of the components, the control of the linear motor is unstable and disturbed.
本発明は、上記問題を解決すべくなされたもので、その目的は、磁気センサが出力する信号に周期的な変動成分が含まれる場合においても、リニアモータを安定して制御できるリニアモータの制御装置を提供する。
The present invention has been made to solve the above problems, and an object of the present invention is to control a linear motor that can stably control the linear motor even when the signal output from the magnetic sensor includes a periodic fluctuation component. Providing equipment.
本発明の一態様は、N極とS極とが交互に等間隔に配列された複数の駆動用磁石を備える駆動用磁石部と、複数のコイルを備える電機子とを具備し、前記電機子又は前記駆動用磁石部のいずれか一方が可動子であり、前記電機子に備えられている複数のコイルに電流を流して生じる磁界と、前記駆動用磁石が生じさせる磁界とにより前記駆動用磁石の配列された配列方向に前記可動子を直線運動させるリニアモータの制御装置であって;前記電機子に備えられている磁気センサであって前記駆動用磁石が生じさせている磁界の方向に応じた信号を出力する磁気センサと;前記磁気センサが出力する信号に基づいて前記可動子が移動する速度を検出する速度検出部と;前記速度検出部が検出した前記可動子の平均速度と、外部より単位時間ごとに入力される位置指令であって単位時間当たりに前記可動子を移動させる距離を示す位置指令から算出される速度指令との差分から前記複数のコイルに流す電流値を示す第1の電流指令を算出する速度制御部と;前記速度制御部が算出した第1の電流指令に基づいて前記複数のコイルに電流を印加する電力変換部と、を備えるリニアモータの制御装置である。
One aspect of the present invention includes a driving magnet unit including a plurality of driving magnets in which N poles and S poles are alternately arranged at equal intervals, and an armature including a plurality of coils. Alternatively, any one of the driving magnet portions is a mover, and the driving magnet is generated by a magnetic field generated by passing a current through a plurality of coils provided in the armature and a magnetic field generated by the driving magnet. A control device for a linear motor that linearly moves the mover in the array direction; and a magnetic sensor provided in the armature according to the direction of the magnetic field generated by the drive magnet. A magnetic sensor that outputs a detected signal; a speed detector that detects a moving speed of the mover based on a signal output from the magnetic sensor; an average speed of the mover detected by the speed detector; More unit time A first current command indicating a current value to be passed through the plurality of coils based on a difference from a speed command calculated from a position command indicating a distance to move the mover per unit time. A linear motor control device comprising: a speed control unit that calculates; and a power conversion unit that applies a current to the plurality of coils based on a first current command calculated by the speed control unit.
この発明によれば、磁気センサが出力する信号に周期的な変動成分が含まれる場合においても、リニアモータを安定して制御することができる。
According to the present invention, the linear motor can be stably controlled even when the signal output from the magnetic sensor includes a periodic fluctuation component.
以下、図面を参照して、本発明の実施形態におけるリニアモータの制御装置を説明する。
図1は、本発明の実施形態におけるリニアモータ装置1を示す概略図である。
同図に示すように、リニアモータ装置1は、制御装置10と、リニアモータ20とを具備している。制御装置10は、リニアモータ20を駆動させる制御をする装置である。リニアモータ20は、長尺の固定子21と、固定子21上を移動する可動子25と、固定子21及び可動子25を組み付ける一対の案内装置22、22を備えている。 A linear motor control apparatus according to an embodiment of the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic diagram showing alinear motor device 1 according to an embodiment of the present invention.
As shown in FIG. 1, thelinear motor device 1 includes a control device 10 and a linear motor 20. The control device 10 is a device that performs control to drive the linear motor 20. The linear motor 20 includes a long stator 21, a mover 25 that moves on the stator 21, and a pair of guide devices 22 and 22 for assembling the stator 21 and the mover 25.
図1は、本発明の実施形態におけるリニアモータ装置1を示す概略図である。
同図に示すように、リニアモータ装置1は、制御装置10と、リニアモータ20とを具備している。制御装置10は、リニアモータ20を駆動させる制御をする装置である。リニアモータ20は、長尺の固定子21と、固定子21上を移動する可動子25と、固定子21及び可動子25を組み付ける一対の案内装置22、22を備えている。 A linear motor control apparatus according to an embodiment of the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic diagram showing a
As shown in FIG. 1, the
案内装置22は、例えば、ボールを介して取りつけられた軌道レール23及びスライドブロック26を備える。案内装置22の軌道レール23は、固定子21が有するベース54に固定され、案内装置22のスライドブロック26は、可動子25に固定されている。これにより、可動子25は、固定子21上を軌道レール23に沿って自在に案内される。
The guide device 22 includes, for example, a track rail 23 and a slide block 26 that are attached via balls. The track rail 23 of the guide device 22 is fixed to the base 54 of the stator 21, and the slide block 26 of the guide device 22 is fixed to the mover 25. Thereby, the mover 25 is freely guided along the track rail 23 on the stator 21.
また、固定子21は、一対の軌道レール23、23の間に並べられた複数の駆動用磁石24を備えている。複数の駆動用磁石24は、可動子25が移動する方向(以下、移動方向という)において、N極及びS極の磁極が交互になるように並べられている。また、各駆動用磁石24は、移動方向において、同じ長さを有しており、可動子25の位置に関わらず一定の推力が得られる。
The stator 21 includes a plurality of drive magnets 24 arranged between a pair of track rails 23 and 23. The plurality of drive magnets 24 are arranged so that the N-pole and S-pole magnetic poles alternate in the direction in which the mover 25 moves (hereinafter referred to as the movement direction). Further, each drive magnet 24 has the same length in the moving direction, and a constant thrust can be obtained regardless of the position of the mover 25.
可動子25は、複数のコイルを有する電機子60と、移動対象を取り付けるテーブル53と、MR(Magnetoresitive Elements;磁気抵抗素子)センサ27とを備えている。
MRセンサ27は、磁気センサの一種であり、固定子21に配列されている駆動用磁石24が生じさせる磁界の磁束線の方向に応じた信号を制御装置10に出力する。 Themover 25 includes an armature 60 having a plurality of coils, a table 53 to which a moving object is attached, and an MR (Magnetoresitive Elements) sensor 27.
TheMR sensor 27 is a kind of magnetic sensor, and outputs a signal corresponding to the direction of the magnetic flux line of the magnetic field generated by the driving magnet 24 arranged in the stator 21 to the control device 10.
MRセンサ27は、磁気センサの一種であり、固定子21に配列されている駆動用磁石24が生じさせる磁界の磁束線の方向に応じた信号を制御装置10に出力する。 The
The
図2は、本実施形態におけるMRセンサ27の原理を示す斜視図である。同図に示すように、シリコン(Si)又はガラス基板271と、その上に形成されたニッケル(Ni)、鉄(Fe)などの強磁性金属を主成分とする合金の強磁性薄膜金属で形成される磁気抵抗素子272とを有する。磁気抵抗素子272は、電流の流れる方向(Y軸方向)に対して、磁気抵抗素子272を通過する磁束の方向と基板271とがなす角度に応じて、抵抗値が変化する。
FIG. 2 is a perspective view showing the principle of the MR sensor 27 in the present embodiment. As shown in the figure, it is formed of a ferromagnetic thin film metal of an alloy mainly composed of a silicon (Si) or glass substrate 271 and a ferromagnetic metal such as nickel (Ni) or iron (Fe) formed thereon. Magnetoresistive element 272. The resistance value of the magnetoresistive element 272 changes with respect to the current flow direction (Y-axis direction) according to the angle between the direction of the magnetic flux passing through the magnetoresistive element 272 and the substrate 271.
