JP5649914B2 - Linear motor control determination method and control apparatus - Google Patents

Description

The present invention relates to a linear motor.
In particular, the present invention relates to a linear motor that can move a mover even with respect to a stator including a curved portion.
More specifically, the present invention relates to a linear motor control determination method and control device that moves a mover even with respect to a stator including a curved portion.

  The linear motor is usually configured such that the mover can move linearly with respect to the stator formed linearly.

The magnet movable linear motor has a stator and a mover. For example, as described in Patent Document 1, the stator is formed, for example, by arranging a plurality of sets of electromagnetic coils to which a current whose phase is shifted by 120 degrees is applied in the longitudinal direction. Is movably disposed at a position facing the stator, and is configured by alternately disposing at least one set of permanent magnets (magnets) having different magnetic poles (N pole and S pole).
The operation is performed, for example, by applying a current that is shifted in phase by 120 degrees to a plurality of electromagnetic coils. Moved.

The mover can be reciprocated relative to the stator by changing the phase of the current applied to the electromagnetic coil in the forward direction or the reverse direction.
The magnet-movable linear motor is provided with a position detection sensor that detects the position of the mover relative to the stator. Based on the detection result of the position detection sensor, the position of the mover relative to the stator is controlled, and the movable Control is performed so that the child does not deviate from the predetermined movable range of the stator.

On the other hand, contrary to the magnet movable linear motor, there is also known an electromagnetic coil movable linear motor in which plural sets of electromagnetic coils are arranged on the mover and plural sets of permanent magnets are arranged on the stator in the longitudinal direction. ing.
In an electromagnetic coil movable linear motor, an electromagnetic coil moves as a mover. Also in the electromagnetic coil movable linear motor, a control device and a position detection sensor are provided, and the control device controls the position of the mover based on the detection result of the position detection sensor. Further, the mover is a predetermined stator. Control so as not to deviate from the movable range.

Japanese Patent No. 2815655

For example, as illustrated in FIG. 1, the linear motor is a motor in which a carrier C having a movable element moves linearly (linearly) with respect to a linear stator 200 </ b> A.
Utilizing the advantages of this linear motor, there is a demand for moving the mover not only in a straight line but also in a curved line.

An example of the application will be described with reference to FIG.
FIG. 2A shows an example in which a linear motor is applied to a transport device.
In the linear motor device 100 illustrated in FIG. 2A, linear stators 201, 202, 203, and 204, each of which is configured in a linear shape, are arranged in a rectangular shape, and the adjacent linear stators have a curvature R. And the circular stator 200 coupled by the curved stators 205, 206, 207, and 208. An electromagnetic coil is disposed on the stator.
In the linear motor device 100 applied to the transport device, a plurality of transport bodies C1 to C10, each of which is transported by a movable element, circulates around the cyclic stator 200 so as to be movable. A magnet (permanent magnet) is fixed to each mover.
One mover is mounted on each transport body C, and the transport body C moves relative to the stator as the mover moves relative to the stator. A work is mounted on each of the transport bodies C1 to C10, and a predetermined process is performed on the work at a predetermined position of the cyclic stator 200.

  In the linear motor device 100 illustrated in FIG. 2A, there is no problem in that the movers of the transport bodies C1 to C10 move through the portions of the linear stators 201, 202, 203, and 204. However, for example, a problem may occur when the movable elements of the conveyors C1 to C10 (hereinafter, representatively the conveyor C) move along the curved stator 205.

FIG. 2B shows an enlarged view of, for example, the curved stator 205 and the linear stators 201 and 202 located on both sides thereof as illustrated in FIG.
As illustrated in FIG. 2B, a plurality of curved stators 205 and linear stators 201 and 202 on both sides thereof are provided along a trajectory along which a mover (not shown) that moves the carrier C moves. A set of electromagnetic coils and a set of electromagnetic coils are arranged adjacent to each set of electromagnetic coils (not shown), and a plurality of position detection sensors are arranged to detect the position of the mover.

Each position detection sensor outputs two detection values different in phase by 90 degrees, that is, an A-phase detection value and a B-phase detection value, with respect to a pair of magnets (N-pole and S-pole magnets).
The position detection sensor is used to detect the position of the mover, but outputs the A-phase detection value and the B-phase detection value that are 90 degrees out of phase so that the traveling direction of the mover can be detected. For example, when the A phase detection value indicates the detection value earlier than the B phase detection value, the mover has moved to the right side. Conversely, when the B phase detection value indicates the detection value earlier than the A phase detection value. The mover is moving to the left.

