JPS6192182A - Operation controller of linear motor - Google Patents

Abstract

PURPOSE:To rapidly start or stop to a plurality of positions within the primary winding mounting range by composing a feedback circuit butted at the real speed to the position command. CONSTITUTION:A speed instructing device 12 outputs a speed command 12a in response to the information from a position detector 22. A deviation between the speed command 12a and a real speed 7a from a speed detector 7 is input to a speed controller 13 or 14. A switch 17 is connected with 17 at accelerating time so that a speed controller 13 for controlling the acceleration becomes valid. Simultaneously, switch 16 is connected with the 16a, and semiconductor switches 19a, 19b are conducted. When the secondary conductor 4 arrives substantially at the intermediate of the position detecting point D1, the switches 16, 17 are connected with the 16a, 17a, and the command 12a is simultaneously reduced. Thus, semiconductor switches 19c, 19d are conducted, and a deceleration controlling speed controller 14 becomes effective.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to the operation control of a linear motor, and particularly to a device suitable for application to automatic manufacturing machines and the like.

[Background of the invention]

For example, Japanese Patent Publication No. 178635/1983 and No. 178636/1989 are known as methods for controlling the speed of a device that conveys long distances using a linear motor. As shown in these publications, during braking, the braking is performed using a braking start timing and a braking pattern based on a preset braking table corresponding to the speed at which the conveyor enters the IJ linear motor primary winding. ing.

In this method, the linear motor is stopped at one predetermined point where the primary winding is installed, and it is not possible to stop at several positions within the installation range of the linear motor's primary winding.

On the other hand, for example, in automatic manufacturing equipment for drugs, etc., 20 to 30w
Quickly accelerate, decelerate, and move to a vl number position within a certain distance of movement.
There is a request to stop it.

However, conventionally it has not been possible to meet these requirements, and since the opposing positional relationship between the secondary conductor and the primary winding changes during this movement, the characteristics of the linear motor differ for each movement, so it is necessary to match the operating characteristics. It was found that this caused the problem of not being able to do so.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a linear motor operation control device that can quickly perform acceleration, deceleration, and stopping operations at multiple positions within a primary samurai installation range and has excellent stopping accuracy.

[Summary of the invention]

The present invention is characterized in that a speed detector is provided to detect the relative speed of the primary winding and the secondary conductor, a feedback circuit is configured to match the position command and the actual speed, and the position command is within the installation range of the primary winding. Multiple locations within.

By configuring the apparatus to generate a stop position command, it is possible to perform stop positioning at a plurality of locations, thereby achieving the above object.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described with reference to FIGS. 1 to 6, taking as an example the case where the present invention is applied to a drug manufacturing apparatus. 1st
The figure shows a linear inductor motor (
(abbreviated as LIM), Fig. 2 is a configuration diagram of the drug manufacturing equipment, Fig. 3 is a thrust force characteristic diagram of LIM when the opposing positional relationship between the primary winding and secondary conductor of LIM changes, and Fig. FIG. 4 shows the speed characteristics when the facing positional relationship between the primary winding and the secondary conductor changes, and FIG. 5 shows the speed characteristics of the LIM when the present invention is applied.

First, the configuration of the chemical manufacturing apparatus will be explained with reference to FIG.

In Fig. 2, 1 is a transport vehicle, 2.2' is a linear induction motor wound around an iron core, 3 is the primary winding of the linear motor, 4 is the secondary conductor of the linear induction motor, 5 is a rail, and 6 is a Support wheel, 7 is a speed detector for determining the relative speed between the primary winding 3 and the secondary conductor 4, 8 is an ampoule installation hole, 9 is an angle for chemicals, 10 is a LIM and rail mounting leg, 11 is an angle replacement hand It is. As shown in the figure, ampules 9 are placed in ampoule installation holes 8 provided at regular intervals.

Therefore, when replacing the ampoule 9, it is necessary to move the ampoule replacement operator 11 or the carrier 1 at intervals of the ampoule installation holes 8.

The present invention is a method for moving a carrier 1, and is carried out using a linear induction motor comprising a primary winding 3 and a secondary conductor 4 attached to the carrier 1. This figure shows the process of taking ampoule 9. Transport vehicle 1 moves in the direction of the arrow and decelerates.

Control to stop. In order to replace the ampoule 9, the positional relationship of the ampoule changing handle 11 is required to be highly accurate.

However, each time the ampoule 9 is removed, the opposing positional relationship between the primary winding 3 and the secondary conductor 40 changes. The speed characteristics differ depending on the difference in the stopping position P l - P 4,
Highly accurate stopping position characteristics cannot be obtained.

For this reason, there is a method of making the secondary conductor 4 long so that it is completely opposed to the primary winding 3 within the movement range, but such a method is often not allowed because the shape becomes large. Therefore, in the present invention, even if the thrust characteristics of the LIM change due to a change in the opposing positional relationship between the primary winding and the secondary conductor, the LIM is accurately stopped at a plurality of stop positions within the installation range of the LIM.

That is, the speed detector 7 is attached to the support wheel 6 attached to the transport vehicle 1, and when the rail 5 and the support wheel 6 come into contact, the speed detector 7 is activated.
The control structure is such that the relative speed between the primary winding 3 and the secondary conductor 4 is detected, and the speed is fed back to the speed control device.

The parts and control structure of this linear motor are shown in FIG. In the figure, an L consisting of a primary winding 3 and a secondary conductor 4 of a linear motor in which a three-phase winding 61°62.63 is applied to an iron core 51 is shown.
IM, a speed detector 7 that detects the relative speed between the primary winding 3 and the secondary conductor 4, and a position detector 22 that detects the relative position of the primary winding 3 and the secondary conductor 4 or the transport vehicle 1.

The position detection point within the installation range of the LIM has a DI %D4, and is a deceleration point in relation to the secondary conductor 4 or the transport vehicle 1.

The position of the stopping point can be detected.

Next, the control operation will be explained.

The speed command device 12 generates a speed command 12a. The speed command 12d can be obtained from the information from the position detector 22, but of course can also be obtained from the time element.

This speed command 12a is compared with the actual speed 7a and input to the speed controller 13.14. The speed controller 13 operates for acceleration control, and the speed controller 14 operates for deceleration control, which are selected by a switch 17. The switch 17.degree. 16 is activated by the signal from the position detector 22.

During acceleration, the switch 17 is connected to 17a, the speed controller 13 is enabled, the phase shifter 1st is controlled, and the thyristor 203 is activated.
The voltage is controlled by controlling ~20C.

At this time, the switch 16 is connected to 16a, and the semiconductor switches 19a and 19b are turned on to perform acceleration control. A point where the secondary conductor 4 moves and reaches approximately the middle of the position detection point D+ is detected, the switch 17 is connected to 17b, the switch 16 is connected to 16b, and at the same time the speed command 12a decreases. With such an operation, the semiconductor switches 19C and 19d become conductive, I and IM operate in opposite phase, and the speed controller 14 becomes effective, controlling the phase shifter 18 and controlling 203 to 20C to adjust the speed. Directive 12
By performing voltage control according to the deviation between d and speed 7d, the speed of secondary conductor 4 or transport vehicle 1 can be controlled in accordance with speed command 12a.

Although the present invention has been described above using an example of application to a chemical manufacturing device, it goes without saying that the present invention is not limited to this.

〔Effect of the invention〕

According to the present invention, even if the thrust characteristics of the LIM change due to a change in the opposing positional relationship between the primary winding 3 and the secondary conductor 4, the speed characteristics can be made nearly uniform. Therefore, the primary winding can be quickly started and stopped at multiple positions within the installation range, and sufficient stopping accuracy can be achieved.

[Brief explanation of drawings]

The figure shows one embodiment of the present invention, and figure M1 is an operation control circuit diagram of a linear induction motor, which is a feature of the present invention.
Figure 2 is a purchasing diagram of the drug manufacturing equipment, Figure 3 is a thrust characteristic diagram of the LIM when the facing positional relationship between the primary winding and the secondary conductor of the LIM changes, and Figure 4 is the diagram of the primary winding and the secondary conductor. A speed characteristic diagram when the opposing positional relationship of the conductors changes, and FIG. 5 is a speed characteristic diagram of the LIM when the present invention is applied. DESCRIPTION OF SYMBOLS 1...Transportation truck, 2...Linear motor with wire wound around the iron core, 3...Primary winding, 4...Secondary conductor, 7...
-Speed detector, 22...Position detector, 12...Speed generator, 13.14...Speed controller.

Claims (1)

[Claims] 1. In a linear motor comprising a three-phase coil wound around a primary iron core and a secondary conductor movable by a moving magnetic field generated by the three-phase coil, the installation range of one linear motor a speed command generation means for generating speed commands for acceleration, deceleration, and stop within the device; means for detecting the relative speed of the primary iron core and the secondary conductor; and an amount of deviation between the speed command and the actual speed of the relative speed detector. An operation control device for a linear motor, comprising a speed control device for controlling the linear motor. 2. An operation control device for a linear motor according to claim 1, wherein the speed command generating means generates a command to repeat acceleration, deceleration, and stop a plurality of times within an installation range of the linear motor. 3. The linear motor operation control device according to claim 1, wherein the speed command generating means uses a time command as the acceleration command and a position command as the deceleration command.