MRセンサ27は、複数の磁気抵抗素子272を組み合わせて、2つのフルブリッジ回路を構成し、2つのフルブリッジ回路が45°の位相差を有する信号を出力するように配置されている。このように、特定の磁界方向で抵抗値が変化する素子を、AMR(Anisotropic Magneto-Resistance;異方性磁気抵抗素子)センサという(参考文献:「垂直タイプMRセンサ技術資料」、[online]、2005年10月1日、浜松光電株式会社、「2010年5月6日検索」、インターネット<URL;http://www.hkd.co.jp/technique/img/amr-note1.pdf>)。
The MR sensor 27 is configured such that a plurality of magnetoresistive elements 272 are combined to form two full bridge circuits, and the two full bridge circuits output a signal having a phase difference of 45 °. Thus, an element whose resistance value changes in a specific magnetic field direction is referred to as an AMR (Anisotropic-Magneto-Resistance) sensor (reference document: "Vertical type MR sensor technical data", [online], October 1, 2005, Hamamatsu Photoelectric Co., Ltd., “May 6, 2010 search”, Internet <URL; http://www.hkd.co.jp/technique/img/amr-note1.pdf>).
図1に戻って、制御装置10は、MRセンサ27が出力する信号に基づいて、固定子21上における可動子25の位置及び移動する速度を算出する。また、制御装置10は、算出した可動子25の位置及び速度と、上位の制御装置より入力される位置指令とに応じて、電機子60が有している複数のコイルに電流を流す。
これにより、複数のコイルに生じる磁界と、固定子21に配置されている駆動用磁石24により生じる磁界との作用により、可動子25を軌道レール23に沿って駆動させる。 Returning to FIG. 1, thecontrol device 10 calculates the position of the mover 25 on the stator 21 and the moving speed based on the signal output from the MR sensor 27. Moreover, the control apparatus 10 sends an electric current through the some coil which the armature 60 has according to the calculated position and speed of the needle | mover 25, and the position command input from the high-order control apparatus.
Accordingly, themover 25 is driven along the track rail 23 by the action of the magnetic field generated in the plurality of coils and the magnetic field generated by the driving magnet 24 disposed in the stator 21.
これにより、複数のコイルに生じる磁界と、固定子21に配置されている駆動用磁石24により生じる磁界との作用により、可動子25を軌道レール23に沿って駆動させる。 Returning to FIG. 1, the
Accordingly, the
図3および図4を用いて、本実施形態におけるリニアモータ20を説明する。
図3は、本実施形態におけるリニアモータ20の斜視図(テーブル53の断面を含む)である。図4は、本実施形態におけるリニアモータ20の正面図である。 Thelinear motor 20 in this embodiment is demonstrated using FIG. 3 and FIG.
FIG. 3 is a perspective view of thelinear motor 20 in this embodiment (including the cross section of the table 53). FIG. 4 is a front view of the linear motor 20 in the present embodiment.
図3は、本実施形態におけるリニアモータ20の斜視図(テーブル53の断面を含む)である。図4は、本実施形態におけるリニアモータ20の正面図である。 The
FIG. 3 is a perspective view of the
リニアモータ20は、上述のように、固定子21が、N極又はS極が着磁されている面を可動子25に向けて配列されている複数の板状の駆動用磁石24を備え、可動子25が、固定子21に対して相対的に直線運動をするフラットタイプのリニアモータである。可動子25に備えられている電機子60は、駆動用磁石24とすきまgを介して対向している。
As described above, the linear motor 20 includes a plurality of plate-like drive magnets 24 in which the stator 21 is arranged with the N-pole or S-pole magnetized surface facing the mover 25. The mover 25 is a flat type linear motor that linearly moves relative to the stator 21. The armature 60 provided in the mover 25 is opposed to the driving magnet 24 via the gap g.
固定子21が有する細長く伸びているベース54上には、上述の複数の駆動用磁石24が、移動方向に一列に配列されている。ベース54は、底壁部54aと、底壁部54aの幅方向の両側に設けられている一対の側壁部54bを備える。底壁部54aには、上述の複数の駆動用磁石24が取り付けられている。
The plurality of drive magnets 24 described above are arranged in a row in the moving direction on the elongated base 54 of the stator 21. The base 54 includes a bottom wall portion 54a and a pair of side wall portions 54b provided on both sides in the width direction of the bottom wall portion 54a. The plurality of driving magnets 24 described above are attached to the bottom wall portion 54a.
各駆動用磁石24には、移動方向と直交する方向(図4において上下方向)の両端面にN極及びS極が形成されている。複数の駆動用磁石24は、それぞれが隣接する一対の駆動用磁石24に対して磁極を反転させた状態で並べられている。
これにより、可動子25に取り付けられているMRセンサ27に対し、可動子25が移動した際に、駆動用磁石24のN極とS極との磁極が交互に対向する。 Eachdrive magnet 24 has an N pole and an S pole formed on both end faces in a direction (vertical direction in FIG. 4) perpendicular to the moving direction. The plurality of drive magnets 24 are arranged in a state where the magnetic poles are reversed with respect to a pair of adjacent drive magnets 24.
Thereby, when themover 25 moves with respect to the MR sensor 27 attached to the mover 25, the magnetic poles of the N pole and the S pole of the drive magnet 24 alternately oppose each other.
これにより、可動子25に取り付けられているMRセンサ27に対し、可動子25が移動した際に、駆動用磁石24のN極とS極との磁極が交互に対向する。 Each
Thereby, when the
ベース54の側壁部54bの上面には、案内装置22の軌道レール23が取り付けられている。軌道レール23には、上述したように、スライドブロック26がスライド可能に取り付けられている。軌道レール23と、スライドブロック26との間には、転がり運動可能に複数のボールが介在されている(図示せず)。
The track rail 23 of the guide device 22 is attached to the upper surface of the side wall 54b of the base 54. As described above, the slide block 26 is slidably attached to the track rail 23. A plurality of balls are interposed between the track rail 23 and the slide block 26 so as to allow rolling motion (not shown).
スライドブロック26には、複数のボールを循環させるためのトラック状のボール循環経路が設けられている。軌道レール23に対して、スライドブロック26がスライドすると、複数のボールがこれらの間を転がり運動し、また複数のボールがボール循環経路を循環する。これにより、スライドブロック26の円滑な直線運動が可能になる。
The slide block 26 is provided with a track-shaped ball circulation path for circulating a plurality of balls. When the slide block 26 slides with respect to the track rail 23, a plurality of balls roll and move between them, and the plurality of balls circulate in the ball circulation path. Thereby, the smooth linear motion of the slide block 26 is attained.
案内装置22のスライドブロック26の上面には、可動子25のテーブル53が取り付けられている。テーブル53は、例えば、アルミニウムなどの非磁性素材からなり、移動対象が取り付けられる。テーブル53の下面には、電機子60が吊り下げられている。図4の正面図に示されるように、駆動用磁石24と電機子60との間には、すきまgが設けられている。案内装置22は、電機子60が駆動用磁石24に対して相対的に移動するときも、このすきまgを一定に維持する。
The table 53 of the mover 25 is attached to the upper surface of the slide block 26 of the guide device 22. The table 53 is made of, for example, a nonmagnetic material such as aluminum, and a moving object is attached to the table 53. An armature 60 is suspended from the lower surface of the table 53. As shown in the front view of FIG. 4, a gap g is provided between the driving magnet 24 and the armature 60. The guide device 22 maintains the clearance g constant even when the armature 60 moves relative to the drive magnet 24.
図5は、本実施形態における可動子25の移動方向に沿った断面図を示す図である。
テーブル53の下面には、断熱材63を介して電機子60が取り付けられている。電機子60は、珪素鋼などの磁性素材からなるコア64と、上述した複数のコイルであり、コア64の突極64u、64v、64wに巻かれるコイル28u、28v、28wとを有している。 FIG. 5 is a cross-sectional view taken along the moving direction of themover 25 in the present embodiment.
