EP1864370A1 - Linearmotor und verfahren zum betrieb eines linearmotors - Google Patents
Linearmotor und verfahren zum betrieb eines linearmotorsInfo
- Publication number
- EP1864370A1 EP1864370A1 EP06742523A EP06742523A EP1864370A1 EP 1864370 A1 EP1864370 A1 EP 1864370A1 EP 06742523 A EP06742523 A EP 06742523A EP 06742523 A EP06742523 A EP 06742523A EP 1864370 A1 EP1864370 A1 EP 1864370A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- linear motor
- magnetic field
- control
- secondary part
- field
- 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.)
- Withdrawn
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
-
- 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
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
Definitions
- the invention relates to a linear motor with a trained as a long stator primary part and at least one secondary part and a method for operating a corresponding linear motor.
- Linear motors which operate on the synchronous principle, have a trained as a long stator primary part on which a secondary part is arranged freely movable. To move the secondary part, a magnetic traveling field is generated, which moves the magnet formed with the secondary part by magnetic interaction.
- the generation of the traveling field in the stator windings takes place by feeding in a three-phase current of variable frequency, which determines the movement speed.
- the long stator is divided into individual segments, each of which has continuous windings.
- To the Connection points of the segments are arranged current supply devices, each act on the connected segments with the current that is necessary for movement.
- This design requires a complex design and control of the individual lighting devices.
- DE 39 00 511 A1 discloses a linear motor having a primary part with stator poles arranged in series and a secondary part movable along the primary part.
- the coils of the long stator are energized by power converters whose frequency and amplitude are controllable by an electronic control, taking into account the residence of the secondary part to move the secondary part on the primary part.
- For locomotion segments of the primary part are energized by the external control device, wherein all the secondary parts, which are at this time on a segment of the primary part, move uniformly.
- a linear motor according to the invention which can operate in particular according to the synchronous principle, has a secondary part designed as a long stator and at least one secondary part which is movable relative to the primary part and has means for controlling the generation of a magnetic field causing its (advancing) movement in the primary part.
- This makes it possible to avoid complex, the long stator associated control devices for the energization of the stator windings.
- a spatially distributed alternating magnetic field is required, which moves along the stator, the so-called traveling field or drive field.
- a linear motor according to the invention is equipped with a primary part having a number of individual coils, wherein the individual coils can be energized independently of one another to generate a magnetic field, wherein the magnetic field causing the movement of the at least one secondary part is generated in the primary part by applying current to the individual coils.
- This advantageous embodiment allows the energization of only the individual coils, which are in the immediate vicinity or in the sphere of influence of the at least one secondary part, and thus an independent movement of the secondary parts.
- the at least one secondary part of a linear motor controls the generation of the magnetic field causing its movement in the primary part by means of a control field distributed along the direction of travel.
- the control field corresponds to a setpoint field and can either be determined by a control device which is located on the secondary part or supplied to the secondary part from the outside. It preferably forms the drive field necessary for locomotion spatially and is therefore an alternating field, in particular a sinusoidal alternating field.
- control field of an individual coil provided by the at least one secondary part of the linear motor according to the invention is locally measured and the measured value is used as the current setpoint for this individual coil.
- a magnetic control field it makes sense to assign the individual coils magnetic field sensors.
- the at least one secondary part provides a magnetic field as a control field. This provided magnetic field can be detected in a simple manner by magnetic field sensors arranged along the primary part, for example Hall sensors. The strength of the detected magnetic field is used as a current setpoint for loading the single coil.
- Secondary part arranged transmitting coils are generated.
- the shape for example, sinusoidal shape
- the feed force depends on the strength of the drive field, which is determined by the amplitude of the control field.
- the signal processing on the secondary part only has to provide a one-dimensional setpoint current value in this advantageous embodiment and impress this as an excitation current in the transmission coils. The result is a generated by the individual coils of the stator drive field in the sphere of influence of the secondary part.
- the at least one secondary part of a linear motor according to the invention provides an electric field as a control field.
- An electric field can advantageously be used to easily avoid influencing the detection by the magnetic drive field.
- the generation of the magnetic field causing the movement in the primary part is controlled by means of electromagnetic waves which are in particular modulated.
- the wavelength and / or the polarization of the electromagnetic waves is used for the control.
- the sign of the desired current can be represented in particular by different wavelengths or polarization directions.
- a linear motor according to the invention is preferably used.
- the possibilities which are disclosed in connection with the linear motor according to the invention are advantageously to be used for the control.
