JP6191665B2 - 移動体 - Google Patents
移動体 Download PDFInfo
- Publication number
- JP6191665B2 JP6191665B2 JP2015163943A JP2015163943A JP6191665B2 JP 6191665 B2 JP6191665 B2 JP 6191665B2 JP 2015163943 A JP2015163943 A JP 2015163943A JP 2015163943 A JP2015163943 A JP 2015163943A JP 6191665 B2 JP6191665 B2 JP 6191665B2
- Authority
- JP
- Japan
- Prior art keywords
- magnetic pole
- linear motor
- moving body
- section
- phase difference
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
- H02P25/064—Linear motors of the synchronous type
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2454—Encoders incorporating incremental and absolute signals
- G01D5/2455—Encoders incorporating incremental and absolute signals with incremental and absolute tracks on the same encoder
- G01D5/2457—Incremental encoders having reference marks
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Linear Motors (AREA)
Description
Claims (7)
- N極とS極とからなる一対の磁極が複数配列された磁極区間と、磁極が欠損した磁極欠損区間とを有する磁極経路に沿って移動する移動体であって、
前記磁極経路の磁束との磁気相互作用により駆動する第1のリニアモータを含む複数のリニアモータと、
前記第1のリニアモータに対して前記磁極経路の経路方向の一方側に配置され、前記磁極経路の磁束に応じた第1の位相角を検出する第1の検出部と、
前記第1のリニアモータに対して前記磁極経路の経路方向の他方側に配置され、前記磁極経路の磁束に応じた第2の位相角を検出する第2の検出部と、
前記第1の位相角と前記第2の位相角との位相差を基準位相差と比較することによって、前記第1のリニアモータが前記磁極欠損区間に位置しているか否かを推定する推定部と、
を備える、移動体。 - 前記移動体の起動信号を受け付ける受付部を更に備え、
前記受付部が前記起動信号を受け付けて前記移動体が起動するときに、前記第1のリニアモータが前記磁極欠損区間に位置しているか否かを前記推定部が推定する、
請求項1に記載の移動体。 - 前記移動体が停止している停止状態のときに、前記第1のリニアモータが前記磁極欠損区間に位置しているか否かを前記推定部が推定する、
請求項1又は2に記載の移動体。 - 前記推定部は、前記第1の位相角と前記第2の位相角との前記位相差が前記基準位相差に対してずれている場合に、前記第1のリニアモータが前記磁極欠損区間に位置していると推定する、
請求項1〜3のいずれか1項に記載の移動体。 - 前記推定部は、前記基準位相差に対する前記位相差のずれ量に基づいて、前記磁極欠損区間の距離を推定する、
請求項4に記載の移動体。 - 前記磁極欠損区間の区間長が、前記一対の磁極の距離を基準として所定範囲の長さにある場合に、前記磁極欠損区間を前記移動体が移動するとき、前記第1のリニアモータが本来の推力方向と逆方向に駆動し、
前記磁極欠損区間の区間長が前記所定範囲の内外を識別する基準の値である閾値を記憶する記憶部を更に含み、
前記推定部は、前記基準位相差に対する前記位相差のずれ量と、前記記憶部に記憶してある閾値とを比較することにより、前記磁極欠損区間が、前記第1のリニアモータが本来の推力方向と逆方向に駆動する長さであるか否かを推定する、請求項4又は5に記載の移動体。 - 第1の検出部によって検出される第1の位相角と第2の検出部によって検出される第2の位相角との位相差であって、前記第1のリニアモータが前記磁極区間に位置しているときの前記位相差を、前記基準位相差として予め記憶する記憶部を更に備える、
請求項1〜6のいずれか1項に記載の移動体。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015163943A JP6191665B2 (ja) | 2015-08-21 | 2015-08-21 | 移動体 |
US15/222,160 US9729100B2 (en) | 2015-08-21 | 2016-07-28 | Mobile body and mobile body system |
TW105126405A TWI697198B (zh) | 2015-08-21 | 2016-08-18 | 移動體、及移動體系統 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015163943A JP6191665B2 (ja) | 2015-08-21 | 2015-08-21 | 移動体 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017042011A JP2017042011A (ja) | 2017-02-23 |
JP6191665B2 true JP6191665B2 (ja) | 2017-09-06 |
Family
ID=58158508
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015163943A Active JP6191665B2 (ja) | 2015-08-21 | 2015-08-21 | 移動体 |
Country Status (3)
Country | Link |
---|---|
US (1) | US9729100B2 (ja) |
JP (1) | JP6191665B2 (ja) |