Anarmature 60 is attached to the lower surface of the table 53 via a heat insulating material 63. The armature 60 includes a core 64 made of a magnetic material such as silicon steel, and the above-described plurality of coils, and coils 28u, 28v, and 28w wound around the salient poles 64u, 64v, and 64w of the core 64. .
テーブル53の下面には、断熱材63を介して電機子60が取り付けられている。電機子60は、珪素鋼などの磁性素材からなるコア64と、上述した複数のコイルであり、コア64の突極64u、64v、64wに巻かれるコイル28u、28v、28wとを有している。 FIG. 5 is a cross-sectional view taken along the moving direction of the
An
コイル28u、28v、28wそれぞれには、位相差を有する三相交流が制御装置10から供給される。突極64u、64v、64wに3つのコイル28u、28v、28wを巻いた後、3つのコイル28u、28v、28wは、樹脂封止される。
また、テーブル53の下面には、電機子60を挟んで一対の補助コア67が取り付けられている。補助コア67は、リニアモータ20に発生するコギングを低減するために設けられている。 A three-phase alternating current having a phase difference is supplied from thecontrol device 10 to each of the coils 28u, 28v, 28w. After winding the three coils 28u, 28v, 28w around the salient poles 64u, 64v, 64w, the three coils 28u, 28v, 28w are sealed with resin.
A pair ofauxiliary cores 67 are attached to the lower surface of the table 53 with the armature 60 interposed therebetween. The auxiliary core 67 is provided to reduce cogging generated in the linear motor 20.
また、テーブル53の下面には、電機子60を挟んで一対の補助コア67が取り付けられている。補助コア67は、リニアモータ20に発生するコギングを低減するために設けられている。 A three-phase alternating current having a phase difference is supplied from the
A pair of
図6は、本実施形態におけるMRセンサ27及びコイル28u、28v、28wと、駆動用磁石24との相対的な位置を示す模式図である。
固定子21には、上述したように、ベース54の底壁部54a上に、駆動用磁石24が配列されている。より詳細には、MRセンサ27に対しN極を向けて配置されている駆動用磁石24Nと、MRセンサ27に対しS極を向けて配置されている駆動用磁石24Sとが、移動方向に交互に配列されている。 FIG. 6 is a schematic diagram showing the relative positions of theMR sensor 27 and the coils 28u, 28v, 28w and the driving magnet 24 in the present embodiment.
As described above, the drivingmagnet 24 is arranged on the stator 21 on the bottom wall portion 54 a of the base 54. More specifically, the driving magnet 24N arranged with the north pole facing the MR sensor 27 and the driving magnet 24S arranged with the south pole facing the MR sensor 27 are alternately arranged in the moving direction. Is arranged.
固定子21には、上述したように、ベース54の底壁部54a上に、駆動用磁石24が配列されている。より詳細には、MRセンサ27に対しN極を向けて配置されている駆動用磁石24Nと、MRセンサ27に対しS極を向けて配置されている駆動用磁石24Sとが、移動方向に交互に配列されている。 FIG. 6 is a schematic diagram showing the relative positions of the
As described above, the driving
可動子25において、コイル28u、28v、28wは、固定子21に配置された駆動用磁石24の中心を通過し、移動方向に対し平行な直線上を通過するように配列されている。また、MRセンサ27は、コイル28u、28v、28wと同様に、各駆動用磁石24の中心を通過し、移動方向に対し平行な直線上を通過する位置に取り付けられている。これにより、MRセンサ27を駆動用磁石24が生じさせる磁界の最も強い位置を通過させることができる。
In the mover 25, the coils 28u, 28v, and 28w are arranged so as to pass through the center of the drive magnet 24 disposed in the stator 21 and pass through a straight line parallel to the moving direction. Similarly to the coils 28u, 28v, and 28w, the MR sensor 27 is attached at a position that passes through the center of each driving magnet 24 and passes on a straight line parallel to the moving direction. As a result, the MR sensor 27 can pass through the position where the magnetic field generated by the drive magnet 24 is strongest.
図7は、本実施形態における制御装置10の構成を示す概略ブロック図である。
同図に示すように、制御装置10は、位置制御器101、微分器102、105、スイッチ103、107、113、速度制御器104、加速度制御器106、電流制御器108、電力変換器109、変流器110、パルス生成器111、速度検出器112、平均化器114、位置検出器115、及び制御モード選択器116を備えている。 FIG. 7 is a schematic block diagram showing the configuration of thecontrol device 10 in the present embodiment.
As shown in the figure, thecontrol device 10 includes a position controller 101, differentiators 102 and 105, switches 103, 107 and 113, a speed controller 104, an acceleration controller 106, a current controller 108, a power converter 109, A current transformer 110, a pulse generator 111, a velocity detector 112, an averager 114, a position detector 115, and a control mode selector 116 are provided.
同図に示すように、制御装置10は、位置制御器101、微分器102、105、スイッチ103、107、113、速度制御器104、加速度制御器106、電流制御器108、電力変換器109、変流器110、パルス生成器111、速度検出器112、平均化器114、位置検出器115、及び制御モード選択器116を備えている。 FIG. 7 is a schematic block diagram showing the configuration of the
As shown in the figure, the
位置制御器101は、位置検出器115から入力されるリニアモータ20の可動子25の位置を示す信号と、上位の制御装置から入力される位置指令とに基づいて、リニアモータ20の可動子25を位置指令により示される位置に移動させるための第1の速度指令を算出する。
ここで、上位の制御装置は、可動子25を移動させる目標位置までの距離に応じて、単位時間当たりに可動子25を移動させる距離の示す信号列を生成する。例えば、上位の制御装置は、可動子25を移動させる目標位置までの距離に応じた駆動パターン(図9に示した加速域、等速域、減速域それぞれにおける期間の長さと、等速域における速度との組み合わせ)を生成し、生成した駆動パターンから毎単位時間における可動子25を移動させる距離を算出して位置指令とし、算出された位置指令を単位時間ごとに位置制御器101に入力する。 Theposition controller 101 is based on a signal indicating the position of the mover 25 of the linear motor 20 input from the position detector 115 and a position command input from the host controller. A first speed command for moving to a position indicated by the position command is calculated.
Here, the host control device generates a signal sequence indicating the distance to move themover 25 per unit time according to the distance to the target position to move the mover 25. For example, the higher-level control device uses a drive pattern according to the distance to the target position for moving the mover 25 (the length of the period in each of the acceleration region, the constant velocity region, and the deceleration region shown in FIG. A combination of speed) is generated, a distance for moving the mover 25 in each unit time is calculated from the generated drive pattern as a position command, and the calculated position command is input to the position controller 101 every unit time. .
ここで、上位の制御装置は、可動子25を移動させる目標位置までの距離に応じて、単位時間当たりに可動子25を移動させる距離の示す信号列を生成する。例えば、上位の制御装置は、可動子25を移動させる目標位置までの距離に応じた駆動パターン(図9に示した加速域、等速域、減速域それぞれにおける期間の長さと、等速域における速度との組み合わせ)を生成し、生成した駆動パターンから毎単位時間における可動子25を移動させる距離を算出して位置指令とし、算出された位置指令を単位時間ごとに位置制御器101に入力する。 The
Here, the host control device generates a signal sequence indicating the distance to move the
第1の速度指令は、位置指令により示される距離に対する可動子25が単位時間内に移動した距離の偏差(差分)に、可動子25を移動させる際の摩擦抵抗などのリニアモータ20が有する特性を考慮して予め設定された係数を乗じて算出される値である。また、第1の速度指令を算出するための係数は、シミュレーションや測定の結果などに基づいて定められる値である。
なお、第1の速度指令は、位置指令により示される距離に対する可動子25の位置の偏差を用いたPI演算又はPID演算などにより算出してもよい。 The first speed command is a characteristic of thelinear motor 20 such as a frictional resistance when the mover 25 is moved to a deviation (difference) in the distance that the mover 25 has moved within a unit time with respect to the distance indicated by the position command. Is a value calculated by multiplying a preset coefficient in consideration of. The coefficient for calculating the first speed command is a value determined based on the result of simulation or measurement.
