CN109088574A - Linear motor seeking control device - Google Patents
Linear motor seeking control device Download PDFInfo
- Publication number
- CN109088574A CN109088574A CN201710446750.5A CN201710446750A CN109088574A CN 109088574 A CN109088574 A CN 109088574A CN 201710446750 A CN201710446750 A CN 201710446750A CN 109088574 A CN109088574 A CN 109088574A
- Authority
- CN
- China
- Prior art keywords
- subunit
- gap
- control
- stator unit
- stator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
-
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Linear Motors (AREA)
Abstract
The invention discloses a kind of linear motor seeking control devices, rail system including one with several stator units, there is a gap between adjacent two stator unit, one control unit, one subunit of control may extend across gap and slide along each stator unit, each stator unit is respectively equipped with an optical ruler, and subunit is equipped with a reading device；The both ends of each stator unit are respectively equipped with a sensing element, and preparation area surely is defined as between sensing element and the ora terminalis of corresponding end；Before subunit is by gap, reading device reads a movement information by optical ruler in the area in preparation that subunit first passes through, and control unit carries out calculation processing to movement information and generates a feedback signal.Subunit by when gap will not due to out of hand there is a phenomenon where speed busts；When subunit leaves gap, using the angle of the gap length compensation absolute position and vector control that store in advance, the span positioning function of subunit can be completed.
Description
Technical field
The present invention is related with linear motor, espespecially a kind of linear motor seeking control device.
Background technique
Consider that the known linear motor with multistage stator unit, each stator unit arranged adjacent form a track,
And a subunit can be driven by a control unit on each stator unit and slide, and each stator unit is equipped with and senses the mover
The sensor of cell position, such as optical ruler, for the movement information such as position and speed for predicting the subunit, and then as
The control unit drives the control foundation of the subunit.
There are gap between each stator unit, which forms the breakpoint in the movement information for measuring the subunit,
Discrete state and in the gap location is not formed due to the optical ruler, causes the subunit can not when sliding into the gap location
Learn that its position and speed etc. act information, thus the control unit fails to the control of the subunit, makes the subunit
Every time by can all generate speed bust when gap the phenomenon that.
Summary of the invention
The main purpose of the present invention is to provide a kind of linear motor seeking control devices, pass through multistage stator in mover
Between gap after using estimation speed as feedback, to solve between multistage stator since gap causes signal discontinuous
Problem.
To reach above-mentioned purpose, the invention adopts the following technical scheme:
A kind of linear motor seeking control device, it includes a rail system with several stator units, adjacent
There is a gap, a control unit, which controls a subunit, may extend across the gap along each stator unit between two stator units
Sliding,
Each stator unit is respectively equipped with an optical ruler, and the subunit is equipped with a reading to read the optical ruler
Take device；
The both ends of each stator unit are respectively equipped with a sensing element read for the reading device, the wherein sense
Preparation area surely is defined as between the ora terminalis for the end for answering element corresponding；Before the subunit will be by the gap,
The reading device reads a movement information, and the control unit pair by the optical ruler in the area in preparation that the subunit first passes through
The movement information carry out calculation processing and generate a feedback signal, and with as the gap location drive the control of the subunit according to
According to.
The sensing element is hall sensor.
The present invention has the advantages that when passing through the gap speed bust will not occur because out of hand for the subunit
Phenomenon；When the subunit leaves the gap, the gap length compensation absolute position stored in advance and vector control are utilized
Angle, the span positioning function of the subunit can be completed.
Detailed description of the invention
Fig. 1 is configuration diagram of the invention；
Fig. 2 and Fig. 3 is action state schematic diagram of the invention.
Specific embodiment
Refering to Figure 1, be linear motor seeking control device provided by the invention comprising have one have it is several fixed
The rail system of subelement 1, each 1 arranged adjacent of stator unit, and there is a gap 3 each other, and a subunit 2 is by one
The control driving of control unit (not shown), and can slide on the stator unit 1, and may extend across the gap 3 and along each stator
Unit 1 slides.Each stator unit 1 is respectively equipped with an optical ruler 11, and the subunit 2 is equipped with one to read the optical ruler 11
Reading device (not shown) can pass through the readout means reads conducive to the subunit 2 when sliding on the stator unit 1
The movement information such as take the optical ruler 11 and learn position and the speed of the subunit 2, and then should as control unit driving
The control foundation of subunit 2.
The both ends of above-mentioned each stator unit 1 have one first ora terminalis 12 and one second ora terminalis 13, and two adjacent stator lists
Member 1 is opposite with first ora terminalis 12 and second ora terminalis 13.Each stator unit 1 is equipped with one the read for the reading device
One sensing element 14 and one second sensing element 15, wherein first sensing element 14 is provided close to first ora terminalis 12 and distance
The position of one suitable distance, and one first area in preparation S1 is defined as between first sensing element 14 and first ora terminalis 12；It should
Second sensing element 15 is provided close to the position of second ora terminalis 13 and one suitable distance of distance, and second sensing element 15 with
One second area in preparation S2 is defined as between second ora terminalis 13.In this present embodiment, first sensing element 14 and second sense
Answering element 15 is hall sensor.