FIG. 3 shows the result of reading the detection values detected by the plurality of position detection sensors by the control device for controlling such an electromagnetic coil movable linear motor. The horizontal axis indicates the position, and the vertical axis indicates the amplitude of the detection value of the position detection sensor.
In the example illustrated in FIG. 3, the detection value (X data) of the A phase is detected before the detection value (Y data) of the B phase.

Referring to FIG. 3, the amplitude of the position detection sensor is small immediately after the mover reaches the position detection sensor and when the mover moves away from the position detection sensor. Furthermore, the phase difference between the A phase detection signal and the B phase detection signal whose phase difference should be maintained at 90 degrees is no longer 90 degrees.
Referring to FIG. 3, in the curved stator portion, the amplitudes of the A-phase detection signal and the B-phase detection signal are not constant even when the mover is moving on the position detection sensor.

The reason why such a phenomenon occurs is due to, for example, the following.
In the linear motor device 100, various transport bodies C1 to C10 are transported by movers, respectively. Various conveyance bodies C1-C10 differ in a dimension and / or a weight.
Even with the same carrier C, the weight varies depending on the presence or absence of a workpiece to be mounted.
The distance between the mover and the stator may change.
There are a case where the carrier C is being transported at a stable speed and a case where the carrier C is stopped once and restarted to accelerate.
Due to the difference in the conditions exemplified above, the detection signal of the position detection sensor may not show a normal value in the curved stator 205 or the curved stators 206, 207, 208, for example. is there. If it falls into such a state, it will become difficult for the control apparatus to convey the conveyance body C correctly and stably.
Thus, the inventor of the present invention has found that it is difficult to move the mover stably along the curved stator portion if the detection value of the position detection sensor described above is used as it is.

  An object of the present invention is to provide a linear motor control determination method and a control apparatus that move a mover not only to a linear stator but also to a curved stator portion.

The inventor of the present invention relates to the linear motor device that moves the mover also to the curved stator part, in particular, the square of the A phase detection signal of the position detection sensor and the A phase for the curved stator part. It has been found that by determining the sum of the detection signal and the square of the B-phase detection signal having a phase difference of 90 degrees, it can be determined whether or not the movable element of the linear motor device can be controlled normally.
The present invention is based on such knowledge.

According to the present invention, the stator and, disposed opposite to the stator, and a mover movable relative to said stator, the direction of movement of the position you good beauty the mover of the movable element the be shown, a control method for determining a linear motor having a position detection sensor which is arranged to output the first and second sinusoidal detection signal with 90 ° phase difference,
The output from the position detection sensor, calculates the sum of the square of the square and the second detection signal of said first detection signal,
When the calculated sum of squares is equal to or greater than a predetermined value, it is determined that the linear motor is controllable.
A method for determining control of a linear motor is provided.

According to the present invention, a stator, disposed opposite to the stator, and movable armature relative to the stator, the movement of the position you good beauty the mover of the movable element shows the direction, a control device for controlling a linear motor having a position detection sensor which is arranged to output the first and second sinusoidal detection signal with 90 ° phase difference,
It means for calculating the sum of the output from the position detection sensor, the square of the square and the second detection signal of said first detection signal,
Means for determining that the linear motor is controllable when the calculated sum of squares is equal to or greater than a predetermined value;
A control system for a linear motor is provided.

  The linear motor used for the linear motor may be either a magnet movable linear motor or an electromagnetic coil movable linear motor.

  According to the present invention, it is possible to determine whether or not the various states or conditions of the linear motor that can move the mover to the curved stator portion are controllable.