The first speed command may be calculated by a PI calculation or a PID calculation using a deviation of the position of themover 25 with respect to the distance indicated by the position command.
なお、第1の速度指令は、位置指令により示される距離に対する可動子25の位置の偏差を用いたPI演算又はPID演算などにより算出してもよい。 The first speed command is a characteristic of the
The first speed command may be calculated by a PI calculation or a PID calculation using a deviation of the position of the
微分器102は、外部から入力される位置指令により示される距離の変化量に基づいて第2の速度指令を算出する。具体的には、微分器102は、単位時間ごとに入力される位置指令の差分を第2の速度指令として算出する。
The differentiator 102 calculates the second speed command based on the distance change amount indicated by the position command input from the outside. Specifically, the differentiator 102 calculates a difference between position commands input every unit time as a second speed command.
速度制御器104には、位置制御器101が算出した第1の速度指令、及び微分器102が算出した第2の速度指令のうちスイッチ103により選択されるいずれか一方の速度指令が入力される。また、速度制御器104には、速度検出器112が検出した可動子25が移動する速度、あるいは、当該速度の平均値(平均速度)のいずれかがスイッチ113により選択されて入力される。
One of the speed commands selected by the switch 103 among the first speed command calculated by the position controller 101 and the second speed command calculated by the differentiator 102 is input to the speed controller 104. . Further, the speed controller 104 receives either the speed at which the mover 25 detected by the speed detector 112 moves or the average value (average speed) of the speed selected by the switch 113.
また、速度制御器104は、入力される速度指令に対する可動子25が移動する速度の偏差、又は入力される速度指令に対する速度の平均値の偏差のいずれかを用いたPI演算又はPID演算により第1の電流指令を算出する。ここで、第1の電流指令は、速度指令により示される可動子25が移動する際の速度を得るためにコイル28u、28v、28wに印加する電流値を示す信号である。
Further, the speed controller 104 performs the first or second PID calculation by using either the deviation of the moving speed of the mover 25 with respect to the input speed command or the average deviation of the speed with respect to the input speed command. 1 current command is calculated. Here, the first current command is a signal indicating a current value to be applied to the coils 28u, 28v, 28w in order to obtain a speed at which the mover 25 indicated by the speed command moves.
微分器105は、微分器102が算出する第2の速度指令の変化量に基づいて加速度指令を算出する。加速度指令は、可動子25に与える加速度を示す信号である。例えば、微分器105は、単位時間ごとに入力される第2の速度指令の差分を加速度指令として算出する。
The differentiator 105 calculates an acceleration command based on the change amount of the second speed command calculated by the differentiator 102. The acceleration command is a signal indicating the acceleration given to the mover 25. For example, the differentiator 105 calculates the difference between the second speed commands input every unit time as the acceleration command.
加速度制御器106は、微分器105が算出する加速度指令により示される加速度を得るための電流値である第2の電流指令を算出する。第2の電流指令は、加速度指令により示される加速度に対して、可動子25を移動させる際の摩擦抵抗などのリニアモータ20が有する特性を考慮して予め設定された係数を乗じて、あるいはPI演算又はPID演算により算出される電流値を示す信号である。
The acceleration controller 106 calculates a second current command that is a current value for obtaining the acceleration indicated by the acceleration command calculated by the differentiator 105. The second current command is obtained by multiplying the acceleration indicated by the acceleration command by a coefficient set in advance in consideration of characteristics of the linear motor 20 such as frictional resistance when the mover 25 is moved, or PI. It is a signal which shows the electric current value computed by a calculation or a PID calculation.
電流制御器108には、スイッチ107により選択される、速度制御器104が算出する第1の電流指令、及び加速度制御器106が算出する第2の電流指令のいずれか一方の電流指令と、変流器110により検出されるリニアモータ20に流れる電流値とが入力される。また、電流制御器108は、PI制御又はPID制御などにより、リニアモータ20に流れる電流値が、電流指令により示される値になるように電力変換器109を制御する電圧指令を算出する。
The current controller 108 includes a current command selected by the switch 107, one of the first current command calculated by the speed controller 104 and the second current command calculated by the acceleration controller 106, and a variable current command. The value of the current flowing through the linear motor 20 detected by the flow device 110 is input. Further, the current controller 108 calculates a voltage command for controlling the power converter 109 so that the value of the current flowing through the linear motor 20 becomes a value indicated by the current command by PI control or PID control.
電力変換器109は、リニアモータ20のコイルの数に応じて設けられ、スイッチング素子を有する上アーム及び下アームを有しているインバータ回路である。また、電力変換器109は、電流制御器108より入力される電圧指令に応じて、スイッチング素子のオン・オフを切り替えるPWM制御により、スイッチング素子を介して電機子60に備えられているコイル28u、28v、28wに電力を供給して、可動子25を駆動する。スイッチング素子は、例えば、IGBT(Insulated Gate Bipolar Transistor;絶縁ゲートバイポーラトランジスタ)などの半導体素子が用いられる。
The power converter 109 is an inverter circuit provided according to the number of coils of the linear motor 20 and having an upper arm and a lower arm having switching elements. In addition, the power converter 109 is configured such that the coil 28u provided in the armature 60 via the switching element by PWM control for switching on / off of the switching element in accordance with a voltage command input from the current controller 108. Power is supplied to 28v and 28w, and the mover 25 is driven. As the switching element, for example, a semiconductor element such as IGBT (Insulated Gate Bipolar Transistor) is used.
変流器110は、電力変換器109と、リニアモータ20との間に設けられており、電力変換器109からリニアモータ20に流される電流の電流値を検出し、検出した電流値を示す信号を電流制御器108に出力する。
パルス生成器111は、MRセンサ27から出力される信号から、可動子25が移動する距離及び方向を示すパルス信号を出力する。 Thecurrent transformer 110 is provided between the power converter 109 and the linear motor 20, detects a current value of a current flowing from the power converter 109 to the linear motor 20, and a signal indicating the detected current value. Is output to the current controller 108.
Thepulse generator 111 outputs a pulse signal indicating the distance and direction in which the mover 25 moves from the signal output from the MR sensor 27.
パルス生成器111は、MRセンサ27から出力される信号から、可動子25が移動する距離及び方向を示すパルス信号を出力する。 The
The
速度検出器112は、パルス生成器111から入力されるパルス信号と、固定子21に配列されている駆動用磁石24の磁極ピッチとに基づいて、可動子25が固定子21に対して移動する速度を算出し、算出した速度を示す信号を出力する。
平均化器114は、スイッチ113を介して速度検出器112から入力される可動子25の速度を示すパルス信号から可動子25の速度の平均値を算出し、算出した平均値を示す信号を速度制御器104に出力する。 In thespeed detector 112, the mover 25 moves with respect to the stator 21 based on the pulse signal input from the pulse generator 111 and the magnetic pole pitch of the drive magnet 24 arranged in the stator 21. The speed is calculated and a signal indicating the calculated speed is output.
Theaverager 114 calculates an average value of the speed of the mover 25 from a pulse signal indicating the speed of the mover 25 input from the speed detector 112 via the switch 113, and outputs a signal indicating the calculated average value as a speed. Output to the controller 104.
