WO2003028194A1 - Moteur lineaire avec systeme transducteur - Google Patents

Moteur lineaire avec systeme transducteur Download PDF

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Publication number
WO2003028194A1
WO2003028194A1 PCT/GB2002/004335 GB0204335W WO03028194A1 WO 2003028194 A1 WO2003028194 A1 WO 2003028194A1 GB 0204335 W GB0204335 W GB 0204335W WO 03028194 A1 WO03028194 A1 WO 03028194A1
Authority
WO
WIPO (PCT)
Prior art keywords
stator
linear motor
motor according
detector means
signal
Prior art date
Application number
PCT/GB2002/004335
Other languages
English (en)
Inventor
Ian David Rose
Original Assignee
Copley Motion Systems Llc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Copley Motion Systems Llc filed Critical Copley Motion Systems Llc
Publication of WO2003028194A1 publication Critical patent/WO2003028194A1/fr

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Classifications

    • 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
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors

Definitions

  • the following invention relates to improved means for the commutation and position control of electric linear motors.
  • the invention concerns in particular the application of this improvement to the commutation and control of a tubular linear electric motor, as described in granted UK patent no. 2,079,068B, the disclosure of which is hereby incorporated by reference.
  • Linear electric motors are now in widespread use in industrial applications requiring the rapid and accurate positioning of one component relative to another.
  • An example of such an application is, for example, the rapid and precise positioning of a test probe over a printed circuit board to check the circuit pathways thereof, prior to loading it with expensive integrated circuits.
  • a further example is one in which very smooth motion is required, with imperceptible variation in velocity of the component being moved. In either case, the achievement of tight and precise servo control is essential over the motion of the motor's armature relative to its stator.
  • the transducers provide controlling signals to electrical circuits powering the coils of the motors, as well as to software used for the servo positioning of the armature of the motor.
  • the transducers may be mounted, for example, on the armature of the motor, and as this traverses the stator, so cyclical signals are provided indicating the position of the armature relative to its stator. The signals vary in accordance with the strength of the repeating sequence of magnetic fields emanating from the stator.
  • the signal provided by the transducers approximates to a sinusoid, reflecting the sinusoidal variation in magnetic field strength along the length of the stator.
  • An example of the use of such transducers is described in granted UK patent no. 2,235,783, the disclosure of which is hereby incorporated by reference.
  • the signals must truly indicate the position of the stator of the motor relative to its armature.
  • the signals Were the signals to vary not as a result of relative motion, but through some other effect, a misrepresentation would be provided to the servo control hardware and software controlling the motion of the motor, as well affecting the predetermined regularity of commutation of the armature coil currents essential for a smooth and consistent motion. Such a misrepresentation compromises the degree of servo control possible, sometimes seriously.
  • the stator of the motor comprises a hollow tube housing a sequence of axially magnetised permanent magnets, spaced one from the other, and each in repulsion to its neighbour.
  • the armature of the motor comprises a cylinder for travelling coaxially along the tubular stator of the motor.
  • the cylinder houses a sequence of contiguous annular coils.
  • a common arrangement enabling the commercial use of this form of linear motor is for its load bearing armature to be guided along its length of travel, by a precision -and usually very straight- linear bearing.
  • the tubular stator of the motor is supported at each of its ends, to permit travel of the cylindrical housing coaxially along its length.
  • the inside diameter of the annular coils of the motor is designed to be sufficiently large to ensure a good air gap exists between the coils and the tube passing therethrough, so as to avoid any possibility of the two components scraping in use.
  • the stator sags under the influence of gravity. This is especially the case if the length of travel is long, for example, over a metre.
  • this arbitrary variation provides a false indication to the commutation circuitry as to the position of the armature relative to its stator, and thus compromises the accuracy of the commutation of the coil currents, leading to errors in servo control. It also compromises the possible use of the analogue signal provided by the transducer, as used to indicate the lateral position of the armature relative to its stator for the purposes of servo-controlled positioning control. Bearing in mind the earlier mentioned typical sinusoidal variation of such a signal, a moment's thought shows how any arbitrary variation is especially critical near its peak value.
  • a linear motor comprising: a stator; a first set of magnetic field strength detectors, said first set comprising at least two magnetic field strength detectors separated one from the other circumferentially around said stator so as to provide signals that can be combined to ameliorate the detrimental effect of any unstraightness of the stator and/or any misalignment of magnets in the stator.
  • a preferred embodiment comprises an arrangement of Hall effect transducers for the commutation and/or control of a linear electric motor is provided in which an array of three or more transducers are located and separated one from the other circumferentially around the stator of a linear motor, and in terms of their longitudinal spacing one from the other along the length of the stator, being sufficiently close as to ensure that each is affected to the same degree by any local sag in the stator of the motor, for each providing an electrically separate signal corresponding to the strength of flux fields emanating from the stator, the vector values of each of the separate signals being subsequently combined arithmetically to provide a single signal.