FIG. 1 is a diagram showing a case where the mover is moved relative to the linear stator. FIG. 2 (A) shows a recursive stator configured in a rectangular shape by a linear stator and a curvilinear stator, and a movable body that moves on the recursive stator to move the carriers C1 to C10. It is a figure which shows a child, FIG.2 (B) is the figure which expanded the part of the curved stator in FIG. 2 (A). FIG. 3 is a diagram illustrating an example of detection values of the position detection sensor when the mover moves through the curved stator illustrated in FIG. 4A and 4B are diagrams showing the configuration of the linear motor when the mover partially moves along the linear stator. FIG. 4A is a plan view, and FIGS. 4B to 4D are cross-sectional electromagnetic coils. is there. FIG. 5 is a diagram showing the positional relationship and position detection between the position detection sensor and the magnet arranged on the mover in FIG. FIG. 6 is a diagram illustrating a waveform of a detection signal of the position detection sensor in the linear motor illustrated in FIG. FIG. 7 shows the time series of the sum (square sum) of the square of the A phase detection signal and the square of the B phase detection signal of the position detection sensor when the position detection sensor PS, electromagnetic coil, etc. are improperly arranged. FIG. FIG. 8 is a diagram in which the sum (square sum) of the square of the A-phase detection signal and the square of the B-phase detection signal of the position detection sensor when the mover moves is plotted in time series. FIG. 9 is a flowchart showing processing for determining control conditions in the servo amplifier group illustrated in FIG. FIG. 10 is a diagram showing a schematic configuration of another transport apparatus using a linear motor as another embodiment of the present invention.

  Embodiments of a linear motor control determination method and a control apparatus according to the present invention will be described.

First Embodiment As a first embodiment of a linear motor according to the present invention, an example in which a magnet movable linear motor is applied to a conveying device will be exemplified.
FIG. 4 is a diagram illustrating the structure of a portion in which the mover moves linearly with respect to the stator in the transfer device using the magnet movable linear motor as an embodiment of the present invention.
4A is a plan view, and FIGS. 4B to 4D are cross-sectional views.

In FIG. 4, a magnet movable linear motor 1 applied to the conveying device includes a stator 10, a mover 20 that faces the stator 10 and is movable with respect to the stator 10, and a servo amplifier group 30. Have
The magnet movable linear motor 1 illustrated in FIG. 4 uses a plurality of servo amplifiers (SA) to control the moving position of one or a plurality of movers 20 to move the movers 20 relative to the stator 10. It is a linear motor of the composition to make it.
In order to control the magnet movable linear motor 1, a control device 40 is provided in addition to the magnet movable linear motor 1.
The servo amplifier group 30 may be included in the magnet movable linear motor 1 or may not be included in the magnet movable linear motor 1 like the control device 40.

The stator 10 has a fixing part 11.
A plurality of, in this example, three, electromagnetic coil sets arranged adjacent to each other are arranged on the fixing portion 11. Each electromagnetic coil set is configured as a set of a U-phase electromagnetic coil, a V-phase electromagnetic coil, and a W-phase electromagnetic coil. Each set of electromagnetic coils (group) is arranged in the longitudinal direction of the fixed portion 11 with a plurality of sets separated by a predetermined pitch P.
Each group of three U-phase electromagnetic coils, V-phase electromagnetic coils, and W-phase electromagnetic coils has an AC current that is 120 degrees out of phase from the corresponding servo amplifier of the servo amplifier group 30 via the power line 31. Is applied.
In the fixed portion 11, a position detection sensor PS is disposed adjacent to each electromagnetic coil set in order to detect the position of the mover 20.

The mover 20 that moves relative to the stator 10 has a support portion 21. A workpiece is mounted on the support portion 21. In the present embodiment, the mover 20 and the support portion 21 are collectively referred to as a conveyance body C.
The support portion 21 includes an N-pole magnet having an N pole on the side facing the electromagnetic coil set of the stator 10 and an S-pole magnet having an S pole with respect to the stator 10 on the side facing the electromagnetic coil set. A plurality of pairs of magnets are arranged adjacent to each other, and these N-pole and S-pole magnets are paired, and in the illustrated embodiment, four pairs are arranged adjacent to each other.
In the illustration of FIG. 4, as a pair of magnets, for example, illustrated as N1 and S1, N2 and S2, the adjacent magnets with different magnetic poles are not limited to the above-described pair relationship, It also means a relationship in which magnets having different magnetic poles are adjacent to each other, such as the relationship between S1 and N2, and N2 and S3.

  AC that is 120 degrees out of phase from each servo amplifier (SA) of the servo amplifier group 30 to the corresponding U-phase electromagnetic coil, V-phase electromagnetic coil, and W-phase electromagnetic coil of the corresponding electromagnetic coil set via the power line 31. A current is applied. As a result, for one cycle and 360 degrees, a magnetic force that is 120 degrees out of phase is generated from this electromagnetic coil, U-phase electromagnetic coil, V-phase electromagnetic coil, and W-phase electromagnetic coil, and the mover 20 in the close position Acting on the magnet, the mover 20 is moved.