- Figure 1 is a schematic top view of a preferred embodiment of a linear motor according to the invention.
- Figure 2 is a schematic side view in cross section along the central axis of Figure 1;
- FIG. 3 shows a schematic side view of the linear motor from FIG. 1.
- the embodiment of the linear motor according to the invention shown in FIG. 1 has a primary part 100 and a secondary part 200.
- the primary part 100 has two essentially identical drive rails 101 and 102.
- the drive rail 101 has individual coils 110a, 110b, etc.
- the drive rail 102 has individual coils purple, 111b and so on.
- the opposing individual coils, 110a and purple, 110b and 111b, etc. are centered with respect to. the magnetic field sensors 120a, 120b, etc. aligned, with other arrangements can be chosen next to it. It is understood that the Drive rails depending on the length of a plurality of individual coils and magnetic field sensors beyond the number shown may have.
- Each individual magnetic field sensor 120a, 120b, etc. is responsible for controlling the energization of each of a single coil pair 110a and IIIa, 110b, and 111b, and so on.
- the magnetic field sensor 120a controls the energization of the individual coils 110a and 15a, etc.
- there are further means such as e.g. Amplifier circuits, power sources, etc. provided, but for the sake of clarity, are not shown in detail.
- the secondary part 200 has the drive rails 101 and 102 associated with rails 201 and 202.
- the secondary part has control coils 220a to 22Od, which interact with the magnetic field sensors 120a, 120b, etc. via a generated control field.
- the rails 201 and 202 have individual permanent magnetic portions 210a to 21Oe and 211a to 211e.
- the secondary part 200 is freely movable on the primary part 100 along the drive rails 101 and 102.
- Runners 201, 202 provide the feed functionality of the linear motor.
- the storage and management of the secondary part 200 on the primary part 100 is not shown in detail. It can be accomplished, for example, by further magnetic rails or rollers.
- FIG. 2 shows a cross-sectional view of the linear motor described above along its central axis.
- the primary part 100 is arranged below the secondary part 200.
- the magnetic field sensors 120a to 120i are arranged at regular intervals.
- the control coils 220a to 22Od are arranged at regular intervals. The regular spacing of the control coils corresponds to this
- Embodiment not the regular spacing of the magnetic field sensors.
- the secondary part 200 has a control device 230, which is connected via a connection 240, in particular a cable, with the control coils 220a to 22Od and can supply the control coils with current.
- control coils are energized, whose direction is indicated both by the arrow in the control unit 230 and by the arrow on the connection 240.
- the control coils 220a and 220c form a magnetic north pole on their underside
- the control coils 220b and 22Od form a magnetic south pole on their bottom side.
- control panel 250 Between the control coils 220a to 22Oe arises an alternating magnetic field, which is designated as control panel 250.
- the spatial distribution of the control panel 250 is dictated by the geometry and arrangement of the control coils 220a-220d.
- the amplitude of the magnetic control field 250 is given by the amplitude of the current applied to the control coils.
- the Controller controls the amplitude of the current through the control coils.
- the control field 250 which is represented by the field lines in the figure, comes with the
- Magnetic field sensors 120a, 120b, etc. in operative connection.
- the intensity of the magnetic field detected in the magnetic field sensors is dependent on the distance of the magnetic field sensors from the control coils 220a to 22Od.
- the magnetic field sensors 120c and 12Of are penetrated by strong magnetic fields substantially perpendicularly from top to bottom, whereas the magnetic field sensors 12Od, 120e, 120g and 120h are penetrated obliquely from the bottom to the top by weaker magnetic fields.
- the respective detected magnetic field strength in the vertical direction (or the vertical component of the field) is used to control the current loading of the associated individual coils 110a, 110b, etc., as well as purple, 111b, etc. Due to the sinusoidal design of the control field, a corresponding sinusoidal configuration of the drive field is achieved.
- Figure 3 shows a side view of the preferred embodiment.
- the running rail 201 of the secondary part 200 is adjacent to the drive rail 101 of the primary part 100.
- the drive rail 101 has the individual coils 110 a to 110 h, the respective current application through the
- Magnetic field sensors 120a to 120h (not shown in Figure 3) is controlled.
- the running rail 201 consists of the permanent magnetic portions 210a to 21Oe. It is advantageous if the sections 210a, 210c ' and 21Oe have an identical magnetic polarity, which is opposite to the polarity of the sections 210b and 21Oe. In the illustrated example, portions 210a, 210c, 21Oe have a magnetic north pole, whereas portions 210b and 21Od have a south magnetic pole.