平均化器114は、スイッチ113を介して速度検出器112から入力される可動子25の速度を示すパルス信号から可動子25の速度の平均値を算出し、算出した平均値を示す信号を速度制御器104に出力する。 In the
The
位置検出器115は、パルス生成器111から入力されるパルス信号と、固定子21に配列されている駆動用磁石24の磁極ピッチとに基づいて、予め定めた基準位置から可動子25までの駆動用磁石24が配列されている配列方向における距離を算出する。換言すると、位置検出器115は、固定子21に備えられている軌道レール23上における可動子25の位置を算出し、算出した位置を示す信号を位置制御器101に出力する。
The position detector 115 drives from the predetermined reference position to the mover 25 based on the pulse signal input from the pulse generator 111 and the magnetic pole pitch of the drive magnet 24 arranged on the stator 21. The distance in the arrangement direction in which the magnets 24 are arranged is calculated. In other words, the position detector 115 calculates the position of the mover 25 on the track rail 23 provided in the stator 21 and outputs a signal indicating the calculated position to the position controller 101.
例えば、位置検出器115は、入力されるパルス信号のパルスの数をカウントして、可動子25の位置を算出する。また、基準位置として、例えば、可動子25の軌道レール23上の可動範囲におけるいずれか一点が選択される。
上述したように、MRセンサ27、パルス生成器111、及び位置検出器115は、可動子25の位置の検出を行うリニアエンコーダを実現している。なお、位置検出器115は、リニアモータ装置1の起動時において、検出する位置の基準位置となる原点の検出を行う。 For example, theposition detector 115 counts the number of pulses of the input pulse signal and calculates the position of the mover 25. Further, as the reference position, for example, any one point in the movable range on the track rail 23 of the mover 25 is selected.
As described above, theMR sensor 27, the pulse generator 111, and the position detector 115 implement a linear encoder that detects the position of the mover 25. Note that the position detector 115 detects an origin serving as a reference position of the position to be detected when the linear motor device 1 is activated.
上述したように、MRセンサ27、パルス生成器111、及び位置検出器115は、可動子25の位置の検出を行うリニアエンコーダを実現している。なお、位置検出器115は、リニアモータ装置1の起動時において、検出する位置の基準位置となる原点の検出を行う。 For example, the
As described above, the
制御モード選択器116には、外部から位置指令と、微分器105から加速度指令とが入力される。制御モード選択器116は、入力される位置指令及び加速度指令に基づいて、スイッチ103、107、113のそれぞれを切り替えることにより、停止制御、加速度制御、及び速度制御のうちいずれかの制御方法を選択してリニアモータ20に電流を印加する。
The position command from the outside and the acceleration command from the differentiator 105 are input to the control mode selector 116. The control mode selector 116 selects one of stop control, acceleration control, and speed control by switching each of the switches 103, 107, and 113 based on the input position command and acceleration command. Then, a current is applied to the linear motor 20.
停止制御は、スイッチ103が端子S1を選択し、スイッチ107が端子S5を選択し、スイッチ113が端子S3を選択することにより行われる。
停止制御では、位置制御器101、速度制御器104、電流制御器108、電力変換器109、パルス生成器111、位置検出器115による制御のループと、速度制御器104、電流制御器108、電力変換器109、パルス生成器111、速度検出器112による制御のループとが形成される。また、停止制御では、位置検出器115が検出する可動子25の位置を示す信号に基づいて、可動子25が動かないように電流が印加される。 The stop control is performed when theswitch 103 selects the terminal S1, the switch 107 selects the terminal S5, and the switch 113 selects the terminal S3.
In the stop control, the control loop by theposition controller 101, the speed controller 104, the current controller 108, the power converter 109, the pulse generator 111, and the position detector 115, the speed controller 104, the current controller 108, the power A loop of control by the converter 109, the pulse generator 111, and the speed detector 112 is formed. In the stop control, a current is applied so that the mover 25 does not move based on a signal indicating the position of the mover 25 detected by the position detector 115.
停止制御では、位置制御器101、速度制御器104、電流制御器108、電力変換器109、パルス生成器111、位置検出器115による制御のループと、速度制御器104、電流制御器108、電力変換器109、パルス生成器111、速度検出器112による制御のループとが形成される。また、停止制御では、位置検出器115が検出する可動子25の位置を示す信号に基づいて、可動子25が動かないように電流が印加される。 The stop control is performed when the
In the stop control, the control loop by the
加速度制御は、スイッチ107が端子S6を選択することにより行われる。
加速度制御では、位置指令に基づいたオープンループ制御が行われる。 The acceleration control is performed by theswitch 107 selecting the terminal S6.
In the acceleration control, open loop control based on the position command is performed.
加速度制御では、位置指令に基づいたオープンループ制御が行われる。 The acceleration control is performed by the
In the acceleration control, open loop control based on the position command is performed.
速度制御は、スイッチ103が端子S2を選択し、スイッチ107が端子S5を選択し、スイッチ113が端子S4を選択することにより行われる。
速度制御では、位置制御器101、速度制御器104、電流制御器108、電力変換器109、パルス生成器111、位置検出器115による制御のループと、速度制御器104、電流制御器108、電力変換器109、パルス生成器111、速度検出器112、平均化器114による制御のループとが形成される。 The speed control is performed by theswitch 103 selecting the terminal S2, the switch 107 selecting the terminal S5, and the switch 113 selecting the terminal S4.
In the speed control, theposition controller 101, the speed controller 104, the current controller 108, the power converter 109, the pulse generator 111, the loop of control by the position detector 115, the speed controller 104, the current controller 108, the power A loop of control by the converter 109, the pulse generator 111, the speed detector 112, and the averager 114 is formed.
速度制御では、位置制御器101、速度制御器104、電流制御器108、電力変換器109、パルス生成器111、位置検出器115による制御のループと、速度制御器104、電流制御器108、電力変換器109、パルス生成器111、速度検出器112、平均化器114による制御のループとが形成される。 The speed control is performed by the
In the speed control, the
図8は、本実施形態における制御モード選択器116の動作を示すフローチャートである。
制御装置10において、リニアモータ20の制御が開始されると、制御モード選択器116は、入力される位置指令により示される距離が0であるか否かを判定する(ステップS101)。 FIG. 8 is a flowchart showing the operation of thecontrol mode selector 116 in the present embodiment.
When the control of thelinear motor 20 is started in the control device 10, the control mode selector 116 determines whether or not the distance indicated by the input position command is 0 (step S101).
制御装置10において、リニアモータ20の制御が開始されると、制御モード選択器116は、入力される位置指令により示される距離が0であるか否かを判定する(ステップS101)。 FIG. 8 is a flowchart showing the operation of the
When the control of the
入力される位置指令により示される距離が0である場合(ステップS101:YES)、制御モード選択器116は、スイッチ103、107、113を切り替えて停止制御を選択し(ステップS102)、ステップS101に戻る。
一方、入力される位置指令により示される距離が0でない場合(ステップS101:NO)、制御モード選択器116は、入力される加速度指令により示される値が0であるか否かを判定する(ステップS103)。 When the distance indicated by the input position command is 0 (step S101: YES), thecontrol mode selector 116 selects the stop control by switching the switches 103, 107, 113 (step S102), and proceeds to step S101. Return.
On the other hand, when the distance indicated by the input position command is not 0 (step S101: NO), thecontrol mode selector 116 determines whether the value indicated by the input acceleration command is 0 (step). S103).
一方、入力される位置指令により示される距離が0でない場合(ステップS101:NO)、制御モード選択器116は、入力される加速度指令により示される値が0であるか否かを判定する(ステップS103)。 When the distance indicated by the input position command is 0 (step S101: YES), the
On the other hand, when the distance indicated by the input position command is not 0 (step S101: NO), the
加速度指令により示される値が0でない場合(ステップS103:NO)、制御モード選択器116は、スイッチ103、107、113を切り替えて加速度制御を選択し(ステップS104)、ステップS101に戻る。
一方、加速度指令により示される値が0である場合(ステップS103:YES)、制御モード選択器116は、スイッチ103、107、113を切り替えて速度制御を選択し(ステップS105)、ステップS101に戻る。 When the value indicated by the acceleration command is not 0 (step S103: NO), thecontrol mode selector 116 switches between the switches 103, 107, and 113 to select acceleration control (step S104), and returns to step S101.
