JP2001025285A - Method and device for controlling linear motor and turntable device for carrying article - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately drive a plurality of armatures by determining the drive speed and/or generation thrust of a linear motor with a first servo drive and outputting an electrical signal according to the drive speed to a second servo drive and supplying the corresponding AC current to the armatures. SOLUTION: All armatures M, N, etc., of a linear motor are divided into a plurality of groups G1, G2, G3, etc., a first servo driver DM is connected to the group G1, and second servo drivers DS2, DS3, etc., are connected to the other groups G2, G3, etc. Then, the first servo driver DM, that has receives the signal of a rotary encoder 2 determines the driving speed and generation thrust of the linear motor for driving armatures M and M in the group G1, and the second servo drivers DS2, DS3, etc., control the speed of the armatures M, M, etc., in the groups G2, G3, etc., thus appropriately driving a plurality of armatures.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a plurality of linear motors and an apparatus used for implementing the method.

[0002]

2. Description of the Related Art In some cases, a linear motor having a plurality of armatures operates a single object, for example, a turntable for transporting articles in a factory.

In order to control such a linear motor having a plurality of armatures, usually, all armatures are controlled by one servo driver, or the armature is divided into a plurality of groups, and one servo driver is provided for each group. A driver is assigned and controlled by this. 9 and 10 are block diagrams showing the configuration of the main part of a conventional linear motor control device. In FIG. 9, the servo driver D controls all the armatures M, M,.
Connected to these. The servo driver D receives a start signal from the host controller 1, and receives armatures M, M,
Are activated by receiving a signal indicating the position on the moving side of the linear motor from the rotary encoder 2 attached to the traveling element side of the linear motor, and performing feedback control on the armatures M, M, M. Drive, and upon receiving a stop signal from the host controller 1, the armatures M, M,
M ... are stopped.

In FIG. 10, all armatures M,
Are divided into a plurality of groups G1, G2, G3,... Each including two armatures M, M.
Servo drivers D1, D2, D3,... Are connected to the respective groups G1, G2, G3,..., And the armatures M, M included in one group are controlled by one connected servo driver. It is supposed to be. Each of the servo drivers D1, D2, D3,... Is connected to one host controller 1 and receives a start signal from the host controller 1 to receive a group G1, G2,
The armatures M, M in G3,. Armatures M, M,
The rotary encoders 2 attached to the runners of M,... Are also mounted to output signals to the respective servo drivers D1, D2, D3,. .. Perform feedback control independently to drive the armatures M, M, M,. When each of the servo drivers D1, D2, D3,... Receives a stop signal from the host controller 1, each of the servo drivers D1, D2, D3,. Let it.

FIG. 11 is a block diagram showing a configuration of a main part of a conventional servo driver. As a power supply for driving the armature M, a three-phase AC power supply S is provided outside the servo driver D. The servo driver D includes a rectifier R and an inverter circuit I, rectifies the three-phase AC current generated by the three-phase AC power supply S by the rectifier R, and obtains a DC current obtained by the inverter circuit I. The three-phase alternating current is converted into a three-phase alternating current having a frequency and an amplitude corresponding to the traveling speed and the generated thrust, and the obtained three-phase alternating current is supplied to the armature M.

[0006] The servo driver D controls the speed of the armature M by adjusting the frequency and amplitude of the three-phase alternating current obtained by the inverter circuit I. A converter 5,
A PWM pattern calculator 6 and a gate pulse generator 7 are provided. The CPU 3 receives output signals from the host controller 1 and the rotary encoder 2 and
The frequency and amplitude of the three-phase alternating current to be given to the armature M are calculated by performing the processing according to the program stored in the program No. 4. The digital signal output from the CPU is converted into an analog signal by the D / A converter 5, and a PWM pattern of a three-phase AC voltage to be applied to the armature M from the analog signal is determined by the PWM pattern calculator 6. . Then, a gate signal generated by the gate pulse generator 7 based on an output signal of the PWM pattern calculator 6 is given to the gate of the power switching element of the inverter circuit I, thereby providing a three-phase AC having a required frequency and amplitude. A current is supplied to the armature M.