- the magnetic field emanating from sections 210a-210e is referred to herein as a permanent field.
- the current loading of the individual coils HOa to HOh is controlled by the magnetic field sensors 120a to 120h according to the manner illustrated and described in FIG. Accordingly, the individual coils HOa to HOh are supplied with current such that the coils HOc, HOf form a magnetic north pole field and the coils HOb, HOd, HOe, HOh form a magnetic field of different strength and in the entirety a substantially sinusoidal magnetic drive field or traveling field arises.
- the operative connection of the magnetic drive field with the permanent field offset the secondary part 200 relative to the primary part 110 in the direction indicated by the arrow A movement.
- the control panel is moved with the secondary part.
- the movement of the control field leads to a movement of the drive field also along the direction A, which in turn moves the secondary part.
- the feed force (acceleration) of the secondary part is dependent on the strength of the drive field, which depends on the strength of the current with which the individual coils HOa to HIGH be given, is given.
- This current is, as explained, predetermined by the strength of the control field, which depends on the current which is output by the control device 230 to the control coils 220a to 22Od. A change in the movement speed is thus easily provided by changing the current output from the controller 230.
- a change of the direction of movement is to be provided in the same way by a simple change of the direction of current through the control coils 220a to 22Od. With such a change in the current direction, the polarity of the control field and thus the polarity of the drive field is reversed. Since the polarity of the permanent field is maintained, there is a change in the direction of movement.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102005013349A DE102005013349A1 (de) | 2005-03-23 | 2005-03-23 | Linearmotor und Verfahren zum Betrieb eines Linearmotors |
PCT/EP2006/002630 WO2006100057A1 (de) | 2005-03-23 | 2006-03-22 | Linearmotor und verfahren zum betrieb eines linearmotors |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1864370A1 true EP1864370A1 (de) | 2007-12-12 |
Family
ID=36616943
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP06742523A Withdrawn EP1864370A1 (de) | 2005-03-23 | 2006-03-22 | Linearmotor und verfahren zum betrieb eines linearmotors |
Country Status (5)
Country | Link |
---|---|
US (1) | US7786685B2 (de) |
EP (1) | EP1864370A1 (de) |
JP (1) | JP5065239B2 (de) |
DE (1) | DE102005013349A1 (de) |
WO (1) | WO2006100057A1 (de) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE502008002888D1 (de) * | 2008-09-09 | 2011-04-28 | Siemens Ag | Transfervorrichtung mit dynamisch veränderbaren Antriebsbereichen |
EP2182627B1 (de) * | 2008-10-31 | 2012-02-01 | Robert Bosch GmbH | Verfahren und Vorrichtung zur Steuerung eines linearen Bewegungssystems |
CN103181073B (zh) * | 2010-10-26 | 2016-07-06 | 村田机械株式会社 | 离散配置线性电动机 |
EP2806547A1 (de) * | 2013-05-09 | 2014-11-26 | Rockwell Automation Technologies, Inc. | Gesteuertes Bewegungssystem mit verbesserter Spurkonfiguration |
US10787340B2 (en) | 2016-06-13 | 2020-09-29 | Otis Elevator Company | Sensor and drive motor learn run for elevator systems |
EP3429071A1 (de) * | 2017-07-13 | 2019-01-16 | Siemens Aktiengesellschaft | Ortung eines sekundärteils beim einsatz in einem linearmotorbasierten system |
US10483895B2 (en) | 2017-08-25 | 2019-11-19 | Rockwell Automation Technologies, Inc. | Method and apparatus for wireless power transfer to an independent moving cart |
US10608469B2 (en) * | 2017-09-28 | 2020-03-31 | Rockwell Automation Technologies, Inc. | Method and apparatus for power transfer to an independent moving cart during travel along a track |