  • the signal magnitudes from each individual detector of the set may be summed electronically by the use of e.g. operational amplifiers, or their respective signals may be converted to digital values and then summed by a software algorithm.
  • the arrangement of the invention thereby substantially eliminates any effect of unstraightness of the stator, e.g. sag, inasmuch that should the stator sag, the augmentation in signal received by the transducer or transducers nearest the stator, will be compensated for by the diminished signal contributed by the transducer or transducers furthest from the stator.
  • three circumferentially equi-spaced transducers are used, i.e. at 120 degrees from one another. This provides the most economical solution to cope with any direction of sag of the stator of the motor.
  • any external field acting on the transducers will distort their true outputs.
  • the external variation may occur due to other magnetic fields present adjacent to the travel of the armature, or, due to the physical presence of the transducers on the armature, in which stray fields arising from the very energisation of the armature coils can be created.
  • a linear motor comprising: a stator; a first detector means; a second detector means separated longitudinally along said stator from said first detector means, said longitudinal separation being substantially equal to, or a multiple of, half a full cyclical pole pitch of the magnets of the stator, such that the signals produced by the first and second detector means in use are in anti-phase.
  • each detector means comprises one of the said detector sets.
  • a further set of transducers is located circumferentially around the stator of the motor, but spaced from the first set axially along the length of the stator by half a full cyclical pole pitch of the magnets, thereby providing a signal which is in anti-phase to the signal provided by the first set, the signal from the first set being combined with that of the second set by differential addition, the overall signal thus representing the combination of the first set signal and the second set signal, the arrangement providing as a result of the differential addition, a means of substantially eliminating the effect of any parasitic magnetic fields acting together upon the two sets of detectors.
  • the elimination of the effect of a parasitic field disadvantageously acting upon the transducers occurs inasmuch that such a field, acting on the two sets together in the same sense, is eliminated by the differential addition of the two Hall effect signals.
  • the signals emanating from the detector sets are in anti-phase, and therefore combine to provide an overall signal which is substantially immune from the effect of parasitic fields.
  • four sets of detectors are used.
  • the first set is used to detect the magnetic signal from -by way of reference-say a south pole, and the second set is positioned a full magnet's pitch -or integral multiple thereof- away from the first, in order to provide the anti-phase signal -according to the above described feature of the invention, for combining with the first detector set signal to substantially eliminate the effects of parasitic fields acting thereon.
  • the third set is displaced along the length of the stator by half a full magnet pitch from the first set so providing (together with the first set) two varying signals displaced in phase by 90 degrees. (The 90 degrees offset arrangement is commonly used by servo controllers and the like for deducing, from the phase displaced signals, the physical position of the armature relative to the stator, as well as the direction of travel.
  • the fourth set is then positioned a full magnets pitch (half a full cyclical pole pitch) away (or multiple as just described) from the third set, in order to provide the antiphase signal for combining with the third detector set signal.
  • the detector sets described above can extend for some length along the length of the stator of the motor.
  • the total array length will be 62.4mm.
  • the whole array may be positioned at one end of the armature of the linear motor.
  • parasitic fields arising from the end armature coil (housed in effect at the furthest extent of the armature and therefore nearest the first detector set), will affect this first set considerably more than fourth set, positioned, e.g. as mentioned above, some 62.4 mm away. This may result in the parasitic field balancing circuit working more effectively for the first and second sets, than for the third and fourth sets.
  • the first and second sets are located at one end of the armature, while the third and fourth sets are located symmetrically at the other end of the armature.
  • the distance which spaces the parasitic fields emanating from the armature acting on each of the third and fourth sets is the same as that of the first and second sets.
  • a further refinement is the accommodation of one or more temperature sensing transducers, for sensing the local temperature of the stator adjacent to each detector set or detector means, and thus enabling compensation for any change in field emanating from the permanent magnets resulting from their warming during use of the linear motor.
  • Fig 1 shows a schematic representation of a three Hall effect transducer set, according to the invention, placed relative to a stator of a tubular permanent magnet linear motor;
  • Fig la shows a stator of extended length, and bowing under the effect of gravity
  • Fig 2 shows a circuit schematic used for combining the signals
  • Fig 3 a shows two detector sets for enabling signal compensation due to the effect of parasitic fields
  • Fig 3b shows a circuit for combining the signal provided by the two sets of Fig 3 a;
  • Fig 4 shows an array of four detector sets, providing a full set of signals for position control and/or commutation of the motor's armature coils
  • Fig 5 shows a full circuit schematic for receiving and processing the signals provided by the array of Fig 3; and Fig 6 shows a linear motor armature with the detector sets mounted at each extremity thereof.