  A detection signal from the corresponding position detection sensor PS is input to the control device 40 via the servo amplifier (SA) via the sensor line 32 connected to each servo amplifier (SA) of the servo amplifier group 30.

An electromagnetic coil set A including a U-phase electromagnetic coil, a V-phase electromagnetic coil, and a W-phase electromagnetic coil, and a set of a U-phase electromagnetic coil, a V-phase electromagnetic coil, and a W-phase electromagnetic coil arranged in proximity to each other. The electromagnetic coil set B to be arranged is spaced apart by a pitch P. The arrangement relationship with other adjacent electromagnetic coil sets is the same.
Between this pitch P, three electromagnetic coils, that is, a U-phase electromagnetic coil, a V-phase electromagnetic coil, and a W-phase electromagnetic coil are arranged close to each other. The width of the three electromagnetic coils is the pitch P1.
Position detection sensors PS are respectively disposed adjacent to the W-phase electromagnetic coils in each electromagnetic coil set. The width of the position detection sensor PS is the pitch P2.

The relationship between the magnet and the electromagnetic coil is basically that one magnet can be moved by one electromagnetic coil.
Preferably, the arrangement width of two pairs of magnets, that is, four magnets, for example, N1: S1, N2: S2 (which may be S1: N2, S2: N3) is three adjacently arranged. It is equal to the pitch P1 which is the arrangement width of the provided electromagnetic coil (arrangement relationship of the electromagnetic coil 3 with respect to the magnet 4 is 4: 3).
Preferably, the arrangement width of the pair of magnets (N: S) is equal to the pitch P2 which is the width of the position detection sensor PS.
Preferably, the arrangement width of three pairs of magnets, for example, N1: S1, N2: S2, N3: S3, is a pitch P1 that is the arrangement width of three electromagnetic coils, and the width of the position detection sensor PS. Is substantially equal to (P1 + P2).
Preferably, the arrangement width (arrangement length) L of four pairs of magnets, for example, N1: S1, N2: S2, N3: S3, N4: S4, is longer than (P1 + P2).
Further, if the arrangement width of the three pairs of magnets and the sum of the pitch P1 and the pitch P2 are substantially equal, the adjacent electromagnetic coil set including one set of the U-phase electromagnetic coil, the V-phase electromagnetic coil, and the W-phase electromagnetic coil is In addition to being separated from each other, they may be close to each other.

  The arrangement width (arrangement length) L of a plurality of pairs, for example, four pairs of magnets, for example, N1: S1, N2: S2, N3: S3, N4: S4, is shown in FIGS. As illustrated in FIG. D), any one of the four pairs of magnets, or magnets having different magnetic poles adjacent to each other, for example, the magnet pair of S3: N4 is positioned on the position detection sensor PS. The number of is specified. In the present embodiment, the number of magnet pairs is four. This is a condition under which the position of the transport body C can be detected by the position detection sensor PS at any position of the mover 20.

In order for the mover 20 to move according to the alternating magnetic force of the electromagnetic coil, it is preferable that the following conditions are satisfied.
(A) As illustrated in FIG. 4B, whether four or two pairs of magnets are affected by the electromagnetic force of the three electromagnetic coils of the electromagnetic coil set A,
(B) As illustrated in FIG. 4D, four, two pairs of magnets are affected by the electromagnetic force of the three electromagnetic coils of the electromagnetic coil set B.
Set the number of magnets.

Preferably, in order to smoothly move the mover 20, in order to receive the same electromagnetic force from the electromagnetic coil without depending on the position of the mover 20, the action of the electromagnetic force of the three electromagnetic coils is always predetermined. The number, for example, in the present embodiment, four magnets may be received.
For example, three electromagnetic coils in the same electromagnetic coil group, or three adjacent electromagnetic coils of two adjacent electromagnetic coil groups, for example, the W-phase electromagnetic coil of electromagnetic coil group A and the U of electromagnetic coil group B Four magnets receive the action of the electromagnetic force of the three electromagnetic coils of the phase electromagnetic coil and the V phase electromagnetic coil, or the V phase electromagnetic coil, the W phase electromagnetic coil of the electromagnetic coil set A, and the electromagnetic coil set It is desirable that the four magnets receive the action of the electromagnetic force of the three electromagnetic coils with the B U-phase electromagnetic coil.
In this case, for example, ten magnets, that is, five pairs of magnets are provided on the support portion 21 of the mover 20.