On the other hand, when the value indicated by the acceleration command is 0 (step S103: YES), thecontrol mode selector 116 switches the switches 103, 107, and 113 to select speed control (step S105), and returns to step S101. .
一方、加速度指令により示される値が0である場合(ステップS103:YES)、制御モード選択器116は、スイッチ103、107、113を切り替えて速度制御を選択し(ステップS105)、ステップS101に戻る。 When the value indicated by the acceleration command is not 0 (step S103: NO), the
On the other hand, when the value indicated by the acceleration command is 0 (step S103: YES), the
上述のように、本実施形態における制御装置10では、制御モード選択器116が、加速度指令により示される値が0である場合、速度制御が選択される。すなわち、可動子25を一定の速度で駆動する場合、速度制御器104は、位置制御器101が算出した第1の速度指令と、平均化器114により算出された速度の平均値との差分から、固定子25の速度が第1の速度指令により示される速度になるように、リニアモータ20の電機子60に備えられている複数のコイル28u、28v、28wに流す電流値を示す第1の電流指令を算出する。そして、電流制御器108は、速度制御器104が算出した第1の電流指令に応じて、コイル28u、28v、28wに電流を流す制御を行う。
As described above, in the control device 10 according to the present embodiment, when the value indicated by the acceleration command is 0 by the control mode selector 116, the speed control is selected. That is, when the mover 25 is driven at a constant speed, the speed controller 104 calculates the difference between the first speed command calculated by the position controller 101 and the average speed value calculated by the averager 114. The first current value that flows through the coils 28u, 28v, 28w provided in the armature 60 of the linear motor 20 so that the speed of the stator 25 becomes the speed indicated by the first speed command. Calculate the current command. The current controller 108 controls the current to flow through the coils 28u, 28v, 28w in accordance with the first current command calculated by the speed controller 104.
これにより、MRセンサ27が出力する信号に周期的な変動成分が含まれる場合においても、検出した速度を平均化して制御に用いるので、検出した速度に含まれる周期的な変動成分を抑圧することができ、リニアモータ20を安定して制御することができる。
また、リニアモータ20の可動子25を等速にて移動させる場合、可動子25の平均速度に基づいて第1の電流指令を算出するので、速度に含まれる周期的な変動性分が平均化により抑圧され、第1の電流指令を安定させることができる。その結果、コイル28u、28v、28wに印加する電流を安定させることができ、電流値の変化に伴うコイル28u、28v、28wの過剰な発熱を抑えることができる。また、コイル28u、28v、28wに流れる電流値を安定させることができ、消費電力が増加することを防ぐことができる。
更に、コイル28u、28v、28wの過剰な発熱を抑えることができるので、コイル28u、28v、28wの発熱によるリニアモータ20の劣化を抑えることができる。
また、制御装置10における制御方法の切り替えは、制御装置10に設けられる制御用のマイコンなどのプログラム変更により容易に実現できる。そのため、周期的な変動成分が出力する信号に含まれないようにする対策が施された高価なMRセンサを用いる場合に比べ、製造コストを増加させることなく、安定したリニアモータ20の制御を実現することができる。 As a result, even when a periodic fluctuation component is included in the signal output from theMR sensor 27, the detected speed is averaged and used for control, so that the periodic fluctuation component included in the detected speed is suppressed. Thus, the linear motor 20 can be controlled stably.
In addition, when themover 25 of the linear motor 20 is moved at a constant speed, the first current command is calculated based on the average speed of the mover 25, so that the periodic variability included in the speed is averaged. Therefore, the first current command can be stabilized. As a result, the current applied to the coils 28u, 28v, 28w can be stabilized, and excessive heat generation of the coils 28u, 28v, 28w due to the change in the current value can be suppressed. In addition, the current value flowing through the coils 28u, 28v, 28w can be stabilized, and an increase in power consumption can be prevented.
Furthermore, since excessive heat generation of the coils 28u, 28v, and 28w can be suppressed, deterioration of the linear motor 20 due to heat generation of the coils 28u, 28v, and 28w can be suppressed.
The switching of the control method in thecontrol device 10 can be easily realized by changing a program such as a control microcomputer provided in the control device 10. Therefore, stable control of the linear motor 20 can be realized without increasing the manufacturing cost as compared with the case of using an expensive MR sensor in which measures are taken to prevent periodic fluctuation components from being included in the output signal. can do.
また、リニアモータ20の可動子25を等速にて移動させる場合、可動子25の平均速度に基づいて第1の電流指令を算出するので、速度に含まれる周期的な変動性分が平均化により抑圧され、第1の電流指令を安定させることができる。その結果、コイル28u、28v、28wに印加する電流を安定させることができ、電流値の変化に伴うコイル28u、28v、28wの過剰な発熱を抑えることができる。また、コイル28u、28v、28wに流れる電流値を安定させることができ、消費電力が増加することを防ぐことができる。
更に、コイル28u、28v、28wの過剰な発熱を抑えることができるので、コイル28u、28v、28wの発熱によるリニアモータ20の劣化を抑えることができる。
また、制御装置10における制御方法の切り替えは、制御装置10に設けられる制御用のマイコンなどのプログラム変更により容易に実現できる。そのため、周期的な変動成分が出力する信号に含まれないようにする対策が施された高価なMRセンサを用いる場合に比べ、製造コストを増加させることなく、安定したリニアモータ20の制御を実現することができる。 As a result, even when a periodic fluctuation component is included in the signal output from the
In addition, when the
Furthermore, since excessive heat generation of the
The switching of the control method in the
また、制御装置10は、制御モード選択器116が、加速度指令により示される値が0でない場合、加速度制御を選択するようにした。すなわち、可動子25を加速(減速)させて駆動する場合、電力変換器109は、加速度制御器106が算出した第2の電流指令に基づいて、コイル28u、28v、28wに電流を流す制御を行う。
これにより、制御装置10は、可動子25を加速(減速)させて駆動する場合、入力される位置指令に基づいたオープンループ制御をするので、MRセンサ27が出力する信号に含まれる周期的な変動成分の影響を受けることなく、リニアモータ20の制御をするので、リニアモータ20を安定して制御することができる。また、可動子25を加速(減速)させて駆動する場合、MRセンサ27の影響により速度が変化しているようにみえるのか、可動子25が加速しているので速度が変化していようにみえるのか、を区別する複雑な判定を用いる必要がないので、制御装置10の構成が複雑になることを防ぐことができる。 In addition, thecontrol device 10 selects the acceleration control when the value indicated by the acceleration command is not 0 by the control mode selector 116. That is, when driving the mover 25 by accelerating (decelerating), the power converter 109 controls the current to flow through the coils 28u, 28v, 28w based on the second current command calculated by the acceleration controller 106. Do.
As a result, when thecontrol device 10 is driven by accelerating (decelerating) the mover 25, the control device 10 performs open loop control based on the input position command, so that the periodicity included in the signal output from the MR sensor 27 Since the linear motor 20 is controlled without being affected by the fluctuation component, the linear motor 20 can be stably controlled. In addition, when the mover 25 is driven while being accelerated (decelerated), the speed seems to change due to the influence of the MR sensor 27, or the speed seems to change because the mover 25 is accelerated. Therefore, it is not necessary to use a complicated determination for distinguishing between the two, so that the configuration of the control device 10 can be prevented from becoming complicated.
