WO2005027323A1 - リニアモータ - Google Patents
リニアモータ Download PDFInfo
- Publication number
- WO2005027323A1 WO2005027323A1 PCT/JP2003/011430 JP0311430W WO2005027323A1 WO 2005027323 A1 WO2005027323 A1 WO 2005027323A1 JP 0311430 W JP0311430 W JP 0311430W WO 2005027323 A1 WO2005027323 A1 WO 2005027323A1
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- Prior art keywords
- coil
- phase
- magnet
- section
- magnetic flux
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Classifications
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- 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
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- 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
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- 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 present invention relates to a moving magnet type linear motor.
- a linear motor includes a stator part and a mover part.
- the stator section is configured by arranging a plurality of permanent magnets (hereinafter, collectively referred to as magnets) or electric magnets (hereinafter, collectively referred to as electromagnets) in a running direction.
- the mover section has a coil and is configured to be movable with a gap with respect to the magnet. It is necessary to supply power to the coil according to the weight of the mover part and the load weight mounted on the mover part, and it is necessary to supply power through wiring to the coil that moves. For this reason, the wiring between the mover section and the stator section requires some contrivance. If a battery is mounted on the mover section and power is supplied to the coil, wiring between the mover section and the stator section can be eliminated. I cannot do this long running.
- a linear motor having a coil as a mover has a problem of heat generation in the coil. In other words, various measures are needed to cool the heat generated by the moving coil.
- This type of linear motor has a stator portion in which a plurality of coils are arranged in series in the running direction.
- the mover section has one or more magnets, and is configured to be movable with a gap with respect to the coil (see, for example,
- a position detecting device is required to stop the mover portion at a predetermined position.
- Conventional linear motors have a linear scale installed along the running direction on the stator side to detect the position of the mover section, Is provided with a magnetic sensor facing the linear scale. That is, the position of the mover unit is detected by a position detecting device based on a combination of a linear scale and a magnetic sensor. By controlling the current to the coil based on the value detected by the position detection device, travel control and standing control of the mover are performed.
- an object of the present invention is to provide a movable magnet type motor that enables traveling control without a re-scale.
- Another object of the present invention is to provide a movable magnet type linear motor capable of position control without a linear scale. Disclosure of the invention
- the linear motor according to the present invention is combined with a stator section having a coil section fixedly arranged side by side in a moving direction and a movable section in the moving direction by acting on magnetic flux generated in the coil section.
- Mover section having at least two magnets.
- the stator section has an N-phase (where N is an integer of 3 or more) coil section through which a current having a phase difference flows as the coil section.
- the coil section of each phase is composed of a pair of a first coil wound clockwise and a second coil wound counterclockwise, which are adjacent to each other in the moving direction and are connected in series in multiple pairs in the moving direction. Consisting of Assuming that the extension length of the first coil and the second coil is 360 degrees, the coil portion of the second phase is (360 ZN) degrees with respect to the coil portion of the first phase, and the third coil portion is the third phase coil portion.
- the phase coil section is (360 ZN) degrees to the second phase coil section, and the N phase coil section is (360 ZN) to the (N-1) phase coil section. ) It is shifted in the direction of movement only by degrees and is placed one above the other.
- a magnet is combined with the N-phase coil.
- the length in the moving direction of the magnet is set to 1 Z2 or less of the wavelength of the magnetic flux formed by the coil.
- the first magnetoelectric conversion element is attached to the mover portion at a position away from the center of the magnet by a predetermined distance in the movement direction. Control of current to each coil unit is performed based on the output of the first magnetoelectric conversion element.
- the stator section has a phase difference of 90 degrees as the coil section. It has A-phase and B-phase coils through which current flows.
- the coil section of each phase is composed of a pair of a first coil wound clockwise and a second coil wound counterclockwise that are adjacent to each other in the moving direction and are connected in series in a plural number in the moving direction. Do it. Assuming that the extension length of the first coil and the second coil is 360 degrees, the B-phase coil is shifted by 90 degrees with respect to the A-phase coil in the movement direction, and the force is superposed. Will be installed. A magnet is combined with the A-phase and B-phase coils.
- the length of the magnet in the direction of movement is less than half the wavelength of the magnetic flux formed by the coil.