FIG. 5 shows the positional relationship between the position detection sensor PS and the magnet disposed on the support portion 21 of the mover 20.
FIG. 5 conceptually shows a state in which one position detection sensor PS detects the position when the mover 20 moves.
Each position detection sensor PS includes a first sensor A that generates an A-phase detection signal and a second sensor B that generates a B-phase detection signal. For example, the first sensor A and the second sensor B are arranged apart from each other in consideration of the pitch with the adjacent magnet so as to generate a position detection signal having a phase difference of 90 degrees.
The first sensor A and the second sensor B are sensors based on the Hall effect, for example, and output a detection signal corresponding to the magnetic field of the magnet.

FIG. 6 is a graph showing detection signals of a plurality of position detection sensors PS when the mover 20 moves in the magnet movable linear motor 1 illustrated in FIG. 4, that is, an A phase detection signal and a B phase detection signal. It is. The horizontal axis indicates the position, and the vertical axis indicates the amplitude.
The first sensor A and the second sensor B in the position detection sensor PS each output a signal having an amplitude (voltage) corresponding to the magnetic field of the magnet. For example, a signal with a large amplitude is output when the magnet approaches the position detection sensor PS, and a signal with a small amplitude is output when the magnet moves away from the position detection sensor PS.
Since the mover 20 constituting the carrier C on which the workpiece can be mounted moves on the stator 10 at a predetermined speed, the detection signals of the first sensor A and the second sensor B, that is, the A-phase detection signal The B phase detection signal has a sine wave shape (or a cosine wave shape).

  The A-phase detection signal and the B-phase detection signal illustrated in FIG. 6 are cases where the mover 20 moves relative to the linear stator 10, so that the phase difference is maintained at 90 degrees, and the amplitude of each is also constant. Is stable.

When the mover 20 moves on the position detection sensor PS, for example, a sine wave A-phase detection signal and a B-phase detection signal illustrated in FIG. 6 are obtained.
If the position of the mover 20 is X, the following relationship is obtained.

X = tan ⁻¹ (B / A) (1)
However, A is an A phase detection signal,
B is a B-phase detection signal.

  At this time, the sum of the squares of the phase A detection signal A and the phase B detection signal B of the position detection sensor is a constant value C.

A ² + B ² = C (2)

In such a state, as will be described later, the servo amplifier (SA) determines whether or not the conveyance body C can be controlled, and the control device 40 detects from the position detection sensor PS input via the servo amplifier SA. Based on the plurality of position data, the position of the mover 20 constituting the transport body C is detected and position control is performed.
For example, the control device 40 can move and / or move the movable element 20 constituting the carrier C based on the position detection value from the position detection sensor PS, that is, the A-phase detection signal and the B-phase detection signal. The value of the current applied to each corresponding electromagnetic coil via the servo amplifier SA is determined in accordance with the speed at which the child 20 is moved.
The corresponding servo amplifier SA applies a drive current to the corresponding electromagnetic coil.

As described above, with reference to FIG. 4, the case where the movable element 20 constituting the conveyance body C moves the linear stator 10 has been described. In the present embodiment, FIGS. 2A and 2B are used. As illustrated in FIG. 4, the linear stator 201, the curved stator 205, the linear stator 202, the curved stator 206, the stator 203, the curved stator 207, the linear stator 204, and the curved stator. 208, it moves relative to the linear stator 201 and the cyclic stator 200.
Similarly to the stator 10, the stator 200 is also provided with a set of electromagnetic coils and position detection sensors PS at a predetermined pitch P.
Under the control of the control device 40, the mover 20 constituting the carrier C illustrated in FIG. 4 moves on the stator 200. Therefore, each mover 20 constituting each carrier C can also circulate on the stator 200.

When the mover 20 moves on the linear stators 201, 202, 203, 204, the position and moving direction (orientation) of the mover 20 can be accurately detected by the plurality of position detection sensors PS. .
On the other hand, when the mover 20 moves on the curved stators 205, 206, 207, 208, as described above with reference to FIG. 4B, the position detection sensor PS and the magnet approach and separate from each other. There is a case where the amplitude decreases according to the relationship, the phase difference between the A phase detection signal and the B phase detection signal changes, and the A phase detection signal and the B phase detection signal become unstable.