TW (1) | TWI697198B (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10427542B2 (en) | 2015-08-21 | 2019-10-01 | Murata Machinery, Ltd. | Mobile body |
JP7110071B2 (ja) | 2018-11-26 | 2022-08-01 | 理想科学工業株式会社 | 印刷システム、媒体供給装置および印刷装置 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3706297A1 (de) * | 2019-03-07 | 2020-09-09 | B&R Industrial Automation GmbH | Verfahren zum steuern eines langstatorlinearmotors |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2654075A1 (de) * | 1976-11-29 | 1978-06-01 | Papst Motoren Kg | Linearmotor |
JPH02136057A (ja) * | 1988-11-16 | 1990-05-24 | Toshiba Corp | リニアモータ |
JP3235708B2 (ja) * | 1995-09-28 | 2001-12-04 | 株式会社ダイフク | リニアモータ利用の搬送設備 |
JP2003254703A (ja) * | 2002-02-28 | 2003-09-10 | Yamaha Motor Co Ltd | 移動体システムおよび移動体の位置検出方法 |
JP3689409B2 (ja) * | 2003-01-30 | 2005-08-31 | ファナック株式会社 | 制御装置 |
EP2228629B1 (de) * | 2007-02-07 | 2017-07-26 | SEW-EURODRIVE GmbH & Co. KG | System und Verfahren zum Ermitteln der Position eines Motorteils |
JP4919177B2 (ja) | 2009-04-24 | 2012-04-18 | 村田機械株式会社 | リニアスケール |
JP5077717B2 (ja) * | 2010-04-12 | 2012-11-21 | 村田機械株式会社 | 磁極検出システム |
JP5800086B2 (ja) * | 2012-04-13 | 2015-10-28 | 村田機械株式会社 | 位置検出器 |
JP6314372B2 (ja) * | 2013-04-22 | 2018-04-25 | 村田機械株式会社 | 位置検出装置、位置検出方法、及び移動体システム |
-
2015
- 2015-08-21 JP JP2015163943A patent/JP6191665B2/ja active Active
-
2016
- 2016-07-28 US US15/222,160 patent/US9729100B2/en active Active
- 2016-08-18 TW TW105126405A patent/TWI697198B/zh active
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10427542B2 (en) | 2015-08-21 | 2019-10-01 | Murata Machinery, Ltd. | Mobile body |
JP7110071B2 (ja) | 2018-11-26 | 2022-08-01 | 理想科学工業株式会社 | 印刷システム、媒体供給装置および印刷装置 |
Also Published As
Publication number | Publication date |
---|---|
JP2017042011A (ja) | 2017-02-23 |
US20170054398A1 (en) | 2017-02-23 |
US9729100B2 (en) | 2017-08-08 |
TWI697198B (zh) | 2020-06-21 |
TW201709662A (zh) | 2017-03-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6717355B2 (ja) | 移動体 | |
JP4941790B2 (ja) | 移動体システム | |
JP5333537B2 (ja) | 移動体システムと移動体の走行制御方法 | |
TWI458251B (zh) | 線性同步電動機控制方法及控制裝置 | |
US8653766B2 (en) | Linear motor driving system and linear motor control method | |
CN106612095B (zh) | 动磁式线性马达控制系统及部件制造方法 | |
JP6314372B2 (ja) | 位置検出装置、位置検出方法、及び移動体システム | |
JP4074999B2 (ja) | 搬送台車システム | |
JP4438882B2 (ja) | 移動体システム | |
JP6840984B2 (ja) | リニアモータシステム、移動体システム、及び電気角の推定方法 | |
JP6206458B2 (ja) | 移動体、及び、移動体の位置検出方法 | |
JP6191665B2 (ja) | 移動体 | |
JP6314371B2 (ja) | 移動体システム及び移動体の駆動方法 | |
JP6225961B2 (ja) | 移動体 | |
JP5783410B2 (ja) | 移動体システムと移動体の位置検出方法 | |
JP2004166326A (ja) | リニアモータ搬送装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20170706 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20170711 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20170724 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6191665 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |