JP7473351B2 - 長固定子リニアモーターの制御方法 - Google Patents
長固定子リニアモーターの制御方法 Download PDFInfo
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- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
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- B60L15/005—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of propulsion for monorail vehicles, suspension vehicles or rack railways; for control of magnetic suspension or levitation for vehicles for propulsion purposes for control of propulsion for vehicles propelled by linear motors
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- 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
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- 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
- H02K11/26—Devices for sensing voltage, or actuated thereby, e.g. overvoltage protection devices
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- 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
- H02K11/27—Devices for sensing current, or actuated thereby
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- 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
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- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
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Description
なお、本願は、特許請求の範囲に記載の発明に関するものであるが、他の態様として以下の構成も包含し得る。
1.
搬送区間(20)に沿って移動方向(r)に対して第一の測定区画(21)で第一の測定値(m1)を検出するとともに、第二の測定区画(22)で第二の測定値(m2)を検出する、長固定子リニアモーター(2)を制御する方法において、
この第一の測定区画(21)が、移動方向(r)に対してオーバーラップ領域(B)において第二の測定区画(22)と重なり合うことと、
これらの第一の測定値(m1)と第二の測定値(m2)が、一つの物理量(B)の同じ実際値(X)を表すことと、
これらの第一の測定値(m1)と第二の測定値(m2)の間に生じる偏差に基づき、長固定子リニアモーター(2)の動作パラメータ(P)が決定されることと、
を含む当該方法。
2.
前記の測定区画(21,22)が、搬送区間(20)の対向する側に設けられる上記1に記載の方法。
3.
前記の測定区画(21,22)が、搬送区間(20)の同じ側に設けられる上記1又は2に記載の方法。
4.
前記の実際値(X)の近似値が動作パラメータ(P)として決定される上記1から3までのいずれか一つに記載の方法。
5.
前記の第一又は第二の測定値(m1,m2)が前記の実際値(X)の近似値として選択される上記4に記載の方法。
6.
前記の第一又は第二の測定値(m1,m2)の選択が各測定値の分類に基づき実施される上記4に記載の方法。
7.
前記の第一又は第二の測定値(m1,m2)の選択が各測定値の期待される精度に基づき実施される上記5又は6に記載の方法。
8.
前記の第一及び第二の測定値(m1,m2)が、それぞれ重み係数(f1,f2)を付与されることと、
前記の第一及び第二の測定値(m1,m2)とそれぞれ対応する重み係数(f1,f2)とから、前記の実際値(X)の近似値が動作パラメータ(P)として検出されることと、
を特徴とする上記4に記載の方法。
9.
前記の重み係数(f1,f2)が、基準モデルからのそれに対応する測定値(m1,m2)のずれの大きさによって決まるモデル係数を含む上記8に記載の方法。
10.
前記の重み係数(f1,f2)が、それに対応する測定区画(21,22)内における各測定値(m1,m2)の位置によって決まる幾何学係数を含む上記8又は9に記載の方法。
11.
前記の重み係数(f1,f2)が、統計的な分布関数によって決まる統計的係数を含む上記8から10までのいずれか一つに記載の方法。
12.
長固定子リニアモーター(2)における擾乱、故障及び摩耗の中の一つ以上の発生が動作パラメータ(P)として決定される上記1から11までのいずれか一つに記載の方法。
13.
第一及び第二の測定値(m1,m2)として、それぞれ搬送区間(20)における搬送ユニット(1)の位置が検出される上記1から12までのいずれか一つに記載の方法。
14.
第一及び第二の測定値(m1,m2)として、それぞれ搬送区間(20)における搬送ユニット(1)の速度及び/又は加速度が検出される上記1から12までのいずれか一つに記載の方法。
15.