- the first magnetoelectric conversion element is attached to the mover portion at a position separated from the center of the magnet by a predetermined distance in the movement direction. Control of current to each coil unit is performed based on the output of the first magnetoelectric conversion element.
- the coil portion is installed such that the laminating direction of each phase is the same as the direction in which magnetic flux is generated, and the magnet is a coil having a substantially inverted U shape and laminated. Combined to straddle the parts. As a result, one magnetic pole of the magnet opposes with a gap on one of both side surfaces of the laminated coil portion, and the other magnetic pole of the magnet faces with a gap on the other side surface of the laminated coil portion. To be done.
- the two or more magnets are arranged in the moving direction such that different magnetic poles are adjacent to each other. .
- the detection signal of the first magneto-electric conversion element is a radio signal and the optical signal is transmitted to a receiver installed on the fixed unit side as an optical signal.
- the predetermined distance between the center of the magnet and the first magnetoelectric conversion element is a value that is an integral multiple of 1/2 wavelength of the magnetic flux formed by the coil. Preferably.
- the mover portion is further provided on a line connecting the center of the magnet and the first magnetoelectric conversion element and at a different position from the first magnetoelectric conversion element.
- At least one second magnetoelectric conversion element may be attached.
- the distance between the first magnetoelectric conversion element and the second magnetoelectric conversion element is set to a value of 1/4 wavelength of the magnetic flux formed by the coil.
- the detection signals of the first magnetoelectric conversion element and the second magnetoelectric conversion element are radio signals or optical signals, which are sent to a receiver installed on the fixed part side. Change
- FIG. 1 is a diagram showing a first embodiment of a linear motor according to the present invention and a schematic configuration of a control system thereof.
- FIG. 2 is a diagram for explaining a three-phase coil portion when the present invention is applied to a three-phase reduced motor.
- FIG. 3 is a diagram showing a relationship between a coil portion and a magnet portion in a three-phase linear motor according to the present invention.
- FIG. 4 is a waveform diagram showing an example of a current waveform flowing through each coil portion of the three-phase reduced motor according to the present invention.
- FIG. 5 is a diagram for explaining the force acting on the magnet unit due to the interaction between the three-phase coil unit and the magnet unit in the three-phase linear motor according to the present invention.
- FIGS. 6 (a) and 6 (b) are waveform diagrams for explaining the principle that the magnet section moves due to the interaction between the three-phase coil section and the magnet section in the three-phase linear motor according to the present invention.
- FIGS. 7 (a) and 7 (b) are waveform diagrams for explaining the principle that the magnet section moves due to the interaction between the three-phase coil section and the magnet section in the three-phase linear motor according to the present invention.
- FIGS. 8 (a) and 8 (b) are waveform diagrams for explaining the principle that the magnet section moves due to the interaction between the three-phase coil section and the magnet section in the three-phase linear motor according to the present invention.
- FIGS. 9 (a) and 9 (b) are waveform diagrams for explaining the principle that the magnet section moves due to the interaction between the three-phase coil section and the magnet section in the three-phase linear motor according to the present invention.
- FIGS. 10 (a) and 10 (b) are diagrams for explaining the positions of the hole elements provided in the three-phase linear motor according to the present invention.
- FIGS. 11 (a) to 11 (c) show the housing provided in the three-phase linear motor according to the present invention. It is a diagram for explaining the function of the
- FIGS. 12 (a) to 12 (c) illustrate the case where the amplitude control of the coil current is performed using the detection signal of the hall element provided in the three-phase linear motor according to the present invention. It is a diagram for
- FIG. 13 is a diagram for explaining the relationship between the two-phase coil unit and the magnet unit and the mounting position of the Hall element when the present invention is applied to a two-phase linear motor.
- FIGS. 14 (a) to 14 (c) are diagrams for explaining a case where two or more magnets are provided in the magnet portion of the linear motor according to the present invention.
- FIGS. 15 (a) to 15 (d) are views for explaining a case where two Hall elements are mounted on the linear motor according to the present invention to perform position control.
- FIG. 16 is a block diagram illustrating the configuration of the control unit illustrated in FIG. 1, and FIG. 17 is a diagram illustrating the operation principle of the linear motor.
- the rear motor to which the present invention is applied is a movable magnet type, and a rectangular coil 100 is fixed to the installation surface of the fixing portion 200.