[0007]

In the conventional linear motor control device as described above, when all the linear motors are controlled by one servo driver, a three-phase AC current must be supplied to many armatures. In addition, there is a problem that the inverter circuit needs to have a large electric capacity, and the cost is extremely high.

Further, it is necessary to mount a servo driver having an electric capacity according to a load for each device, and there is a problem that parts cannot be shared.

In order to solve such a problem, a plurality of armatures divided into a plurality of groups are controlled for each group by a plurality of servo drivers, so that each servo driver has a common electric capacity. It was usual to make it small. However, in this case, since each servo driver controls individually, there is a problem in that the generated thrust of the armature varies due to the difference in responsiveness of each servo driver, resulting in malfunction.

If the mechanical frequency of the linear motor, that is, the natural frequency is close to or the same as the frequency of the control signal output from the control device, resonance occurs, and the speed and positioning are not determined. There is a problem that accuracy is deteriorated. FIG. 8A is a graph showing a vibration component of a machine of a turntable device for transporting articles using a conventional linear motor control device. The natural frequency of the machine of the turntable device for conveying articles is 22 Hz, and vibration occurs at the natural frequency and a frequency that is an integral multiple of the natural frequency.

Therefore, in order to suppress the occurrence of vibration, a control device for a linear motor as disclosed in Japanese Patent Application Laid-Open No. 9-121589 is used. This is because a band attenuation filter having an attenuation band around the natural frequency is D
/ A converter installed after the A / A converter, which suppresses the occurrence of resonance of the linear motor by attenuating frequency components in a band near the natural frequency from an analog signal output from the D / A converter. It is.

However, in such a conventional linear motor control device, it is necessary to install a band attenuation filter inside the servo driver, and a dedicated servo driver must be provided for each natural frequency, that is, for each linear motor. Not
The cost was very high.

The present invention has been made in view of such circumstances, and divides a plurality of armatures of a linear motor into a plurality of groups, controls one group of armatures by a first servo driver, and controls another armature. The armatures of a group are controlled by a second servo driver operated by an electric signal output from the first servo driver, and the generated thrust of the armatures included in the other group is controlled by the armatures included in the one group. An object of the present invention is to provide a method and a device for controlling a linear motor that drives a plurality of armatures satisfactorily at a low cost as compared with the conventional one by making the thrust substantially the same as the conventional one, and an object transport turntable device. And

Another object of the present invention is to extract a frequency component equal to the natural frequency of the linear motor from an electric signal output from the first servo driver to the second servo driver, and invert the frequency component to an opposite phase. By operating the second servo driver in addition to the electric signal, not only can the resonance from the armature controlled by the second servo driver be canceled at a lower cost than in the related art, An object of the present invention is to provide a control method and apparatus for a linear motor that also cancels resonance caused by an armature controlled by one servo driver, and a turntable device for transporting articles.

[0015]

According to a first aspect of the present invention, there is provided a linear motor control method for controlling a linear motor having a plurality of armatures and operating one object. The first servo driver determines the traveling speed and / or the generated thrust of the linear motor,
An alternating current having a frequency corresponding to the determined traveling speed and / or an amplitude corresponding to the determined generated thrust is supplied to some armatures, and an electric signal corresponding to the traveling speed is transmitted to one or more second servos. The second servo driver outputs a frequency and / or frequency corresponding to the traveling speed.
Alternatively, an AC current having an amplitude corresponding to the generated thrust is supplied to another armature.

According to a second aspect of the present invention, there is provided a linear motor control method according to the first aspect.
In order to remove vibration of a predetermined frequency from the generated thrust of the part of the armature supplied with the alternating current by the first servo driver, the second servo driver controls the alternating current supplied to the other armature. It is characterized in that the frequency and / or the amplitude are determined.

A control device for a linear motor according to a third aspect of the present invention is a control device for a linear motor that has a plurality of armatures and controls a linear motor that operates one object. An encoder for detecting, a converter for converting the frequency and / or amplitude of the alternating current, a first arithmetic unit for calculating a deviation between the position of the linear motor detected by the encoder and a predetermined target position,
A second calculator for calculating a frequency and / or an amplitude of an alternating current to be supplied to the armature of the linear motor in accordance with a result calculated by the first calculator; and a second calculator in accordance with a result calculated by the second calculator. A first servo driver including a driver for driving the converter, and a second servo driver including the converter and the driver and connected to the first servo driver are provided.