As one of the instabilities, instability of movement of the mover 20 occurs when the range of the position detection sensor PS in the curved stator portion and the arrangement of the electromagnetic coils are inappropriate. In such a case, the result (A ² + B ² ) calculated according to the equation (2) for the A phase detection signal A and the B phase detection signal B of the position detection sensor PS is not constant as illustrated in FIG. It turns out that things happen.
In FIG. 7, the horizontal axis indicates the passage of time, that is, the movement of the mover 20, and the vertical axis indicates (A ² + B ² ).
The sum of squares (A ² + B ² ) was calculated in the servo amplifier group 30.
When such a result is obtained, it is understood that the design change of the linear motor device 100 is necessary. In other words, the stability of movement of the mover 20 can be automatically determined by the sum of squares (A ² + B ² ).

As other instabilities, for example, as described above, (a) various carrier bodies C1 to C10 are respectively transported to the linear motor device 100 by the mover, but the various carrier bodies C1 to C10 are The dimensions and / or weights are different, (b) even with the same carrier C, the weight changes depending on the presence or absence of the mounted workpiece, and the operating conditions change, (c) the change in the distance between the mover and the stator, (D) Depending on the case where the transport body C is transported at a stable speed, there is a case where the transport body C is temporarily stopped and restarted to be accelerated.
Therefore, for example, even with the same carrier C, stable movement or unstable movement may occur depending on whether or not a workpiece is mounted and whether the movement speed is fast or slow.

FIG. 8 shows the value of (A ² + B ² ) defined by Equation (2) when the mover 20 moves in the portions of the curved stators 208 and 205 adjacent to the linear stator 201 as a curve CV. It is a graph to show.
In FIG. 8, the horizontal axis indicates the passage of time, that is, the movement of the mover 20, and the vertical axis indicates (A ² + B ² ).
In the present embodiment, the square sum (A ² + B ² ) is calculated in the servo amplifier group 30.

When (A ² + B ² ) is constant or substantially constant, Expression (1) is established, and the position of the movable element 20 with respect to the stator 200 can be specified by the control device 40.
However, if (A ² + B ² ) fluctuates greatly, or if the value of (A ² + B ² ) is too large or too low, equation (1) does not hold, and the position of the mover 20 in the servo amplifier SA does not hold. It becomes difficult to specify.

In FIG. 8, when the value of (A ² + B ² ) is smaller than the lower limit value LL, it is assumed that no signal is obtained due to disconnection of the sensor line 32, for example. In this state, for example, the control device 40 does not perform movement control of the mover 20.
The servo amplifier SA or the control device 40 starts the movement control of the mover 20 from the time t1 when the value of (A ² + B ² ) exceeds the lower limit value LL and exceeds the control start point level CL.
The servo amplifier SA or the control device 40 counts the time when the phase A detection signal A or the phase B detection signal B of the position detection sensor PS exceeds the control start point level CL, and the line CTR indicates the count value (count value). ), That is, the position of the mover 20 is indicated.
The servo amplifier SA or the control device 40 stops the movement control of the mover 20 at the time t2 when the count value CTR reaches a predetermined value.
In the period T between the time points t1 and t2, that is, in the period T in which the value of (A ² + B ² ) is within a predetermined range, the control device 40 refers to the reading of the position detection sensor PS and controls the movement of the mover 20. I do.

FIG. 9 is a flowchart showing the determination process in the servo amplifier SA.
The servo amplifier SA calculates the value of (A ² + B ² ) for the A phase detection signal and the B phase detection signal from the position detection sensor PS, and makes the following determination.

Step 01, the servo amplifier SA calculates the value of (A ² + B ² ) and checks whether it is equal to or greater than a predetermined value, that is, whether it is equal to or greater than the lower limit LL or equal to or greater than the control start level CL.
If the value of (A ² + B ² ) is less than the lower limit value LL or less than the control start level CL and is not within the predetermined range, the servo amplifier SA proceeds to Step 02.
If the value of (A ² + B ² ) is equal to or higher than the lower limit value LL and equal to or higher than the control start level CL, the servo amplifier SA determines that control is possible and detects the A phase from the position detection sensor PS. The control of the mover 20 is started with reference to the signal and the B phase detection signal, and the process proceeds to step 04.

When the value of (A ² + B ² ) calculated in step 02 and step 01 is less than the lower limit value LL or less than the control start level CL and not within the predetermined range, the servo amplifier SA continues to have a value of (A ² + B ² ). To check whether the value of (A ² + B ² ) is equal to or greater than the lower limit value LL illustrated in FIG.
When the value of (A ² + B ² ) is less than the lower limit value LL, the servo amplifier SA outputs this message via, for example, the control device 40 and / or displays a warning, assuming that this state is not controlled. (First alarm), the control of the mover 20 is not performed.
If the value of (A ² + B ² ) is equal to or greater than the lower limit value LL, the servo amplifier SA proceeds to the process of step 03.

If the value of (A ² + B ² ) calculated in step 03 and servo amplifier SA is equal to or greater than the lower limit value LL illustrated in FIG. 8, the servo amplifier SA starts control with the value of (A ² + B ² ). Check if it is above level CL.
When the value of (A ² + B ² ) is less than the control start level CL, the servo amplifier SA outputs this message via the control device 40 and / or warns that this state is not controlled, for example. A display is made (second alarm), and the movable element 20 is not controlled.
When the value of (A ² + B ² ) is equal to or higher than the control start level CL, the servo amplifier SA determines that control is possible and refers to the A phase detection signal and the B phase detection signal from the position detection sensor PS. Then, control of the mover 20 is started.

When the value of (A ² + B ² ) calculated in step 04 and step 01 is not less than the lower limit value LL and not less than the control start level CL, the servo amplifier SA continues to calculate the value of (A ² + B ² ) It is checked whether the value of (A ² + B ² ) is less than the lower limit value LL illustrated in FIG.
When the value of (A ² + B ² ) is equal to or greater than the lower limit value LL, the servo amplifier SA determines that control is possible and continues control of the mover 20.
If the value of (A ² + B ² ) is less than the lower limit value LL, the servo amplifier SA determines that it is not a control target and stops the control of the mover 20.

As described above, the servo amplifier SA calculates (A ² + B ² ) for the A phase detection signal A and the B phase detection signal B of the position detection sensor PS, and based on the calculation result (A ² + B ² ). It can be determined whether or not the movement control of the mover 20 is possible.

The determination method according to the present embodiment can be performed by a simple calculation of (A ² + B ² ) in the servo amplifier SA and the simple determination process described above. Can be judged by time.

Second Embodiment The first embodiment has been described by exemplifying a magnet movable linear motor as a linear motor applied to the linear motor device 100. However, the present invention described above can be applied not only to a magnet movable linear motor but also to an electromagnetic coil movable linear motor.
When an electromagnetic coil movable linear motor is used as the linear motor, a plurality of sets of electromagnetic coils and position detection sensors PS are arranged on the mover, and a plurality of sets of permanent magnets are arranged on the stator in the longitudinal direction. In the electromagnetic coil movable linear motor, the electromagnetic coil moves as a mover.
Also in the electromagnetic coil movable linear motor, the control device controls the position of the movable element based on the detection result of the position detection sensor, and further controls the movable element so as not to deviate from a predetermined movable range.

In carrying out the present invention, the present invention is not limited to the above-described embodiment, and various modifications can be made.
In addition, the number of electromagnetic coil groups mentioned above, the number of magnets mounted on the mover 20, and the like are examples, and the present invention is not limited to these numbers.
Basically, it is an electric coil controlled by one servo amplifier SA that has a magnetic influence on the magnet of one mover 20. Depending on the position of the mover 20, the mover 20 may be driven by only two electromagnetic coils among the three electromagnetic coils.

  Moreover, although illustrated with reference to FIG. 4, the space | interval (pitch) of an adjacent electromagnetic coil group does not need to be always constant. The mover is configured to be movable by an electromagnetic coil, the position of the mover can be detected by the position detection sensor PS, and the A-phase detection signal A and the B-phase detection signal B are normally output from the position detection sensor PS. It only needs to be detectable.

As described above, the case where the linear motor is applied to the conveying device has been illustrated as the present embodiment with reference to FIG. 2, but the linear motor device 100 of the present invention is not limited to the application to the conveying device, and has various uses. It is applicable to.
The stator 200 is not limited to the configuration illustrated in FIG. 2, but, for example, linear stators 201A and 203A, semicircular stators 202A and 204A having a radius R, as in the track of the stadium illustrated in FIG. It may be configured with. When the mover 20 moves through the semicircular stators 202A and 204A, the above-described determination can be made.