- the coil 100 is set up so that the direction in which the magnetic flux is generated becomes ⁇ ⁇ ⁇ ⁇ with respect to the installation surface.
- the coil 100 is erected such that two of the four sides are perpendicular to the installation surface.
- the magnet section 300 is composed of a permanent magnet body (hereinafter, referred to as a magnet body) 301 and yoke sections 302, 303 extending downward from both pole ends. And has a substantially inverted U-shape.
- yoke portion 302 is an S pole
- yoke portion 303 is a ⁇ pole
- the magnetic pole surfaces of the S pole and ⁇ pole are opposed to coil 100 with a gap therebetween.
- the magnet section 300 is freely movable in a direction indicated by an arrow 300 through a support section (not shown).
- the length of the magnet section 300 in the moving direction is set to be equal to or less than the extension length of one coil 100 in the moving direction.
- FIG. 17 shows only one coil 100 for simplicity of explanation.
- the linear motor according to the present invention uses a three-phase or two-phase coil.
- a case where a three-phase coil is used will be described as a first embodiment of the present invention.
- the three-phase coil section has a U-phase coil section 10U, a V-phase coil section 10V, and a W-phase coil section 10W.
- the U-phase coil unit 10U has a pair of a rectangular first coil wound a plurality of times clockwise and a rectangular second coil wound a plurality of times counterclockwise.
- the pair of coils are arranged adjacent to each other in the moving direction of the mover section and are connected in series. Also, a plurality of pairs of coils are arranged in the moving direction and connected in series.
- the moving direction of the mover unit is simply referred to as a moving direction.
- the U-phase coil unit 10U is erected so that the direction in which the magnetic flux is generated is perpendicular to the moving direction and the direction of the TO is on the capping surface.
- the four sides of the rectangular coil are erected so that two sides are perpendicular to the installation surface.
- the extension length of the pair of coils is 360 degrees [2 ⁇ (rad)].
- a V-phase coil 10V and a W-phase coil 10W are made.
- the V-phase coil unit 10 V is arranged 120 ° [2 ⁇ / 3 (rad)] shifted from the U-phase coil unit 10U.
- the W-phase coil section 10W is placed 120 degrees shifted from the V-phase coil section 10V.
- the U-phase coil unit 10U, the V-phase coil unit 10V, and the W-phase coil unit 10W are stacked.
- the lamination direction is the direction in which the magnetic flux is generated, that is, the direction perpendicular to the moving direction and the direction on the installation surface.
- the three-phase coil is composed of a U-phase coil unit 10U, a V-phase coil unit 10V arranged 120 degrees shifted from the U-phase coil unit 10U, and a W-phase unit arranged 240 degrees shifted from the U-phase coil unit 10U. It has a configuration in which a coil section of 10 W is laminated.
- currents having a phase difference of 120 degrees are applied to the U-phase coil unit 10 U, the V-phase coil unit 10 V, and the W-phase coil unit 10 W, magnetic flux is generated in the same direction.
- Each coil is a so-called complete air-core coil with multiple windings concentrically wound. Is good.
- the magnet part 30 is composed of a magnet body 31 and yoke parts 32, 33 vertically extending from both pole ends thereof, and has a substantially inverted U shape. It has a character shape.
- the entire magnet section 30 may be constituted by one magnet, or the yoke sections 32 and 33 may be provided with magnets. In any case, the entire magnet section 30 can be regarded as one magnet.
- the magnet section 30 is installed so as to straddle a stacked three-phase coil (hereinafter, referred to as a laminated coil section).
- the yoke portion 32 is an S-pole and the yoke portion 33 is an N-pole, and the S-pole and the N-pole oppose each other with a gap on both side surfaces of the laminated coil portion.
- the extension length of the magnet section 30 in the moving direction is set to 1 or less of the wavelength of the magnetic flux formed by the laminated coil section.
- the magnet section 30 can be moved in the direction indicated by the arrow 37 along the guide section via a support section (not shown).
- the magnet part 30 is movably combined with the laminated coil part, and as shown in Fig.
- FIG. 5 shows three forces acting on the magnet part 30 by the U-phase, V-phase, and W-phase coil parts at the timing of TZ4 in FIG. 4 and their resultant forces.