これにより、制御装置10は、可動子25を加速(減速)させて駆動する場合、入力される位置指令に基づいたオープンループ制御をするので、MRセンサ27が出力する信号に含まれる周期的な変動成分の影響を受けることなく、リニアモータ20の制御をするので、リニアモータ20を安定して制御することができる。また、可動子25を加速(減速)させて駆動する場合、MRセンサ27の影響により速度が変化しているようにみえるのか、可動子25が加速しているので速度が変化していようにみえるのか、を区別する複雑な判定を用いる必要がないので、制御装置10の構成が複雑になることを防ぐことができる。 In addition, the
As a result, when the
制御モード選択器116は、微分器105が算出する加速度指令が0(ゼロ)を示す場合、速度制御を選択し、前記加速度指令が0(ゼロ)を示さない場合、加速度制御を選択するようにした。
これにより、加速度制御のために算出する加速度指令を流用して、リニアモータ20の制御方法を選択するので、制御モード選択器116が行う演算を容易にすることができる。 Thecontrol mode selector 116 selects speed control when the acceleration command calculated by the differentiator 105 indicates 0 (zero), and selects acceleration control when the acceleration command does not indicate 0 (zero). did.
Thereby, since the control method of thelinear motor 20 is selected using the acceleration command calculated for acceleration control, the calculation performed by the control mode selector 116 can be facilitated.
これにより、加速度制御のために算出する加速度指令を流用して、リニアモータ20の制御方法を選択するので、制御モード選択器116が行う演算を容易にすることができる。 The
Thereby, since the control method of the
また、制御装置10において、平均化器114は、スイッチ113が端子S4を選択してから入力される速度の平均値を算出するようにした。すなわち、平均化器114は、速度制御が選択されてから現在までの間に、速度検出器112が検出した速度の平均値を算出するようにした。
これにより、速度検出器112が検出した速度を示す情報の全てを用いて平均を算出するので、平均値(平均速度)に含まれる周期的な変動成分を十分に抑圧することができ、可動子25を等速で移動させる場合により安定した制御を行うことができる。 Further, in thecontrol device 10, the averager 114 calculates the average value of the speeds input after the switch 113 selects the terminal S4. That is, the averager 114 calculates the average value of the speeds detected by the speed detector 112 between the time when speed control is selected and the present time.
As a result, since the average is calculated using all the information indicating the speed detected by thespeed detector 112, the periodic fluctuation component included in the average value (average speed) can be sufficiently suppressed, and the mover More stable control can be performed when moving 25 at a constant speed.
これにより、速度検出器112が検出した速度を示す情報の全てを用いて平均を算出するので、平均値(平均速度)に含まれる周期的な変動成分を十分に抑圧することができ、可動子25を等速で移動させる場合により安定した制御を行うことができる。 Further, in the
As a result, since the average is calculated using all the information indicating the speed detected by the
なお、上記の実施形態において、平均化器114は、速度制御が選択されてから現在までの可動子25の速度の平均値を算出したが、これに限らず、制御モード選択器116が速度制御を選択している場合、駆動用磁石24の磁極ピッチを整数倍した距離により定められる区間ごとに、速度検出器112が検出した速度の平均値を算出し、算出した平均値のうち最も新しい平均値を速度制御器104に出力してもよい。
これにより、平均化器114において、速度の平均値を算出するための演算量を削減して応答性を改善することができ、可動子25を高速で移動させる場合にも安定して制御を行うことができる。これは、MRセンサ27が出力する信号に含まれる周期的な変動成分が、駆動用磁石24の磁極ピッチに応じて変化する場合などに特に有効である。 In the above embodiment, theaverager 114 calculates the average value of the speed of the mover 25 from the time when speed control is selected to the present time. However, the present invention is not limited to this, and the control mode selector 116 controls the speed control. Is selected for each section determined by a distance obtained by multiplying the magnetic pole pitch of the drive magnet 24 by an integer, the average value of the speeds detected by the speed detector 112 is calculated, and the newest average among the calculated average values is calculated. The value may be output to the speed controller 104.
Thereby, in theaverager 114, the amount of calculation for calculating the average value of the speed can be reduced to improve the responsiveness, and the control is stably performed even when the mover 25 is moved at a high speed. be able to. This is particularly effective when the periodic fluctuation component included in the signal output from the MR sensor 27 changes according to the magnetic pole pitch of the drive magnet 24.
これにより、平均化器114において、速度の平均値を算出するための演算量を削減して応答性を改善することができ、可動子25を高速で移動させる場合にも安定して制御を行うことができる。これは、MRセンサ27が出力する信号に含まれる周期的な変動成分が、駆動用磁石24の磁極ピッチに応じて変化する場合などに特に有効である。 In the above embodiment, the
Thereby, in the
なお、上記の実施形態において、電機子60を備えた可動子25が、駆動用磁石24を備えた固定子21に対して、相対的に直線運動をするフラットタイプのリニアモータ20を制御した。しかし、これに限らず、ロッドタイプの駆動用磁石を備えた可動子が、電機子(コイル)を備えた固定子に対して相対的に直線運動をするロッドタイプのリニアモータに適用してもよい。
In the above-described embodiment, the flat type linear motor 20 in which the mover 25 including the armature 60 moves linearly relative to the stator 21 including the driving magnet 24 is controlled. However, the present invention is not limited to this, and a mover provided with a rod-type drive magnet may be applied to a rod-type linear motor that linearly moves relative to a stator provided with an armature (coil). Good.
なお、上記の実施形態において、速度の平均値は、平均化器114が入力される速度の平均を算出したが、速度制御が選択されている間に移動した距離を、当該距離の移動に要した時間で除算して算出してもよい。
In the above embodiment, the average speed is calculated by calculating the average of the speeds input by the averager 114. However, the distance moved while the speed control is selected is required for the movement of the distance. It may be calculated by dividing by the determined time.
上述のリニアモータ20の制御装置10は、内部にコンピュータシステムを有してもよい。その場合、上述した制御装置10に備えられている各機能部が行う処理の過程は、プログラムの形式でコンピュータ読み取り可能な記録媒体に記憶されており、このプログラムをコンピュータが読み出して実行することによって、上記の処理が行われる。ここでコンピュータ読み取り可能な記録媒体とは、磁気ディスク、光磁気ディスク、CD-ROM、DVD-ROM、半導体メモリ等をいう。また、このコンピュータプログラムを通信回線によってコンピュータに配信し、この配信を受けたコンピュータが当該プログラムを実行しても良い。
The control device 10 for the linear motor 20 described above may have a computer system therein. In this case, the process performed by each functional unit provided in the control device 10 described above is stored in a computer-readable recording medium in the form of a program, and this program is read and executed by the computer. The above processing is performed. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Further, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.
本発明によれば、磁気センサが出力する信号に周期的な変動成分が含まれる場合においても、リニアモータを安定して制御することができるため、リニアモータ20の消費電力の増加を防ぎ、劣化を抑えることができる。
According to the present invention, even when a periodic fluctuation component is included in the signal output from the magnetic sensor, the linear motor can be stably controlled, so that an increase in power consumption of the linear motor 20 is prevented and deteriorated. Can be suppressed.
1…リニアモータ装置
10…制御装置
20…リニアモータ
21…固定子
25…可動子
27…MRセンサ
101…位置制御器
102…微分器
103…スイッチ
104…速度制御器
105…微分器(加速度算出部)
106…加速度制御器
107…スイッチ
108…電流制御器
109…電力変換器
110…変流器
111…パルス生成器
112…速度検出器
113…スイッチ
114…平均化器
115…位置検出器
116…制御モード選択器 DESCRIPTION OFSYMBOLS 1 ... Linear motor apparatus 10 ... Control apparatus 20 ... Linear motor 21 ... Stator 25 ... Movable element 27 ... MR sensor 101 ... Position controller 102 ... Differentiator 103 ... Switch 104 ... Speed controller 105 ... Differentiator (acceleration calculation part) )
106 ...Acceleration controller 107 ... Switch 108 ... Current controller 109 ... Power converter 110 ... Current transformer 111 ... Pulse generator 112 ... Speed detector 113 ... Switch 114 ... Averager 115 ... Position detector 116 ... Control mode Selector
10…制御装置
20…リニアモータ
21…固定子
25…可動子
27…MRセンサ
101…位置制御器
102…微分器
103…スイッチ
104…速度制御器
105…微分器(加速度算出部)
106…加速度制御器
107…スイッチ
108…電流制御器
109…電力変換器
110…変流器
111…パルス生成器
112…速度検出器
113…スイッチ
114…平均化器
115…位置検出器
116…制御モード選択器 DESCRIPTION OF
106 ...
Claims (7)
- N極とS極とが交互に等間隔に配列された複数の駆動用磁石を備える駆動用磁石部と、複数のコイルを備える電機子とを具備し、前記電機子又は前記駆動用磁石部のいずれか一方が可動子であり、前記電機子に備えられている複数のコイルに電流を流して生じる磁界と、前記駆動用磁石が生じさせる磁界とにより前記駆動用磁石の配列された配列方向に前記可動子を直線運動させるリニアモータの制御装置であって、
前記電機子に備えられている磁気センサであって前記駆動用磁石が生じさせている磁界の方向に応じた信号を出力する磁気センサと、
前記磁気センサが出力する信号に基づいて前記可動子が移動する速度を検出する速度検出部と、
前記速度検出部が検出した前記可動子の平均速度と、外部より単位時間ごとに入力される位置指令であって単位時間当たりに前記可動子を移動させる距離を示す位置指令から算出される速度指令との差分から前記複数のコイルに流す電流値を示す第1の電流指令を算出する速度制御部と、
前記速度制御部が算出した第1の電流指令に基づいて前記複数のコイルに電流を印加する電力変換部と
を備えるリニアモータの制御装置。 A driving magnet unit including a plurality of driving magnets in which N poles and S poles are alternately arranged at equal intervals; and an armature including a plurality of coils, wherein the armature or the driving magnet unit includes: Either one of them is a mover, and the driving magnets are arranged in the arrangement direction by a magnetic field generated by passing current through a plurality of coils provided in the armature and a magnetic field generated by the driving magnet. A linear motor control device for linearly moving the mover,
A magnetic sensor provided in the armature that outputs a signal corresponding to a direction of a magnetic field generated by the driving magnet;
A speed detector for detecting a speed at which the mover moves based on a signal output from the magnetic sensor;
A speed command calculated from an average speed of the mover detected by the speed detection unit and a position command input from the outside every unit time and indicating a distance to move the mover per unit time A speed control unit that calculates a first current command indicating a current value flowing through the plurality of coils from the difference between
A linear motor control device comprising: a power conversion unit configured to apply a current to the plurality of coils based on a first current command calculated by the speed control unit. - 前記速度制御部は、前記可動子を等速にて移動させる等速制御を行う場合、前記速度検出部が検出した前記可動子の平均速度と、前記速度指令との差分から前記第1の電流指令を算出する
請求項1に記載のリニアモータの制御装置。 The speed control unit, when performing constant speed control for moving the mover at a constant speed, the first current from a difference between an average speed of the mover detected by the speed detection unit and the speed command. The linear motor control device according to claim 1, wherein the command is calculated. - 前記位置指令に基づいて、前記可動子の速度を加速させる加速度制御と、前記等速制御とのいずれか一方を選択する制御モード選択部を更に備え、
前記速度制御部は、前記制御モード選択部が前記等速制御を選択した場合、前記速度検出部が検出した前記可動子の平均速度と、前記速度指令との差分から前記第1の電流指令を算出し、前記制御モード選択部が前記加速度制御を選択した場合、前記速度検出部が検出した現在の前記可動子の速度と、前記速度指令との差分から前記第1の電流指令を算出する
請求項2に記載のリニアモータの制御装置。 Based on the position command, further comprising a control mode selection unit that selects either one of acceleration control for accelerating the speed of the mover and the constant speed control,
When the control mode selection unit selects the constant speed control, the speed control unit outputs the first current command from a difference between an average speed of the mover detected by the speed detection unit and the speed command. And when the control mode selection unit selects the acceleration control, the first current command is calculated from a difference between the current speed of the mover detected by the speed detection unit and the speed command. Item 3. The linear motor control device according to Item 2. - 前記位置指令から前記可動子に与える加速度を示す加速度指令を算出する加速度算出部と、
前記加速度算出部が算出する加速度指令に基づいて前記複数のコイルに流す電流値を示す第2の電流指令を算出する加速度制御部と、
前記電力変換部は、前記可動子を加速させて駆動する場合、前記加速度制御部が算出する第2の電流指令に基づいて前記複数のコイルに電流を印加する
請求項3に記載のリニアモータの制御装置。 An acceleration calculation unit for calculating an acceleration command indicating an acceleration to be given to the mover from the position command;
An acceleration control unit that calculates a second current command indicating a current value to be passed through the plurality of coils based on the acceleration command calculated by the acceleration calculation unit;
The linear motor according to claim 3, wherein the power conversion unit applies a current to the plurality of coils based on a second current command calculated by the acceleration control unit when the movable element is accelerated and driven. Control device. - 前記制御モード選択部は、
前記加速度算出部が算出する加速度指令が0(ゼロ)を示す場合、等速制御を選択し、前記加速度指令が0(ゼロ)を示さない場合、加速度制御を選択する
請求項3又は請求項4のいずれかに記載のリニアモータの制御装置。 The control mode selection unit
5. The constant velocity control is selected when the acceleration command calculated by the acceleration calculation unit indicates 0 (zero), and the acceleration control is selected when the acceleration command does not indicate 0 (zero). The control apparatus of the linear motor in any one of. - 前記速度制御部は、
前記制御モード選択部が等速制御を選択してから現在までの間に、前記速度検出部が検出した速度の平均値を前記平均速度として用いる
請求項3から請求項5のいずれか一項に記載のリニアモータの制御装置。 The speed controller is
The average value of speeds detected by the speed detection unit between the time when the control mode selection unit selects constant speed control and the present time is used as the average speed. 6. The linear motor control device described. - 前記速度制御部は、
前記制御モード選択部が等速制御を選択している場合、
前記複数の駆動用磁石において隣り合う駆動用磁石の磁極間の距離を整数倍した距離により定められる区間ごとに、前記速度検出部が検出した速度の平均値を算出し、算出した平均値のうち最も新しい平均値を前記平均速度として用いる
請求項3から請求項5のいずれか一項に記載のリニアモータの制御装置。 The speed controller is
When the control mode selection unit has selected constant speed control,
In each of the plurality of driving magnets, an average value of the speeds detected by the speed detection unit is calculated for each section determined by a distance obtained by multiplying a distance between adjacent magnetic poles of the driving magnets by an integer, and among the calculated average values The linear motor control device according to any one of claims 3 to 5, wherein a newest average value is used as the average speed.
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JP2001327189A (en) * | 2000-05-18 | 2001-11-22 | Matsushita Electric Works Ltd | Brushless linear motor |
JP2003289685A (en) * | 2002-03-27 | 2003-10-10 | Murata Mach Ltd | Servo controller |
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JP2006163533A (en) * | 2004-12-02 | 2006-06-22 | Mitsutoyo Corp | Control device |
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JP2002044975A (en) * | 2000-07-26 | 2002-02-08 | Fuji Electric Co Ltd | Induction motor control device |
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JP2001327189A (en) * | 2000-05-18 | 2001-11-22 | Matsushita Electric Works Ltd | Brushless linear motor |
JP2003289685A (en) * | 2002-03-27 | 2003-10-10 | Murata Mach Ltd | Servo controller |
JP2006141140A (en) * | 2004-11-12 | 2006-06-01 | Konica Minolta Medical & Graphic Inc | Transport device, image scanner, and image forming apparatus |
JP2006163533A (en) * | 2004-12-02 | 2006-06-22 | Mitsutoyo Corp | Control device |
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