US11539244B2 (en) | 2017-09-28 | 2022-12-27 | Rockwell Automation Technologies, Inc. | Method and apparatus for data transmission over an inductive link for an independent cart system |
EP3487049B1 (de) * | 2017-11-17 | 2024-01-17 | Schneider Electric Industries SAS | Linearmotor mit transversalfluss |
Family Cites Families (32)
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JPS4820215B1 (de) * | 1969-09-11 | 1973-06-19 | ||
US3803466A (en) * | 1972-02-28 | 1974-04-09 | Rockwell International Corp | Linear motor propulsion system |
US4151431A (en) * | 1973-12-06 | 1979-04-24 | Johnson Howard R | Permanent magnet motor |
DE2710156C2 (de) | 1977-03-09 | 1983-08-04 | Thyssen Industrie Ag, 4300 Essen | Magnetbahn |
DE3174230D1 (en) * | 1980-05-19 | 1986-05-07 | Kelly H P G | Linear motor |
EP0301164A3 (de) | 1980-11-11 | 1989-02-08 | Magnetbahn GmbH | Elektrischer Antrieb oder Generator |
JPS58175020A (ja) * | 1982-04-05 | 1983-10-14 | Telmec Co Ltd | 二次元精密位置決め装置 |
JPS58173843A (ja) * | 1982-04-07 | 1983-10-12 | Telmec Co Ltd | 平面駆動装置 |
US4760294A (en) * | 1982-09-13 | 1988-07-26 | Hansen Thomas C | Linear motor with independently controlled coils |
JPS60229603A (ja) * | 1984-04-26 | 1985-11-15 | Toshiba Corp | 搬送装置 |
US4897582A (en) * | 1987-01-06 | 1990-01-30 | Harris Corp. | Linear dc motor vibration controller |
DE3900511A1 (de) * | 1989-01-10 | 1990-07-12 | Magnet Motor Gmbh | Automatische guttransportvorrichtung mit linearmotorgetriebenen transportelementen |
WO1991012648A1 (en) * | 1990-02-13 | 1991-08-22 | Hitachi Metals, Ltd. | Linear dc motor |
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GB9419734D0 (en) * | 1994-09-30 | 1994-11-16 | Linear Drives Ltd | Linear motor for extended travel |
US5801462A (en) * | 1995-03-31 | 1998-09-01 | Minolta Co., Ltd. | Linear motor and image reading apparatus |
JP3815750B2 (ja) * | 1995-10-09 | 2006-08-30 | キヤノン株式会社 | ステージ装置、ならびに前記ステージ装置を用いた露光装置およびデバイス製造方法 |
JPH09261943A (ja) * | 1996-03-22 | 1997-10-03 | Nippon Thompson Co Ltd | リニアモータ駆動装置 |
DE19748647C2 (de) * | 1997-11-04 | 2001-09-27 | Festo Ag & Co | Elektromagnetisches Antriebssystem mit integrierter Wegsignalerzeugung |
US5965963A (en) * | 1998-02-26 | 1999-10-12 | Anorad Corporation | Linear motor with a plurality of stages independently movable on the same path |
DE19922441A1 (de) * | 1999-05-07 | 2000-11-09 | Transrapid International Gmbh | Verfahren und Vorrichtung zum Betreiben eines Magnetfahrzeugs |
KR100299495B1 (ko) * | 1999-06-24 | 2001-11-01 | 정문술 | 리니어 모터의 스위칭 회로 오동작 방지 장치 |
JP2001025229A (ja) * | 1999-07-06 | 2001-01-26 | Nippon Thompson Co Ltd | 可動コイル型リニアモータを内蔵したスライド装置 |
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JP2002075850A (ja) * | 2000-09-05 | 2002-03-15 | Nikon Corp | 荷電粒子線露光装置用ステージ、荷電粒子線露光装置、及び半導体デバイスの製造方法 |
DE10334736A1 (de) | 2003-07-29 | 2005-02-17 | Rexroth Indramat Gmbh | Linearmotor mit Fortbewegungsregelung |
US6952086B1 (en) * | 2003-10-10 | 2005-10-04 | Curtiss-Wright Electro-Mechanical Corporation | Linear position sensing system and coil switching methods for closed-loop control of large linear induction motor systems |
-
2005
- 2005-03-23 DE DE102005013349A patent/DE102005013349A1/de not_active Withdrawn
-
2006
- 2006-03-22 US US11/887,089 patent/US7786685B2/en not_active Expired - Fee Related
- 2006-03-22 WO PCT/EP2006/002630 patent/WO2006100057A1/de active Application Filing
- 2006-03-22 EP EP06742523A patent/EP1864370A1/de not_active Withdrawn
- 2006-03-22 JP JP2008502317A patent/JP5065239B2/ja not_active Expired - Fee Related
Non-Patent Citations (1)
Title |
---|
See references of WO2006100057A1 * |
Also Published As
Publication number | Publication date |
---|---|
JP2008535449A (ja) | 2008-08-28 |
US7786685B2 (en) | 2010-08-31 |
JP5065239B2 (ja) | 2012-10-31 |
DE102005013349A1 (de) | 2006-10-05 |
US20090091276A1 (en) | 2009-04-09 |
WO2006100057A1 (de) | 2006-09-28 |
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