- FIG. 5 for example, at position A, the force acting on the magnet section 30 by the U-phase coil section 10 U is 0, and the V-phase coil section 10 V and the W-phase coil section 10 W apply a force to the magnet section 30.
- the acting forces are the same in opposite directions. Therefore, the sum of the above three forces is zero.
- position B the force acting on the magnet section 30 by the U-phase coil section 10 U is maximum, and the force acting on the magnet section 30 by the V-phase coil section 10 V and the W-phase coil 10 W is They have the same value and the same orientation. Therefore the sum of the above three forces is maximum.
- the force acting on the magnet part 30 is shifted between A and C in FIG. 5, ie, rightward in FIG. 5, and is shifted between C and E, or leftward in FIG.
- Figs. 6 (a), 6 (b) to 9 (a), 9 (b) show the interaction between the current flowing in the three-phase laminated coil section and the magnet section 30 as described above.
- the principle of the movement of the magnet unit 30 is shown in order.
- the magnet portion 30 has an extension length of the magnetic flux formed by the coil portion. It is assumed that the wavelength is half of the wavelength.
- FIGS. 10 to 15 described later show the waveforms of the synthetic magnetic flux.
- Fig. 6 (b), Fig. 7 (b), Fig. 8 (b), and Fig. 9 (b) show current waveforms, and the horizontal axis shows time.
- Figure 6 shows that when the three-phase coil current is at time Ta, that is, when the U-phase current value is the maximum positive value and the V-phase and W-phase current values are the same negative value, The three forces acting on the magnet unit 30 due to the interaction with the magnetic flux of the magnet unit 30 and the resultant force thereof are shown.
- Fig. 7 shows that the maximum value of the resultant force changes from point A in Fig. 6 (a) to point B in Fig. 7 (a), that is, in Fig. 7 (a), when the coil current of each phase changes to the value at time Tb. This indicates that it has shifted to the right ⁇ j. Thereby, the magnet unit 30 moves rightward in the figure.
- Fig. 8 shows that the maximum value of the resultant force shifted from point B in Fig. 7 (a) to point C on the right side in Fig. 8 (a) as the coil current of each phase changed to the value at time Tc. Is shown. Thereby, the magnet unit 30 further moves rightward in the figure.
- Figure 9 shows that the maximum value of the resultant force shifted from point C in Fig. 8 (a) to point D on the right side in Fig. 9 (a) as the coil current of each phase changed to the value at time Td. ing. Thereby, the magnet unit 30 further moves rightward in the figure.
- the magnet unit 30 is movable.
- the magnet unit 30 cannot be accurately driven by the magnetic flux of the laminated coil unit. In this case, it is not known whether or not the magnet unit 30 is moving without delay with respect to the magnetic flux of the laminated coil unit.
- the linear motor according to the present embodiment is, as shown in FIG. 10, positioned at a predetermined distance from the center of the magnet main body 31 in the movement direction.
- a Hall element (first Hall element) 40 is provided as a magnetoelectric conversion element.
- a magneto-electric conversion element is an element that converts a magnetic field strength into an electric signal, and a Hall IC, a Hall element, a magneto-resistance element, and the like are known. In the present invention, it is good to use any of these elements. / I will explain.
- FIGS. 10 (a) and 10 (b) show the composite magnetic flux waveforms of the three-phase laminated coil portion.
- the Hall element 40 is for measuring the magnetic field strength, and is movable together with the magnet body 31.
- the predetermined distance is an integer multiple of 1 Z 2 wavelength of the magnetic flux (synthetic magnetic flux) of the laminated coil from the center of the magnet main body 31 in a state where the magnet main body 31 is balanced against the right and left forces. It is a place that has advanced in the moving direction.
- the extension length of the magnet body 31 in the moving direction is set to 1 of the wavelength of the synthetic magnetic flux formed by the laminated coil portion.
- FIG. 10 (a) shows an example in which the Hall element 40 is attached at a position advanced in the moving direction by twice the half wavelength of the magnetic flux of the laminated coil.
- FIG. 10 (b) shows an example in which the Hall element 40 is attached to a position advanced in the moving direction by one half wavelength of the magnetic flux of the laminated coil portion.
- FIG. 10A When the magnetic field strength is measured by the Hall element 40 while the magnet body 31 is moving, as shown in Fig. 11 (a), when the center of the magnet body 31 is at the position of the composite magnetic field strength 0, that is, in the synchronized state When moving, the Hall element 40 is also at the position of the synthetic magnetic field strength 0, and no output appears.