Due to above structure, consider the subunit 2 as shown in Figure 2 along the occasion of 11 direct motion of stator unit,
In direction of travel, the subunit 2 can first pass through first area in preparation S1 before it will enter the gap 3 according to this.It is above-mentioned to be somebody's turn to do
It, can be by the optical ruler due to being equipped with optical ruler 11 in first area in preparation S1, therefore when the subunit 2 process first area in preparation S1
11 readings one include the first movement information of position and speed etc., and after the control unit obtains the first movement information,
A feedback signal is generated via calculation processing, includes the velocity information of an estimation, it should to enter as the subunit 2
The control foundation of the subunit 2 is driven when gap 3.Accordingly, when the subunit 2 is by the gap 3, which is able to
The estimated value continues to control the subunit 2, and the subunit 2 will not be enabled to occur when by the gap 3 because out of hand
The phenomenon that speed bust.
Similarly, as shown in figure 3, when the subunit 2 drives in the wrong direction along the stator unit 1, direction of travel according to this, the subunit
2 before it will enter the gap 3, can first pass through second area in preparation S2.Due to being equipped with light in above-mentioned second area in preparation S2
Ruler 11 is learned, therefore when the subunit 2 process second area in preparation S2, can read one by the optical ruler 11 include position and speed
Second movement information of degree etc., and after the control unit obtains the second movement information, it is generated via calculation processing one time
Signal is awarded, includes the velocity information of an estimation, drives the subunit 2 when entering the gap 3 as the subunit 2
Control foundation.Accordingly, when the subunit 2 is by the gap 3, which is able to the estimated value and continues to control the mover
Unit 2, will not enabling the subunit 2, there is a phenomenon where speed busts due to out of hand when by the gap 3.
And when the subunit 2 leaves the gap 3, using the 3 length compensation absolute position of gap stored in advance and to
The span positioning function of the subunit 2 can be completed in the angle of amount controller.
Claims (2)
1. a kind of linear motor seeking control device, it includes a rail system with several stator units, adjacent two
There is a gap, it is sliding along each stator unit that a control unit one subunit of control may extend across the gap between the stator unit
It is dynamic, it is characterised in that:
Each stator unit is respectively equipped with an optical ruler, and the subunit is equipped with one and fills to read the reading of the optical ruler
It sets；
The both ends of each stator unit are respectively equipped with a sensing element read for the reading device, wherein induction member
Preparation area surely is defined as between the ora terminalis of the corresponding end of part；Before the subunit will be by the gap, the reading
Device is taken to read a movement information by the optical ruler in the area in preparation that the subunit first passes through, and the control unit is dynamic to this
Make information to carry out calculation processing and generate a feedback signal, and the control foundation to drive the subunit as the gap location.
2. linear motor seeking control device according to claim 1, it is characterised in that: the sensing element is Hall sense
Answer device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710446750.5A CN109088574A (en) | 2017-06-14 | 2017-06-14 | Linear motor seeking control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710446750.5A CN109088574A (en) | 2017-06-14 | 2017-06-14 | Linear motor seeking control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109088574A true CN109088574A (en) | 2018-12-25 |
Family
ID=64839282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710446750.5A Pending CN109088574A (en) | 2017-06-14 | 2017-06-14 | Linear motor seeking control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109088574A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110950003A (en) * | 2019-11-26 | 2020-04-03 | 歌尔股份有限公司 | Linear transmission system and control method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102474217A (en) * | 2009-08-28 | 2012-05-23 | Thk株式会社 | Distributed-arrangement linear motor and method for controlling a distributed-arrangement linear motor |
| CN103608272A (en) * | 2011-06-15 | 2014-02-26 | 株式会社安川电机 | Transfer system |
| WO2016208077A1 (en) * | 2015-06-26 | 2016-12-29 | オリンパス株式会社 | Electromagnetic actuator drive device |
-
2017
- 2017-06-14 CN CN201710446750.5A patent/CN109088574A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102474217A (en) * | 2009-08-28 | 2012-05-23 | Thk株式会社 | Distributed-arrangement linear motor and method for controlling a distributed-arrangement linear motor |
| CN103608272A (en) * | 2011-06-15 | 2014-02-26 | 株式会社安川电机 | Transfer system |
| WO2016208077A1 (en) * | 2015-06-26 | 2016-12-29 | オリンパス株式会社 | Electromagnetic actuator drive device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110950003A (en) * | 2019-11-26 | 2020-04-03 | 歌尔股份有限公司 | Linear transmission system and control method thereof |
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Application publication date: 20181225 |