JP2006230044A - Device for controlling exciting phase of linear motor, its method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To quickly detect the position of a magnetic pole by simple constitution even in case that a moving member is positioned in the vicinity of the end of its stroke. <P>SOLUTION: Immediately after power ON, a magnetic pole position estimator 11 applies pulsated currents to the winding of a stator while switching its exciting phase angle several times, and the magetic pole position of a moving member is estimated based on the acceleration of the moving member 1 at that time. Subsequently, the moving member 1 is shifted to its original position by the current control of a moving member shifter 12, and after clarification of the position of the moving member 1, this moving member 1 is shifted to a safe region set at the center in stroke width. Then, the magnetic pole detection by the magnetic pole position detector 13 is started from this position, whereby it can prevent the moving member 1 from contacting with the stroke end in the middle of detection of the magnetic pole position. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a linear motor excitation phase control method for controlling the excitation phase of a linear motor without using a magnetic pole position detection sensor such as a Hall sensor.

Conventionally, as a magnetic pole detection method capable of realizing magnetic pole detection without using a magnetic pole position detection sensor or the like, for example, there is a technique disclosed in Japanese Patent Laid-Open No. 8-182399.
According to such a magnetic pole detection method, magnetic pole detection can be performed with high accuracy without using a magnetic pole position detection sensor or the like.
However, in such a magnetic pole position detection method, since the magnetic pole is detected by actually moving the armature, for example, in a linear motor that slides the armature in a predetermined stroke width, The condition is that the initial position is a predetermined distance or more away from the stroke end.
Therefore, for example, when the initial magnetic pole position of the armature exists in the vicinity of the stroke end, the invention for performing the magnetic pole detection after moving the armature to the vicinity of the center of the stroke is disclosed in, for example, It is disclosed in Japanese Patent Laid-Open No. 2002-247886 (Patent Document 2).
JP-A-8-182399 JP 2002-247886 (page 2-5, FIGS. 1 and 4)

However, in the method disclosed in Patent Document 2, a limit switch is provided inside a predetermined distance from the stroke end, and this limit switch detects whether a mover (armature) is present near the stroke end. is doing.
Therefore, when the mover exists near the inside of the limit switch when the power is turned on, the mover may come into contact with the limit switch during the magnetic pole detection. . In such a case, it is necessary to move the mover to the central portion after the magnetic pole detection performed halfway is completed, and to perform the magnetic pole detection again from that location, which causes a problem of large time loss. there were.
In addition, since it is necessary to provide a limit switch, there is a problem that the apparatus becomes large in a small apparatus that does not have a space for arranging the sensor.

  The present invention has been made to solve the above-described problem, and at the time of magnetic pole detection, excitation of a linear motor that can quickly detect the magnetic pole position while avoiding contact of the mover with the stroke end. An object of the present invention is to provide a phase control device, a method thereof, and a program.

In order to solve the above problems, the present invention employs the following means.
The present invention relates to an excitation phase control device for a linear motor that slides the mover with a predetermined stroke width by switching the excitation phase angle of the stator winding according to the position of the mover. Immediately after, a pulsed current is applied to the stator winding a plurality of times while switching the excitation phase angle, and the magnetic pole position estimation for estimating the magnetic pole position of the mover based on the acceleration of the mover at that time And first movement control means for moving the mover to a preset origin position by applying a current to the stator winding based on the excitation position estimated by the excitation position estimation means. A second movement control means for moving the movable element moved to the origin position into a safety area set in a central portion of a stroke width; and after the movable element has been moved to the safety area. Providing excitation phase control system for a linear motor and a magnetic pole position detection means for performing magnetic pole position detection of the movable element.

According to the above configuration, immediately after the power is turned on, the magnetic pole position estimation means applies a pulsed current to the stator winding a plurality of times, and the magnetic pole position of the mover is determined based on the acceleration of the mover at this time. Presumed. Subsequently, a predetermined current is given to the stator winding based on the magnetic pole position estimated by the magnetic pole position estimating means by the first movement control means, so that the mover reaches the preset origin position. It will be moved. As a result, the position of the mover is determined. Then, the mover whose position is fixed is moved by the second movement control means into the safety region set in the center portion of the stroke width, and the magnetic pole position detection means with high accuracy is detected from this position by the magnetic pole position detection means. Will be implemented.
As a result, the magnetic pole position detection is always performed by the magnetic pole position detection means from the center portion of the stroke width, so that it is possible to prevent the mover from contacting the stroke end during the magnetic pole position detection. It becomes. Further, when the power is turned on, the magnetic pole position is estimated by the magnetic pole position estimating means, so that the mover can be quickly moved to the origin position.

  In the excitation phase control apparatus for a linear motor described above, it is preferable that the safety region is a region sandwiched by detection limit positions set on the inner side by a predetermined distance from each stroke end.

According to the above configuration, since the safety region is set to a region sandwiched by the detection limit position set at a predetermined distance from the end of each stroke, the distance required to perform the magnetic pole position detection is It is always ensured from each stroke end.
As a result, it is possible to reliably prevent the mover from contacting the stroke end during the magnetic pole position detection.

  The present invention relates to an excitation phase control method for a linear motor that slides the mover with a predetermined stroke width by switching the excitation phase angle of the stator winding according to the position of the mover. Immediately after, a pulsed current is applied to the stator winding a plurality of times while switching the excitation phase angle, and the magnetic pole position estimation is performed to estimate the magnetic pole position of the mover based on the acceleration of the mover at that time. A first movement control process for moving the mover to a preset origin position by applying a current to the stator winding based on the estimated excitation position, and the origin position. A second movement control process for moving the moved mover into a safety region set in a central portion of a stroke width; and a magnetic pole position of the mover after the mover is moved to the safety region. Providing excitation phase control method of the linear motor and a magnetic pole position detection process of performing output.

  In the above-described linear motor excitation phase control method, it is preferable that the safety region is a region sandwiched between detection limit positions set at a predetermined distance from each stroke end.

  The present invention is an excitation phase control program used for a linear motor that slides the mover with a predetermined stroke width by switching the excitation phase angle of the stator winding according to the position of the mover. Immediately after turning on the power, a pulsed current is applied to the stator winding a plurality of times while switching the excitation phase angle, and the magnetic pole for estimating the magnetic pole position of the mover based on the acceleration of the mover at that time A first movement control process for moving the mover to a preset origin position by applying a current to the stator winding based on the estimated excitation position; and the origin. A second movement control process for moving the mover moved to a position into a safety area set in a central portion of a stroke width; and after the mover is moved to the safety area, Providing excitation phase control program for executing the magnetic pole position detecting process for detecting the magnetic pole position of Doko to the computer.

  In the excitation phase control program described above, it is preferable that the safety region is a region sandwiched between detection limit positions set at a predetermined distance from each stroke end.

  According to the motor excitation phase control apparatus, method and program thereof of the present invention, it is possible to avoid the contact of the mover with the stroke end and detect the magnetic pole position promptly when detecting the magnetic pole. Play.

An embodiment of an excitation phase control apparatus for a linear motor according to the present invention will be described below with reference to the drawings.
FIG. 1 is a diagram showing a schematic configuration of an excitation phase control apparatus for a linear motor according to an embodiment of the present invention.
In FIG. 1, the mover 1 is disposed to face a stator 2 having a predetermined stroke width via a predetermined gap.
The movable element 1 may be, for example, a moving magnet type or a moving coil type. If the mover 1 is a moving magnet type, the stator 2 includes a plurality of armature windings arranged at regular intervals. If the mover 1 is a moving coil type, the stator 2 includes a plurality of field magnetic fields arranged at regular intervals, and has a − side stopper 4 at one end and a + side stopper at the other end. 5 is adopted.

The excitation phase control device 10 according to the present embodiment switches the mover 1 by switching the excitation phase angle of the current applied to the stator windings and the like provided in the stator 2 according to the position of the mover 1. The stroke width, that is, sliding between the − side stopper 4 and the + side stopper 5 installed on the stator 2 is performed.
Such an excitation phase control device 10 has a function for accurately detecting the excitation position of the mover 1 when the power is turned on, for example, a magnetic pole position estimation unit (magnetic pole position estimation means) 11, a mover moving unit (first movement) 1 movement control means and second movement control means) 12 and a magnetic pole position detection unit (magnetic pole position detection means) 13.
The excitation phase control device 10 includes, for example, a CPU (Central Processing Unit), HD (Hard (not shown)).
The computer system includes a Disc), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. A series of processing steps for realizing various functions of the magnetic pole position estimation unit 11, the mover moving unit 12, and the magnetic pole position detection unit 13 are recorded in a program format on an HD or a ROM. Is read out to the RAM or the like, and information processing / calculation processing is executed, whereby various functions described later are realized.

For example, immediately after the power is turned on, the magnetic pole phase estimation unit 11 applies a pulsed current to the stator winding a plurality of times while switching the excitation phase angle, and moves based on the acceleration of the mover 1 at that time. The magnetic pole position of the child 1 is estimated.
Further, the mover moving unit 12 sets the mover 1 in advance by switching the excitation phase angle of the current applied to the stator winding and the like based on the magnetic pole position estimated by the magnetic pole position estimating unit 11. The movable element 1 moved to the origin position is moved to the safety area set at the center of the stroke width. The estimation of the magnetic pole position is for obtaining a thrust necessary for movement to the origin position, and does not need to be estimated with high accuracy.

Here, the positional relationship between the origin position and the safety area will be described with reference to FIG. FIG. 2 is a diagram showing the positional relationship between the stroke end, the origin position, the detection limit position, the safety area, and the like. In this figure, reference numerals F1 and F2 denote stroke ends, and the movable element 1 slides between the stroke ends F1 to F2 during normal driving. That is, the stroke width is between the stroke ends F1 and F2. In the present embodiment, the origin position is set to the stroke end F1, and after the magnetic pole position is estimated by the magnetic pole position estimation unit 11, the mover moving unit 12 moves the mover 1 to this origin position. Move.
Further, a detection limit position A1 is set at a predetermined distance from the stroke end F1 and on the inner side (center side, right side with respect to the stroke end F1), and at a predetermined distance inside (center side, stroke end F2) from the stroke end F2. On the other hand, a detection limit position A2 is set on the left side.

  Here, the distance D1 between the stroke end F1 and the detection limit position A1 and the distance D2 between the stroke end F2 and the detection limit position A2 are detected by the magnetic pole position detection unit 13 described later. It is set longer than the distance required for this. As a result, if the mover 1 is positioned more centrally than the detection limit positions A1 and A2, the magnetic pole position detection unit 13 performs magnetic pole detection without being interrupted. Here, the region between the detection limit positions A1 and A2 is defined as a safety region S, and when the mover 1 is located in the safety region S, the magnetic pole position detection by the magnetic pole position detection unit 13 is started. .

Next, the operation of the motor excitation phase control apparatus according to this embodiment having the above-described configuration will be described with reference to the drawings.
First, when power-on is detected, the magnetic pole position of the mover 1 is estimated by the magnetic pole phase estimation unit 11 in the excitation phase control device 10 (step SP1 in FIG. 3). Specifically, the magnetic pole position estimation unit 11 applies a pulsed current to the stator winding a plurality of times, and estimates the magnetic pole position of the mover 1 based on the acceleration of the mover 1 at that time. As a magnetic pole position method executed by the magnetic pole position estimation unit 11, for example, a so-called automatic power factor detection method disclosed in Japanese Patent Laid-Open No. Hei 2-241388 can be employed. According to this automatic power factor detection method, even if the stroke distance is short, the mover 1 is only slightly moved without using a mover position detection sensor (for example, a hall sensor). Thus, it is possible to detect the magnetic pole position with a certain degree of accuracy.
The estimation of the magnetic pole position realized by the excitation phase estimation unit 11 is not limited to the method exemplified above, and a known magnetic pole position detection method capable of detecting the magnetic pole position with a short stroke distance is applied. Is possible.

Next, based on the magnetic pole position estimated by the magnetic pole position estimation unit 11 (hereinafter referred to as “estimated magnetic pole position”), the mover moving unit 12 switches the excitation phase angle of the current applied to the stator winding. The mover 1 is moved to a preset origin position (in this embodiment, the stroke end F1), so-called origin return is performed (step SP2 in FIG. 3).
In this way, when the position of the mover 1 is clarified by moving to the origin position, the mover moving unit 12 then sets the mover 1 at the origin position to the center portion of the stroke width. Move to the safety area S (see FIG. 2) (step SP3 in FIG. 3).
For example, a predetermined position (hereinafter referred to as “detection initial position”) may be set in advance in the safety region S, and the mover 1 may be moved to this detection initial position.
In addition, about the moving method of the needle | mover 1 performed by the needle | mover moving part 12 mentioned above, the control method currently disclosed by Unexamined-Japanese-Patent No. 2002-247886, paragraph "0020" to "0024" etc. is employ | adopted, for example. It is possible.

When the mover 1 is moved into the safety region S by the mover moving unit 12, the magnetic pole position detection by the magnetic pole position detecting unit 13 is performed at the moved position (step SP4 in FIG. 3). .
As a magnetic pole position detection method implemented by the magnetic pole position detector 13, for example, a magnetic pole position detection method disclosed in Japanese Patent Laid-Open No. 8-182399 can be employed. The magnetic pole position detection performed by the magnetic pole position detection unit 13 only needs to be more accurate than the magnetic pole detection method performed by the magnetic pole position estimation unit 11 described above.