- FIG. 11 (b) for example, when the magnet body 31 is moved out of synchronization and the movement of the magnet body 31 is delayed, the center of the magnet body 31 also deviates from the position of the synthesized magnetic field strength 0, and the Hall element 40 is synthesized. It is located slightly before the position where the magnetic field strength is zero.
- the Hall element 40 generates an output (positive value) corresponding to the combined magnetic field strength at that position.
- the Hornel element 40 is positioned further forward than in the case of FIG. 11 (b). Will be.
- the Hall element 40 generates an even larger output than in the case of FIG. 11 (b).
- the hole element 40 responds to the delay. Generate a value detection signal.
- This detection signal is fed back to a control unit described later.
- the control unit is as shown in Fig. 12.
- the traveling control for moving the magnet body 31 so as to reliably follow the magnetic flux of the coil portion is performed.
- the traveling control of the magnet body 31 may be performed by shifting the phase of the coil current according to the delay of the magnet body 31.
- the Hall element 40 outputs a positive detection signal if the magnet main body 31 is delayed, but outputs a negative detection signal if the magnet main body 31 advances too much.
- the control section executes a control operation for increasing the leftward force applied to the magnet main body 31 by increasing the amplitude of the coil current and for shifting the phase or the phase in the opposite direction.
- the amplitude or phase control of the coil current is performed at the same ratio for each of the three phases.
- the control unit controls the traveling so that the center of the magnet main body 31 is always near the position of the synthetic magnetic field strength 0 during the traveling of the magnet main body 31.
- Figure 10 (b) differs from Figure 10 (a) in the following respects.
- the position at which the Hall element 40 is attached is different as described above.
- the Hall element 40 differs in that it produces an output with a negative value.
- the aspects other than these points in FIG. 10 (b) are the same as those in FIG. 10 (a).
- FIG. 1 shows a configuration diagram of a linear motor and a control system thereof according to a first embodiment of the present invention.
- the magnet section 30 is attached to the slider 50.
- the slider 50 is supported so that it can move in the direction in which the laminated coil section consisting of the U-phase coil section 10 U, the V-coil coil section 10 V, and the W-phase coil section 10 W is extended.
- the Hall element 40 is attached to the slider 50 at a position that moves in the moving direction from the center of the magnet body 31 by an integral multiple of 1/2 wavelength of the magnetic flux (synthetic magnetic flux) of the laminated coil section. .
- the hole element 40 is disposed so as to oppose one of the side surfaces of the laminated coil portion with a gap therebetween.
- the slider 50 is also equipped with a transmitter 51 including an antenna, a battery 52 for securing transmission power, and the like, for transmitting a detection signal from the Hall element 40 as a radio signal. Since the battery 52 is for obtaining transmission power, it can be used for a long time even with a small capacity. Note that the detection signal may be transmitted as an optical signal.
- an antenna 61 that receives a detection signal from the transmitter 51 and a control part 60 that receive the detection signal from the antenna 61 and receive the detection signal from the A control unit 60 for controlling the traveling of the movable unit by controlling the amplitude and phase of the current flowing through the 0 U, V phase coil unit 10 V, W phase coil unit 10 W is provided.
- the signal of the Hall element 40 can exhibit the same effect by connecting the slider 50 and the control unit 60 with a wire in addition to using radio or light.
- the wiring for the detection signal may be a single line consisting of the signal line and the GND line.
- the wiring is not so large. Not difficult.
- the first embodiment described above is a case of a three-phase linear motor, but the present invention is applicable to an N-phase (N is an integer of 3 or more) linear motor.
- the stator section has an N-phase coil section through which a current having a phase difference flows as a coil section.
- the coil section of each phase is composed of a pair of a first coil wound clockwise and a second coil wound counterclockwise, which are adjacent to each other in the moving direction and are connected in series in plural pairs in the moving direction. Consisting of The extension length of the first coil and the second coil is 360 degrees. ⁇ ⁇ The second-phase coil is shifted in the movement direction by (360 ZN) degrees with respect to the first-phase coil. Placed.
- the third-phase coil section is displaced in the movement direction by (360 ZN) degrees with respect to the second-phase coil section.