The control apparatus for a linear motor according to a fourth invention is the control apparatus for a linear motor according to the third invention,
An AC current whose frequency and / or amplitude is converted by the second servo driver is converted into an AC current for driving the other armature so as to cancel a vibration of a predetermined frequency from a thrust generated by the part of the armature. To this end, a signal converter for converting an electrical signal output from the first servo driver to the second servo driver is provided between the first servo driver and the second servo driver.

The control device for a linear motor according to a fifth invention is the control device for a linear motor according to the fourth invention,
The signal conversion unit includes a band-pass filter of a pass band including the predetermined frequency, and inverts a phase of a signal output from the band-pass filter and combines the inverted signal with an output signal of the first servo driver. And

According to a sixth aspect of the present invention, there is provided a turntable for transporting articles, comprising a linear motor having a plurality of armatures, and the table main body being rotated by the linear motor. A linear motor control device according to any one of the third to fifth inventions is provided.

In the linear motor control method according to the first invention and the linear motor control device according to the third invention, a part of the armature is controlled by one first servo driver, and the first servo driver An electric signal corresponding to the calculated traveling speed of the linear motor and / or the generated thrust is output to the second servo driver, and the second servo driver controls another armature based on the electric signal.
The control amount by which the servo driver controls the armature is substantially the same as the control amount of the first servo driver. Therefore, the generated thrust of each armature has less variation than in the past, and a plurality of armatures can be favorably used. Can be driven.

In the case of the linear motor control method according to the second invention and the linear motor control device according to the fourth invention, the mechanical vibrations caused by the thrust fluctuations of some armatures are reduced by the thrust of other armatures. Since the control is suppressed, the occurrence of the mechanical vibration can be favorably prevented.

In the case of the linear motor control device according to the fifth aspect of the present invention, the frequency component in the band near the natural frequency of the linear motor is extracted from the electric signal sent from the first servo driver to the second servo driver, and the phase component is extracted. Flip and
Since the obtained electric signal is combined with the original electric signal and the armature of the linear motor is controlled by using the electric signal, the vibration generated by the generated thrust of a part of the armature controlled by the first servo driver is used. , Can be suppressed by the generated thrust of another armature controlled by the second servo driver.

In the case of the turntable device for transporting articles according to the sixth invention, since the control device for the linear motor according to any of the third to fifth inventions is provided, the cost is lower than in the conventional case. The speed and position of the turntable can be controlled with high accuracy.

[0025]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiment 1 The present invention will be described below in detail with reference to the drawings showing an embodiment. FIG. 1 is a partial side sectional view showing a configuration of a main part of a turntable device for transporting articles according to a first embodiment of the present invention.

In the drawing, reference numeral 20 denotes a table main body having a donut-like planar shape. Around the outer periphery of the table body 20, a plurality of carrier heads 10 having a function of gripping an object X to be processed such as assembling and painting and having a function of turning vertically can be provided.
In the space at the center of the frame 0, a leg F of the transfer machine is erected.

The carrier head 10 is supported on the outer periphery of the table body 20 by a carrier head support bracket 21. A machine base 40 installed below the table body 20 and the carrier head support bracket 2
A carrier head turning cam mechanism 70 including a cam roller 71 and a cam rail 72 is provided between the lower end of the carrier head 1 and the cam head 71 to turn the carrier head 10 up and down.

A linear motor 30 for rotating the table is provided between the table body 20 and the machine base 40. The linear motor 30 includes a plurality of secondary magnet plates (travelling members) 31 fixed to the entire bottom surface of the table body 20 and a plurality of secondary magnet plates (runners) 31 on an upper surface of the machine base 40 in a state facing the secondary magnet plates. And a plurality of primary coils (armatures) 32 provided at substantially equal intervals in the direction.
Between the table body 20 and the machine base 40, a large number of carrier heads 1 provided on the table body 20 and the outer periphery thereof are provided.
0 so that the table main body 20 rotates smoothly while supporting both the inner and outer sides of the linear motor 30.
Eight rollers are equally arranged in the circumferential direction.