  When the magnetic pole position detection unit 13 detects an accurate magnetic pole position, the excitation phase control device 10 switches the excitation phase angle of the stator winding based on the magnetic pole position. Thereby, the needle | mover 1 slides with the predetermined stroke width with respect to the stator 2, and the efficient drive of a linear motor is implement | achieved (step SP5 of FIG. 3).

  As described above, according to the excitation phase control apparatus for a linear motor according to the present embodiment, the position of the mover when the magnetic pole position detection by the magnetic pole position detection unit 13 is started is always set to the safety region S. Therefore, it is possible to prevent the mover 1 from contacting the stroke end during the magnetic pole position detection. Thereby, even when the initial position of the mover 1 is in the vicinity of the stroke end F1 or F2, accurate magnetic pole detection is realized while avoiding contact with the stroke end during magnetic pole position detection. There is an effect that can be.

As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the specific structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.
For example, in the above-described embodiment, the origin position is set to the stroke end F1, but the present invention is not limited to this example, and the origin position can be appropriately set at a predetermined position of the stroke width.

It is a figure which shows schematic structure of the excitation phase control apparatus of the linear motor which concerns on one Embodiment of this invention. It is the figure which showed the relationship between a stroke end, a detection limit position, and a safe region. It is the flowchart which showed the process sequence performed by the excitation phase control apparatus of the linear motor which concerns on one Embodiment of this invention.

Explanation of symbols

Reference Signs List 1 mover 2 stator 10 excitation phase control device 11 magnetic pole phase estimation unit 12 mover moving unit 13 magnetic pole position detection unit

Claims (6)

An excitation phase control device for a linear motor that slides the mover with a predetermined stroke width by switching the excitation phase angle of the stator winding according to the position of the mover,
Immediately after turning on the power, a pulsed current is applied to the stator winding a plurality of times while switching the excitation phase angle, and the magnetic pole for estimating the magnetic pole position of the mover based on the acceleration of the mover at that time Position estimation means;
First movement control means for moving the mover to a preset origin position by applying a current to the stator winding based on the excitation position estimated by the excitation position estimation means;
Second movement control means for moving the mover moved to the origin position into a safety region set in a central portion of a stroke width;
An excitation phase control device for a linear motor, comprising: magnetic pole position detection means for detecting a magnetic pole position of the mover after the mover is moved to the safety region.   2. The excitation phase control device for a linear motor according to claim 1, wherein the safety region is a region sandwiched by detection limit positions set at a predetermined distance and inside from each stroke end. An excitation phase control method for a linear motor that slides the mover with a predetermined stroke width by switching the excitation phase angle of the stator winding according to the position of the mover,
Immediately after turning on the power, a pulsed current is applied to the stator winding a plurality of times while switching the excitation phase angle, and the magnetic pole for estimating the magnetic pole position of the mover based on the acceleration of the mover at that time A position estimation process;
A first movement control step of moving the mover to a preset origin position by applying a current to the stator winding based on the estimated excitation position;
A second movement control step of moving the mover moved to the origin position into a safety region set in a central portion of a stroke width;
An excitation phase control method for a linear motor, comprising: a magnetic pole position detection process for detecting a magnetic pole position of the mover after the mover is moved to the safety region.     4. The excitation phase control method for a linear motor according to claim 3, wherein the safety region is a region sandwiched by detection limit positions set at a predetermined distance and inside from each stroke end. An excitation phase control program used for a linear motor that slides the mover with a predetermined stroke width by switching the excitation phase angle of the stator winding according to the position of the mover,
Immediately after turning on the power, a pulsed current is applied to the stator winding a plurality of times while switching the excitation phase angle, and the magnetic pole for estimating the magnetic pole position of the mover based on the acceleration of the mover at that time Position estimation processing;
A first movement control process for moving the mover to a preset origin position by applying a current to the stator winding based on the estimated excitation position;
A second movement control process for moving the movable element moved to the origin position into a safety area set in a central portion of a stroke width;
An excitation phase control program for a linear motor for causing a computer to execute a magnetic pole position detection process for detecting a magnetic pole position of the mover after the mover is moved to the safety region.   The linear motor excitation phase control program according to claim 5, wherein the safety area is an area sandwiched by detection limit positions set at a predetermined distance and inside from each stroke end.

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