第一及び第二の測定値(m1,m2)として、それぞれ温度及び/又は電流が検出される上記1から12までのいずれか一つに記載の方法。
2 長固定子リニアモーター
3 支持構造
20 搬送区間
21 測定区画
22 測定区画
a 実際の加速度
f1,f2 重み係数
im コイル電流
m1,m2 測定値
r 移動方向
v 実際の速度
x 実際の位置
B オーバーラップ領域
G 物理量
L 駆動コイル
P 動作パラメータ
R 制御ユニット
V 処理ユニット
X 実際値
Claims (14)
- それぞれ一定数の駆動コイル(L)を備えた複数の搬送セグメントから構成される一つの搬送区間(20)に沿って移動方向(r)に対して第一の測定区画(21)で第一の測定値(m1)を一つ又は複数の測定センサによって検出するとともに、第二の測定区画(22)で第二の測定値(m2)を一つ又は複数の測定センサによって検出する、長固定子リニアモーター(2)を制御する方法において、
この第一の測定区画(21)が、移動方向(r)に対してオーバーラップ領域(B)において第二の測定区画(22)と重なり合うことと、
これらの第一の測定値(m1)と第二の測定値(m2)が、一つの物理量(B)の同じ実際値(X)を表すことと、
これらの第一の測定値(m1)と第二の測定値(m2)の間に生じる偏差に基づき、長固定子リニアモーター(2)の動作パラメータ(P)が決定されることと、
を特徴とする方法。 - 前記の測定区画(21,22)が、搬送区間(20)の対向する側に設けられることを特徴とする請求項1に記載の方法。
- 前記の測定区画(21,22)が、搬送区間(20)の同じ側に設けられることを特徴とする請求項1に記載の方法。
- 前記の実際値(X)の近似値が動作パラメータ(P)として決定されることを特徴とする請求項1から3までのいずれか一つに記載の方法。
- 前記の第一又は第二の測定値(m1,m2)が前記の実際値(X)の近似値として選択されることを特徴とする請求項4に記載の方法。
- 前記の第一又は第二の測定値(m1,m2)の選択が各測定値の期待される精度に基づき実施されることを特徴とする請求項5に記載の方法。
- 前記の第一及び第二の測定値(m1,m2)が、それぞれ重み係数(f1,f2)を付与されることと、
前記の第一及び第二の測定値(m1,m2)とそれぞれ対応する重み係数(f1,f2)とから、前記の実際値(X)の近似値が動作パラメータ(P)として検出されることと、
を特徴とする請求項4に記載の方法。 - 前記の重み係数(f1,f2)が、基準モデルからのそれに対応する測定値(m1,m2)のずれの大きさによって決まるモデル係数を含むことを特徴とする請求項7に記載の方法。
- 前記の重み係数(f1,f2)が、それに対応する測定区画(21,22)内における各測定値(m1,m2)の位置によって決まる幾何学係数を含むことを特徴とする請求項7又は8に記載の方法。
- 前記の重み係数(f1,f2)が、統計的な分布関数によって決まる統計的係数を含むことを特徴とする請求項7から9までのいずれか一つに記載の方法。
- 長固定子リニアモーター(2)における擾乱、故障及び摩耗の中の一つ以上の発生が動作パラメータ(P)として決定されることを特徴とする請求項1から10までのいずれか一つに記載の方法。
- 第一及び第二の測定値(m1,m2)として、それぞれ搬送区間(20)における搬送ユニット(1)の位置が検出されることを特徴とする請求項1から11までのいずれか一つに記載の方法。
- 第一及び第二の測定値(m1,m2)として、それぞれ搬送区間(20)における搬送ユニット(1)の速度及び/又は加速度が検出されることを特徴とする請求項1から11までのいずれか一つに記載の方法。
- 第一及び第二の測定値(m1,m2)として、それぞれ温度及び/又は電流が検出されることを特徴とする請求項1から11までのいずれか一つに記載の方法。
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EP19161181 | 2019-03-07 | ||
EP19161181.3A EP3706297A1 (de) | 2019-03-07 | 2019-03-07 | Verfahren zum steuern eines langstatorlinearmotors |
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EP (1) | EP3706297A1 (ja) |
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EP3706297A1 (de) * | 2019-03-07 | 2020-09-09 | B&R Industrial Automation GmbH | Verfahren zum steuern eines langstatorlinearmotors |
WO2022253883A1 (de) * | 2021-06-02 | 2022-12-08 | B&R Industrial Automation GmbH | Transporteinrichtung und verfahren zum betreiben einer transporteinrichtung |
CN117902263B (zh) * | 2024-03-19 | 2024-05-28 | 山西戴德测控技术股份有限公司 | 一种滚轮式在线皮带硬度检测装置 |
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EP3706297A1 (de) * | 2019-03-07 | 2020-09-09 | B&R Industrial Automation GmbH | Verfahren zum steuern eines langstatorlinearmotors |
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JP2011220874A (ja) | 2010-04-12 | 2011-11-04 | Murata Mach Ltd | 位置センサと位置検出方法 |
US20170346379A1 (en) | 2016-05-31 | 2017-11-30 | Bernecker + Rainer Industrie-Elektronik Ges.M.B.H. | Method for operating a long stator linear motor |
US20180282076A1 (en) | 2017-04-04 | 2018-10-04 | B&R Industrial Automation GmbH | Method for operating a long stator linear motor |
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US20200287493A1 (en) | 2020-09-10 |
US11245348B2 (en) | 2022-02-08 |
CN111669098B (zh) | 2023-11-07 |
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