Further, the table body 20 is moved to the virtual center axis Z-.
A table rotation center setting mechanism 50 in which four guide rollers are in contact with the inner peripheral surface of the table body 20 at equal intervals in the circumferential direction in order to accurately rotate horizontally around Z is provided inside the table body 20. It is installed on the peripheral side. And
On the upper surface of the inner edge portion facing the central space of the table main body 20, four lifting prevention rollers 80 are equally arranged in the circumferential direction so as to press the table main body 20 downward.

FIG. 2 is a plan view showing a configuration of a main part of the first embodiment of the turntable device for transporting articles according to the present invention. The turntable device for transporting articles configured as described above is installed at a position adjacent to a carrying-in means (not shown) for carrying in the workpiece X and a carrying-out means (not shown) for carrying out the workpiece X. Have been. The workpiece X is received by the carrier head 10 from the loading means, and
Is rotated by a predetermined angle by driving the linear motor 30,
The object X is transferred. The linear motor 30 electromagnetically generates a rotational driving force by supplying a three-phase AC current to a primary coil (armature). In this way, while repeatedly rotating and stopping the table body 20,
A plurality of processing devices installed around the article transport turntable device perform processing such as assembling and painting on the workpiece X, and deliver the processed workpiece X to the unloading means.

FIG. 3 is a block diagram showing a configuration of a main part of the linear motor control device according to the first embodiment of the present invention. In the figure, M is an armature (stator) of a linear motor
It is. In this linear motor, a plurality of armatures M are provided on one traveling element composed of a plurality of magnets,
All armatures M, M, M,... Are divided into a plurality of groups G1, G2, G3,. The first servo driver DM is connected to the group G1, and the other groups G2, G3, G
, Are connected to the second servo drivers DS2, DS3, DS4,... Connected to the first servo driver DM. The first servo driver DM is connected to one host controller 1, and upon receiving a start signal from the host controller 1, starts the armatures M in the group G1. The rotary encoder 2 attached to the armature M, M, M,... Is also attached to output a signal to the first servo driver DM.
Upon receiving this signal, the first servo driver DM performs feedback control to determine the traveling speed and the generated thrust of the linear motor, and to drive the linear motor with the determined traveling speed and the generated thrust, the armature M in the group G1. , M are driven. Then, when the first servo driver DM receives a stop signal from the host controller 1, the first servo driver DM operates to stop the armatures M, M in the group G1.

Further, each second servo driver DS2,
DS3, DS4,... Input an electric signal corresponding to the traveling speed and the generated thrust determined by the first servo driver DM. It is also connected to the rotary encoder 2 so that a signal output from the rotary encoder 2 is input. The second servo drivers DS2, DS3, DS4,... Detect the magnetic pole of the magnet of the traveling element based on the output signal of the rotary encoder, and detect the detected magnetic pole and the first servo driver DM.
Are controlled based on the traveling speed and the generated thrust determined by the armatures M, M, M,... In the groups G2, G3, G4,.

FIG. 4 is a block diagram showing a configuration of a main part of the first servo driver DM. As a power supply for driving the armature M, a three-phase AC power supply S is provided outside the first servo driver DM.
Is provided. The first servo driver DM includes a rectifier R and an inverter circuit I, rectifies a three-phase AC current generated by a three-phase AC power supply by the rectifier R,
The DC current obtained in this way is applied to the inverter circuit I
Thus, a three-phase AC current having a frequency and an amplitude corresponding to the required traveling speed and the generated thrust is converted, and the obtained three-phase AC current is supplied to the armature M.

The first servo driver DM controls the speed of the armature M by adjusting the frequency and amplitude of the three-phase alternating current obtained by the inverter circuit I. It has a D / A converter 5, an output terminal P _OUT , a PWM pattern calculator 6, and a gate pulse generator 7. The CPU 3 comprises:
The output signals of the host controller 1 and the rotary encoder 2 are received, and the processing is performed according to the program stored in the ROM 4 to calculate the frequency and amplitude of the three-phase AC current to be given to the armature M. The CPU3
Is converted into an analog signal by the D / A converter 5, and the PWM pattern of the three-phase AC voltage to be applied to the armature M is converted from the analog signal into the PWM signal.
Determined by the pattern calculator 6. The gate signal generated by the gate pulse generator 7 based on the output signal of the PWM pattern calculator 6 is output to the inverter circuit I
To supply the three-phase alternating current having a required frequency and amplitude to the armature M. Further, the analog signal output from the D / A converter 5 is externally output through an output terminal P _OUT .

On the other hand, the second servo drivers DS2 and DS
, DS4,... Have the following configuration. FIG. 5 shows the second servo drivers DS2, DS3, DS4,.
FIG. 2 is a block diagram showing a configuration of a main part of FIG. The three-phase AC power source S is used as a power source for driving the armature M. The second servo drivers DS2, DS3, DS4,...
Like the servo driver DM, the rectifier R and the inverter circuit I are provided. The three-phase AC current generated by the three-phase AC power supply is rectified by the rectifier R, and the obtained DC current is converted by the inverter circuit I. The three-phase AC current is converted into a three-phase AC current having a frequency and an amplitude corresponding to the required traveling speed and the generated thrust, and the obtained three-phase AC current is supplied to the armature M.

The second servo drivers DS2 and DS
, DS4,... Perform the speed control of the armature M by adjusting the frequency of the three-phase AC power by the inverter circuit I.
A / A converter 5, an input terminal P _IN , a PWM pattern calculator 6, and a gate pulse generator 7 are provided. The CP
U3 receives the output signal of the rotary encoder 2 and performs processing according to the program stored in the ROM 4 to detect the magnetic pole of the magnet of the traveling element and to provide the three-phase to be given to the armature M according to the magnetic pole. Calculate the phase of the alternating current. The digital signal output from the CPU 3 is converted to the D /
The analog signal is converted into an analog signal by the A converter 5, and the analog signal and the input signal (the output signal output by the first servo driver DM) input from the input terminal P _IN are converted into PW signals.
The PWM pattern of the three-phase AC voltage to be applied to the armature M is determined from these signals by inputting to the M pattern calculator 6. Then, a gate signal generated by the gate pulse generator 7 based on an output signal of the PWM pattern calculator 6 is given to the gate of the power switching element of the inverter circuit I, thereby providing a three-phase AC having a required frequency and amplitude. An electric current is supplied to the armature M.

Therefore, the second servo drivers DS2 and DS
, DS4,... Output from the first servo driver DM are substantially equal to the frequency and amplitude of the three-phase AC current output from the first servo driver DM.
The generated thrusts of M, M,... Are substantially the same, and the linear motor can be operated stably.

.., And a plurality of armatures M, M, M,.
Since power is supplied by one first servo driver DM and a plurality of second servo drivers DS2, DS3, DS4,..., There is no need to increase the electric capacity of each servo driver, and the electric capacity is reduced. By using the same servo driver, the second servo driver DS2, D
S3, DS4,... Can be shared.

The second servo drivers DS2 and DS
, DS4,... Have the same configuration as the first servo driver DM, and may be obtained by changing only the program stored in the ROM 4. In this case, the first servo driver DM and the second servo driver DS2 DS3, DS4
... can be standardized.

Second Embodiment FIG. 6 is a block diagram showing a configuration of a main part of a linear motor control device according to a second embodiment of the present invention. First servo driver DM and second servo drivers DS2, DS3
DS4,..., A signal conversion unit F is arranged. FIG. 7 is a block diagram illustrating a configuration of the signal conversion unit F. The signal conversion unit F calculates a bandpass filter BP having a pass band of 22 Hz, which is the natural frequency of the machine of the turntable device for transporting articles, and an amplification factor k of the bandpass filter BP with respect to the total number N of servo drivers. (N-1). The signal conversion unit F is an analog circuit, extracts a frequency component of 22 Hz from the electrical signal output from the output terminal P _OUT of the first servo driver DM by a band-pass filter BP, and extracts the extracted frequency component by an amplifier AMP. N /
The signal is amplified by (N-1) times, the phase is inverted, and the obtained electric signal and the original electric signal are combined.
In addition, the same parts as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

The amplification factor k of the amplifier AMP is N / (N
It is not limited to -1).

A digital signal input to the D / A converter 5 of the first servo driver DM is output from the output terminal P _OUT , and the signal conversion unit F is used as a digital circuit, and the digital signal is obtained by the signal conversion unit F. A digital signal may be input from the _PIN of the second servo driver DS2, DS3, DS4,..., And the input digital signal may be input to the D / A converter 5.

Therefore, the 22 Hz frequency component of the electric signal output from the first servo driver DM is N / (N−
1) The electric signal is multiplied by the second servo driver DS
2, DS3, DS4,...

When the linear motor control device is mounted on the above-described article transport turntable device and is operated, the armatures M, M controlled by the first servo driver DM are operated.
Generated thrust includes a frequency component of 22 Hz. Further, the thrust generated by the armatures M, M, M,... Controlled by the second servo drivers DS2, DS3, DS4,.
Since these two frequency components cancel each other, occurrence of resonance can be prevented.

FIG. 8 is a graph showing the measurement results of the amplitude characteristic of the machine of the turntable for conveying articles. FIG.
8A shows a case where a conventional control device is used, and FIG. 8B shows a case where a linear motor control device according to the present invention is used.
When the conventional control device is used, a large peak is generated in the vicinity of the natural frequency of the machine frame at 22 Hz,
A peak also occurs near a frequency that is an integral multiple of the natural frequency. On the other hand, when the control device for the linear motor according to the present invention is used, the vibration is sufficiently attenuated in the vicinity of the natural frequency of the machine base and a frequency that is an integral multiple thereof, and the occurrence of resonance is suppressed. I have.

[0046]

As described above in detail, in the case of the linear motor control method according to the first invention and the linear motor control device according to the third invention, a plurality of armatures of the linear motor are divided into a plurality of groups, Armatures belonging to one group are controlled by one first servo driver, and armatures belonging to another group are controlled by a plurality of second servo drivers. The first servo driver determines a traveling speed and a generated thrust of the linear motor, and supplies an alternating current whose frequency and amplitude are converted according to the determined speed to the armature belonging to one group. On the other hand, the second servo driver supplies AC power whose frequency and amplitude have been converted according to the traveling speed and the generated thrust determined by the first servo driver to armatures belonging to other groups. For this reason, the traveling speed and the generated thrust of the linear motor used for the frequency and amplitude conversion are determined only by the first servo driver, and this value is not affected by individual differences of the servo driver. Further, since a plurality of armatures are controlled by one first servo driver and a plurality of second servo drivers, a linear motor having a plurality of armatures without using a servo driver having a large electric capacity. , It is possible to reduce variation in the generated thrust of the armature sufficiently for practical use.

In the case of the linear motor control method according to the second invention and the linear motor control device according to the fourth invention, the mechanical vibration caused by the thrust fluctuation of some armatures controlled by the first servo driver is reduced. Since the electric signal output to the second servo driver is converted by the signal converter so as to be suppressed by the thrust fluctuation of the other armature controlled by the second servo driver, the occurrence of the mechanical vibration is favorably reduced. This can be prevented.

In the case of the linear motor control device according to the fifth invention, the same frequency component as the natural frequency of the linear motor is extracted from the electric signal output from the first servo driver, and the phase is inverted. The signal is synthesized with the original electric signal and input to the second servo driver. The vibration generated from the armature controlled by the second servo driver is removed, and the signal is controlled by the first servo driver. It is possible to cancel the vibration generated from the armature.

In the case of the turntable device for transferring articles according to the sixth invention, since the control device for the linear motor according to the third to fifth inventions is provided, the cost is lower than that of the prior art, but it is excellent. The present invention has excellent effects, such as being able to control a linear motor.

[Brief description of the drawings]

FIG. 1 is a partial side sectional view showing a configuration of a main part of a turntable device for transporting articles according to a first embodiment of the present invention.

FIG. 2 is a plan view showing a configuration of a main part of the first embodiment of the article transport turntable device according to the present invention.

FIG. 3 is a block diagram showing a configuration of a main part of the linear motor control device according to the first embodiment of the present invention;

FIG. 4 is a block diagram showing a configuration of a main part of a first servo driver.

FIG. 5 is a block diagram showing a configuration of a main part of a second servo driver.

FIG. 6 is a block diagram illustrating a configuration of a main part of a linear motor control device according to a second embodiment of the present invention;

FIG. 7 is a block diagram illustrating a configuration of a signal conversion unit.

FIG. 8 is a graph showing a measurement result of an amplitude characteristic of a machine base of the turntable device for transporting articles.

FIG. 9 is a block diagram showing a configuration of a main part of a conventional linear motor control device.

FIG. 10 is a block diagram showing a configuration of a main part of a conventional linear motor control device.

FIG. 11 is a block diagram showing a configuration of a main part of a conventional servo driver.

[Explanation of symbols]

 2 Rotary encoder (encoder) 3 CPU (first operation unit, second operation unit) 4 ROM (first operation unit, second operation unit) 6 PWM pattern calculator (drive unit) 7 Gate pulse generator (drive unit) R Rectifier (converter) I Inverter circuit (converter) DM First servo driver DS2, DS3, DS4, ... Second servo driver F Signal converter

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Kaoru Murata 4-17-17, Tsurumi, Tsurumi-ku, Osaka-shi, Osaka F-term in Tsubakimoto Chain Co., Ltd. 3F072 AA06 GE02 GE05 GG10 HA09 KB08 KB15 KC01 KC06 KC10 KC11 5H540 AA01 BA03 EE02 EE05 EE08 EE10 EE20 FA02 FA12 FC01

Claims (6)

[Claims] In a linear motor control method for controlling a linear motor having a plurality of armatures and operating a single object, a running speed and / or a generated thrust of the linear motor is controlled by a single first servo driver. And an AC current having a frequency corresponding to the determined traveling speed and / or an amplitude corresponding to the determined generated thrust is supplied to some armatures, and an electric current corresponding to the traveling speed and / or the generated thrust is supplied. A signal is output to one or more second servo drivers, and the second servo driver supplies an alternating current having a frequency corresponding to the traveling speed and / or an amplitude corresponding to the generated thrust to another armature. A method for controlling a linear motor. 2. An armature supplied by the second servo driver to the other armature so as to remove a vibration of a predetermined frequency from a thrust generated by the part armature supplied with an alternating current by the first servo driver. The method for controlling a linear motor according to claim 1, wherein the frequency and / or amplitude of the alternating current to be performed is determined. 3. A linear motor control device having a plurality of armatures and controlling a linear motor for operating a single object, comprising: an encoder for detecting a position of a traveling element of the linear motor; And / or a converter for converting the amplitude, a first position for calculating a deviation between the position of the linear motor detected by the encoder and a predetermined target position.
A calculating unit that calculates a frequency and / or frequency of an alternating current to be supplied to the armature of the linear motor in accordance with a result calculated by the first calculating unit.
Or a second arithmetic unit that calculates the amplitude, and a first servo driver including a driver that drives the converter according to a result calculated by the second arithmetic unit; and a converter and the driver. A control device for a linear motor, comprising: a second servo driver connected to the first servo driver. 4. The other armature is driven by an alternating current whose frequency and / or amplitude is converted by the second servo driver so as to cancel a vibration of a predetermined frequency from a thrust generated by the part of the armature. 4. A signal conversion unit for converting an electric signal output from the first servo driver to the second servo driver to provide an alternating current between the first servo driver and the second servo driver. Linear motor control device. 5. The signal conversion section includes a band-pass filter for a pass band including the predetermined frequency, and inverts a phase of a signal output from the band-pass filter to generate an output signal of the first servo driver. The control device for a linear motor according to claim 4, wherein the combining is performed. 6. An article conveying turntable device comprising a linear motor having a plurality of armatures, wherein the linear motor causes the table main body to rotate. An article transport turntable device comprising a linear motor control device.