  • the magnetic stator of a tubular linear motor is depicted at 10. It will be seen that this houses a series of permanent magnets 11, spaced one from the other, and alternating in magnetic polarity.
  • a set of three Hall effect transducers, 12, 13 and 14 are located at 120 degree spacing circumferentially -in the same plane- around the stator. Each of these produces a signal, 15, according to the strength of the magnetic field emanating radially from the stator.
  • the stator of the motor sags due to gravity, especially over extended lengths, see Fig la, where this is shown in exaggerated form for the purpose of clarity.
  • the top sensor of the set is closer to the tube at one end, than at the middle, 17.
  • the signal after due processing by electronic circuitry, may have a peak value of 5.0 volts. A displacement to either side by a few millimetres might reduce this to 4.5 volts. At the centre, the peak value might only achieve a value of 4.5 volts. This both compromises use of the signal for position detection, as well as its use for . commutating smoothly the coils of the motor.
  • the detector set of the preferred embodiment of the invention substantially eliminates this effect as follows.
  • the signals produced by the three transducers are summed arithmetically in a first combiner. This can be achieved electronically, or by software algorithms.
  • a combiner circuit for summing the signals arithmetically is shown at Fig 2. Resulting from this, any arbitrary decrease in the signal received by the top sensor, as just described, is compensated for by the augmented signal received by the lower sensors. Because the sensors are placed at 120 degrees, the direction of sag is unimportant, so enabling the motor to be used in any plane. A highly effective, and simple solution is thereby provided, for furnishing a consistent signal both for the commutation of the motor, as well as for position control.
  • the arrangement of the detector set also compensates for any diametrical displacement variation of the magnets within their surrounding tube, and thus radial distance variation between them and the transducers, arising for example due to manufacturing tolerance variations,
  • a linear motor may be exposed to external parasitic fields, due to proximity with other magnetic equipment.
  • the armatures of linear motors create their own parasitic fields, arising from their very operation. These fields may act detrimentally upon the detection set described, inasmuch that the transducer outputs are affected not only by the stator fields, but also by any parasitic fields present.
  • a second detector set 19 is positioned along the direction of the travel of the stator, away from the first set 20, by half a full magnetic cyclical pitch, 1. In other words, when one detector set is situated over a north pole, the next detector set is situated over a south pole, and so on.
  • the signals so generated by the second set are in anti-phase to those generated by the first set.
  • These are combined, for example, by a second combiner circuit such as the differential electronic amplifier shown at Fig 3b. Because they are in anti-phase, but are combined differentially, as shown at 21, the resultant output is equal to their signed mathematical sum. However, any parasitic magnetic field present acts of course upon each detector set in the same sense.
  • the resultant signal can be used both for smooth commutation of the coils of the motor, as well as for position control.
  • commercial position controllers used for servo positioning of electric motors normally require the supply of position indicating signals which are displaced one from the other by a 90 degree phase shift. This provides sufficient information both for deriving the absolute position of the motor, as well as its direction of travel.
  • the two detector sets 22 and 23 function exactly as described above with reference to Figs 1 to 3.
  • the second pair of detector sets 24 and 25 is displaced from the first two sets by a 90 degree magnetic phase shift. In other words, when for example the first set 22 is sited over magnets, the other two sets 24 and 25 are sited over the gaps between them, as shown in Figure 4.
  • Fig 5 shows an overall schematic circuit diagram for processing the signal provided by arrays 22to 25, and the supply of the two phase shifted output signals. It can be seen that the individual detector outputs of a set are combined in a first signal combiner and that the resulting signal is combined with the signal which it is in anti-phase in a second combiner, to provide a pair of signals which can be used to control the motor and which are free of the effects of an unstraight stator or parasitic magnetic fields.
  • a linear motor armature 28 is shown with a pair of detector sets mounted at each end, as shown at 29 and 30.
  • the spacing between the detector sets at each end of the armature is a multiple of magnetic pole pitches, plus one half, such that their outputs are again displaced by 90 degrees, as in Fig 4.
  • the purpose of this arrangement is as follows. Due to the fact that each detector set is equi-spaced from the end armature coil adjacent to it, the degree of parasitic magnetic interference acting on each array at each end is equal, given correct phasing of the armature coils. This is in contrast to the arrangement shown in Fig 4, which, were it to be mounted at one end of the motor, a different degree of interference would be experienced on the array further from the motor, compared to that nearest, thereby leading to an imbalance in the signals provided.
  • three magnetic field strength detectors in a detector set is merely preferred.
  • two detectors may be used in the set circumferentially separated by 180 degrees and vertically aligned so that any augmentation of one signal caused by bowing is accompanied by a depletion of the other signal.
  • Other circumferential separations may be used if different signal combining algorithms (i.e. other than simply summing the signals) are used.
  • the invention is applicable to magnetic field strength detectors in general although Hall effect transducers are preferred.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Linear Motors (AREA)