- the coil portion of the N-th phase is displaced in the movement direction by (360 / N) degrees with respect to the coil portion of the (N-1) -th phase.
- the N-phase coil portions are laminated.
- the laminated coil unit is combined with the magnet unit so as to be movable.
- the mounting position of the Hall element 40 is set to a position that is an integral multiple of ⁇ wavelength of the synthetic magnetic flux from the center position of the magnet main body 31, but is not limited to this. That is, the Hall element 40 may be mounted at any position as long as the distance from the center position of the magnet main body 31 is predetermined. This is the same in the second embodiment described later.
- FIG. 13 shows a second embodiment in which the present invention is applied to a two-phase linear motor.
- Fig. 1 shows the overall configuration including the control system, except for the two-phase linear motor: ⁇ , the coil section is two-phase, and the drive current control operation by the control section is two-phase control. The configuration is almost the same. Therefore, only the main part of the present invention in the linear motor will be described.
- the two-phase linear motor has an A-phase coil unit 1OA and a B-phase coil unit 10B.
- the A-phase coil unit 1 OA will be described.
- the A-phase coil unit 10A has a pair of a first coil in a clockwise rectangular shape and a second coil in a counterclockwise rectangular shape.
- pairs of coils are adjacent to each other in the moving direction and are connected in series. Moreover, a plurality of pairs of coils are arranged in the moving direction and connected in series.
- the A-phase coil unit 1 OA is set up so that it is perpendicular to the magnetic flux generation direction force S and the direction in which the force is applied to the installation surface. Of course, adjacent pairs are also connected in series. As in the first embodiment, the extension length of the pair of coils is 360 degrees.
- the B-phase coil section 10B is made in the same manner as the A-phase coil section 10A, and the B-phase coil section 1 OB is laminated on the A-phase coil section 1 OA by shifting the A-phase coil section 1 OA by 90 degrees.
- the laminating direction is the direction in which the magnetic flux is generated, that is, the direction perpendicular to the moving direction and the TO direction on the installation surface.
- the magnet part 30 is the same as that of the first embodiment and is good. That is, the magnet portion 30 has a substantially inverted U-shape, and its extending length in the moving direction is set to 1/2 of the wavelength of the synthetic magnetic flux formed by the laminated coil portion.
- the Hall element 40 is attached to the slider at a position where the slider advances from the center of the magnet body of the magnet unit 30 by an integral multiple of 1Z2 wavelength of the magnetic flux (synthetic magnetic flux) of the laminated coil unit. .
- the Hall element 40 is arranged to face one of the two side surfaces of the laminated coil unit with a gap.
- the operation as the lower motor, the function of the hall element 40, and the traveling control operation using the detection signal from the hall element 40 are almost the same as those in the first embodiment, and therefore the description is omitted.
- the length of the magnet unit 30 in the moving direction is set to the length of one to two wavelengths of the magnetic flux (synthetic magnetic flux) formed by the coil.
- the magnetic flux synthetic magnetic flux
- FIG. 14A shows a case where one magnet body 31 is used
- FIG. 14B shows a case where two magnet bodies 31 and 31-1 are used
- FIG. 14 (c) shows a case where three magnet bodies 31, 31-1 and 31-2 are used.
- the length of each of the magnet bodies 31, 31-1, and 31-2 is the wavelength of the magnetic flux (synthetic magnetic flux) formed by the coil. It should be less than 1/2.
- the slider 50 has two Hall elements 40a and 40b to accurately grasp the current position of the slider 50.
- the Hall element 40a may be called a first Hall element
- the Hall element 40b may be called a second Hall element! /, ⁇ .
- the Hall element 40b is arranged on a line connecting the center of the magnet main body 31 and the Hall element 40a and at a position different from the Hall element 40a.
- the two Hall elements 40a and 40b have the same strength at the different positions of the Hall elements 40a and 40b. It is arranged so that it can receive.
- the Hall element 40 a is arranged at a position advanced by (225/360) wavelength [5 ⁇ / 4 (rad)] of the synthetic magnetic flux from the center of the magnet body 31, and the Hall element 40 b is It is placed at a position advanced from the center by (3 15/360) wavelength [7 ⁇ / 4 (rad)] of the synthetic magnetic flux.