DESCRIPTION OF SYMBOLS 1 ... Magnet movable type linear motor 10, 100 ... Stator, 11 ... Fixed part 20 ... Movable element, 21 ... Support part 30 ... Servo amplifier group, 31 ... Power line, 32 ... Sensor line 40 ... Control apparatus 200 ... Stator , 201, 202, 203, 204 ... linear stator, 205, 206, 207, 208 ... curved stator

Claims (8)

A stator, disposed opposite to the stator, to indicate a mover movable, the direction of movement of the position you good beauty the mover of the movable element relative to said stator, 90 A control determination method for a linear motor having a position detection sensor arranged to output first and second sinusoidal detection signals having a phase difference ,
The output from the position detection sensor, calculates the sum of the square of the square and the second detection signal of said first detection signal,
When the calculated sum of squares is equal to or greater than a predetermined value, it is determined that the linear motor is controllable.
Linear motor control judgment method. The stator includes a linear stator, and a curved stator, characterized in that, the control method for determining a linear motor according to claim 1. In the stator, a plurality of sets of an electromagnetic coil group in which a plurality of electromagnetic coils are arranged close to each other and a position detection sensor arranged in parallel with the electromagnetic coil group are arranged with a predetermined width therebetween. Has been established,
A plurality of magnets having different magnetic poles are alternately arranged on the movable element so as to face the electromagnetic coil.
The arrangement width of the magnets arranged on the mover is a set of an electromagnetic coil set in which the plurality of electromagnetic coils are arranged close to each other and a position detection sensor arranged side by side with the electromagnetic coil set. Longer than the arrangement width of
The linear motor control determination method according to claim 1, wherein the linear motor control is determined. A plurality of magnets with different magnetic poles are alternately arranged on the stator,
The movable element has a set of an electromagnetic coil set in which a plurality of electromagnetic coils are arranged close to each other so as to face the plurality of magnets and a position detection sensor arranged side by side with the electromagnetic coil set. , A plurality are arranged with a predetermined width,
The arrangement width of the magnets arranged on the stator is a set of an electromagnetic coil group in which the plurality of electromagnetic coils are arranged close to each other and a position detection sensor arranged in parallel with the electromagnetic coil group. Longer than the arrangement width of
The linear motor control determination method according to claim 1, wherein the linear motor control is determined. A stator and disposed opposite to the stator, to indicate a mover movable, the direction of movement of the position you good beauty the mover of the movable element relative to said stator, 90 A control device for controlling a linear motor having a position detection sensor arranged to output first and second sinusoidal detection signals having a phase difference ,
It means for calculating the sum of the output from the position detection sensor, the square of the square and the second detection signal of said first detection signal,
Means for determining that the linear motor is controllable when the calculated sum of squares is equal to or greater than a predetermined value;
Having
Control system for linear motors.   The linear motor control device according to claim 5, wherein the stator includes a linear stator and a curved stator. In the stator, a plurality of sets of an electromagnetic coil group in which a plurality of electromagnetic coils are arranged close to each other and a position detection sensor arranged in parallel with the electromagnetic coil group are arranged with a predetermined width therebetween. Has been established,
A plurality of magnets having different magnetic poles are alternately arranged on the movable element so as to face the electromagnetic coil.
The arrangement width of the magnets arranged on the mover is a set of an electromagnetic coil set in which the plurality of electromagnetic coils are arranged close to each other and a position detection sensor arranged side by side with the electromagnetic coil set. Longer than the arrangement width of
The linear motor control device according to claim 5, wherein the control device is a linear motor control device. A plurality of magnets with different magnetic poles are alternately arranged on the stator,
The movable element has a set of an electromagnetic coil set in which a plurality of electromagnetic coils are arranged close to each other so as to face the plurality of magnets and a position detection sensor arranged side by side with the electromagnetic coil set. , A plurality are arranged with a predetermined width,
The arrangement width of the magnets arranged on the stator is a set of an electromagnetic coil group in which the plurality of electromagnetic coils are arranged close to each other and a position detection sensor arranged in parallel with the electromagnetic coil group. Longer than the arrangement width of
The linear motor control device according to claim 5, wherein the control device is a linear motor control device.

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