Abstract

La présente invention concerne un système de détecteurs d'intensité de champ magnétique destiné à la communication et/ou à la commande d'un moteur électrique linéaire, le système comprenant soit un ensemble d'au moins deux détecteurs (12, 13, 14) séparés entre eux d'un point de vue circonférentiel dans le même plan, soit un ensemble d'au moins deux détecteurs (18, 19) séparés d'un point de vue longitudinal par la moitié d'un pas polaire cyclique entier des aimants du stator auquel le système est appliqué. Le premier système dans lequel les détecteurs sont séparés d'un point de vue circonférentiel, permet de réduire l'effet négatif de la non linéarité du stator (par ex. le fléchissement dû à la gravité) et/ou tout défaut d'alignement des aimants dans le stator. Le second système dans lequel les détecteurs sont séparés d'un point de vue longitudinal, permet de fournir deux signaux qui sont en opposition de phase, ces signaux pouvant être combinés de manière à éliminer toutes les composantes de signal résultant de champs magnétiques parasites. Les deux systèmes peuvent être combinés sous la forme d'un mode de réalisation préféré.
PCT/GB2002/004335 2001-09-25 2002-09-25 Moteur lineaire avec systeme transducteur WO2003028194A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0123034.1 2001-09-25
GB0123034A GB0123034D0 (en) 2001-09-25 2001-09-25 Improved hall effect transducer arrangement for the control of linear motors

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WO2003028194A1 true WO2003028194A1 (fr) 2003-04-03

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006011341A1 (fr) * 2004-07-29 2006-02-02 Matsushita Electric Industrial Co., Ltd. Moteur linéaire de type arbre, tête de montage et dispositif de montage de composant avec le moteur linéaire et méthode de détection de position d’arbre pour entraîner le moteur linéaire
JP2006180645A (ja) * 2004-12-24 2006-07-06 Matsushita Electric Ind Co Ltd 多軸リニアモータ、及び該多軸リニアモータを利用する実装ヘッド、部品実装装置、並びに磁力遮蔽材及び磁力遮蔽方法
EP2169356A1 (fr) 2008-09-25 2010-03-31 Nti Ag Dispositif de détermination de la position axiale du rotor d'un moteur linéaire
US8090482B2 (en) 2007-10-25 2012-01-03 Lord Corporation Distributed active vibration control systems and rotary wing aircraft with suppressed vibrations
US8162606B2 (en) 2004-08-30 2012-04-24 Lord Corporation Helicopter hub mounted vibration control and circular force generation systems for canceling vibrations
US8267652B2 (en) 2004-08-30 2012-09-18 Lord Corporation Helicopter hub mounted vibration control and circular force generation systems for canceling vibrations
US8313296B2 (en) 2004-08-30 2012-11-20 Lord Corporation Helicopter vibration control system and rotary force generator for canceling vibrations
US8480364B2 (en) 2004-08-30 2013-07-09 Lord Corporation Computer system and program product for controlling vibrations
JP2020169917A (ja) * 2019-04-04 2020-10-15 日本電産株式会社 信号処理回路、モータの駆動システム

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55127892A (en) * 1979-03-26 1980-10-03 Hitachi Ltd Method for controlling linear motor
JPH02241354A (ja) * 1989-03-10 1990-09-26 Ricoh Co Ltd 可動コイル型リニアモータ
JPH0787619A (ja) * 1993-06-25 1995-03-31 Shinko Electric Co Ltd リニアモ−タ式搬送装置の台車検知装置
JPH10225095A (ja) * 1997-01-31 1998-08-21 Matsushita Electric Works Ltd 直流リニアモータ
US6008552A (en) * 1996-12-30 1999-12-28 Minolta Co., Ltd. Linear drive device
EP1014539A2 (fr) * 1998-12-21 2000-06-28 Sulzer Electronics AG Moteur linéaire avec stockage de ses donneés charactéristiques

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55127892A (en) * 1979-03-26 1980-10-03 Hitachi Ltd Method for controlling linear motor
JPH02241354A (ja) * 1989-03-10 1990-09-26 Ricoh Co Ltd 可動コイル型リニアモータ
JPH0787619A (ja) * 1993-06-25 1995-03-31 Shinko Electric Co Ltd リニアモ−タ式搬送装置の台車検知装置
US6008552A (en) * 1996-12-30 1999-12-28 Minolta Co., Ltd. Linear drive device
JPH10225095A (ja) * 1997-01-31 1998-08-21 Matsushita Electric Works Ltd 直流リニアモータ
EP1014539A2 (fr) * 1998-12-21 2000-06-28 Sulzer Electronics AG Moteur linéaire avec stockage de ses donneés charactéristiques

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Title
PATENT ABSTRACTS OF JAPAN vol. 004, no. 185 (E - 038) 19 December 1980 (1980-12-19) *
PATENT ABSTRACTS OF JAPAN vol. 014, no. 560 (E - 1012) 13 December 1990 (1990-12-13) *
PATENT ABSTRACTS OF JAPAN vol. 1995, no. 06 31 July 1995 (1995-07-31) *
PATENT ABSTRACTS OF JAPAN vol. 1998, no. 13 30 November 1998 (1998-11-30) *

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006011341A1 (fr) * 2004-07-29 2006-02-02 Matsushita Electric Industrial Co., Ltd. Moteur linéaire de type arbre, tête de montage et dispositif de montage de composant avec le moteur linéaire et méthode de détection de position d’arbre pour entraîner le moteur linéaire
JP2006067771A (ja) * 2004-07-29 2006-03-09 Matsushita Electric Ind Co Ltd シャフト型リニアモータ、該リニアモータ備える実装ヘッド及び部品実装装置、並びに該リニアモータ駆動用シャフトの位置検出方法
US8480364B2 (en) 2004-08-30 2013-07-09 Lord Corporation Computer system and program product for controlling vibrations
US8162606B2 (en) 2004-08-30 2012-04-24 Lord Corporation Helicopter hub mounted vibration control and circular force generation systems for canceling vibrations
US8267652B2 (en) 2004-08-30 2012-09-18 Lord Corporation Helicopter hub mounted vibration control and circular force generation systems for canceling vibrations
US8313296B2 (en) 2004-08-30 2012-11-20 Lord Corporation Helicopter vibration control system and rotary force generator for canceling vibrations
US9073627B2 (en) 2004-08-30 2015-07-07 Lord Corporation Helicopter vibration control system and circular force generation systems for canceling vibrations
US10392102B2 (en) 2004-08-30 2019-08-27 Lord Corporation Helicopter vibration control system and circular force generation systems for canceling vibrations
JP4731903B2 (ja) * 2004-12-24 2011-07-27 パナソニック株式会社 部品実装用実装ヘッド、及び該実装ヘッドを備えた部品実装装置
JP2006180645A (ja) * 2004-12-24 2006-07-06 Matsushita Electric Ind Co Ltd 多軸リニアモータ、及び該多軸リニアモータを利用する実装ヘッド、部品実装装置、並びに磁力遮蔽材及び磁力遮蔽方法
US9776712B2 (en) 2005-08-30 2017-10-03 Lord Corporation Helicopter vibration control system and circular force generation systems for canceling vibrations
US8090482B2 (en) 2007-10-25 2012-01-03 Lord Corporation Distributed active vibration control systems and rotary wing aircraft with suppressed vibrations
US8639399B2 (en) 2007-10-25 2014-01-28 Lord Corporaiton Distributed active vibration control systems and rotary wing aircraft with suppressed vibrations
EP2169356A1 (fr) 2008-09-25 2010-03-31 Nti Ag Dispositif de détermination de la position axiale du rotor d'un moteur linéaire
JP2020169917A (ja) * 2019-04-04 2020-10-15 日本電産株式会社 信号処理回路、モータの駆動システム

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