- the hole element 4 Ob is arranged at a position shifted from the Hall element 40a by (1/4) wavelength [ ⁇ / 2 (rad)] of the synthetic magnetic flux.
- the position of the slider 50 can be detected by comparing the levels of the detection signals of the Hall elements 40a and 40b in addition to detecting the combined magnetic field strength. That is, the amount of delay of the center of the magnet main body 31 with respect to the position of the synthetic magnetic field strength 0 can be more accurately determined.
- the magnet body 31, that is, the slider 50 is largely moved during the magnetic pole detection operation (also referred to as power factor detection operation), which is the operation of aligning the center of the magnet body 31 with the position of the composite magnetic field strength 0 when the power is turned on.
- the magnetic pole can be detected by changing the phase of the coil current that produces the composite magnetic flux.
- the magnet body 31 will be in the position shown in Fig. 15 (c) when the power is turned on.
- the detection signal levels of the Hall elements 40a and 4 Ob are compared with the control unit 60 of FIG.
- the control unit 60 controls the phase of the composite magnetic flux according to the calculated phase shift amount as shown in FIG. 15D, and adjusts the phase of the composite magnetic flux to the position of the magnet main body 31. This means that the phase of the composite magnetic flux can be adjusted without moving the magnet body 31 when the power is turned on.
- FIG. 16 shows the internal configuration of the control unit 60 for a three-phase linear motor described above.
- the control section 60 can be applied to a case where only one Hall element is provided as shown in FIG. 10, a case where two Horne elements are provided as shown in FIG. 15, or a case where three or more Horne elements are provided as shown in FIG. .
- the control unit 60 includes a counter 60-4 for counting output pulses of the CPU 60-1, the storage device 60-2, the oscillator 60-3, and the oscillator 60-3.
- the control section 60 also includes a waveform system 60-5U, a D / A converter 60-6U, and a current amplifier 60-7U as a drive system for the U-phase coil unit 10U.
- the control unit 60 is further provided with a waveform converter «60_5 ⁇ , DZA converter 60-6V, and current amplifier 60-7V as a drive system for the V phase coil unit 10V, and a waveform as a drive system for the W phase koino ⁇ l 0W. Equipped with 60-5W, D / A variable ⁇ 60-6W, current amplifier 60-7W.
- oscillator 60-3 is shown as an independent component in FIG. 16 to facilitate understanding of the function of the control unit 60, the function of the oscillator 60-3 is actually realized by the CPU 60-11. Is done. In other words, CPU60-1 is a clock. It has lusciousness. -It goes without saying that a well-known pulse generator ⁇ may be provided separately from the CPU 60-1.
- Initial data is given to CPU 60 _ 1 from a ray setting value input unit (not shown) at the time of raw material input.
- the initial data is fixed data unique to this linear motor.
- a magnetic pole detection (power factor detection) operation that measures the combined magnetic field strength using a Hall element and adjusts the phase of the combined magnetic field formed by the laminated coil with respect to the position of the magnet main body 31, or the slider 50 is connected to the origin sensor ( (Not shown) This data is necessary to perform the origin search operation to acquire the origin position data in accordance with.
- the variable data is data that can be changed as needed, and is, for example, traveling speed data of the slider 50, stop position (target position) data, and the like.
- the CPU 60-1 stores them in the storage device 60-2.
- the CPU 60-1 When starting the traveling control of the slider 50, the CPU 60-1 reads the various data described above from the storage device 60-2, determines the oscillation frequency of the oscillator 60-3 based on the read data, and determines the oscillation frequency of the oscillator 60-3. Oscillate 3. The output pulse from the oscillator 60-3 is counted by the counter 60-4, and the count value is output to the waveform change 60_5U, 60-5V, 60-5W. Waveform change »60—5U, 60-5 V, 60—5W are the current waveforms flowing through the U-phase coil 10U, V-phase coil ⁇ 10V, and W-phase coil 10V based on the count value of the counter 60-4. Creates waveform data that defines the parameters and outputs it as digital data.
- D / A converter 60-6U, 60-6V, 60_6W These digital data are converted to analog current by the D / A converter 60-6U, 60-6V, 60_6W.
- the current amplifiers 60-7U, 60-7V, and 60-7W amplify the analog current from the DZA transducers 60-6U, 60-6V, and 60-6W, respectively, and
- the U-phase, V-phase, and W-phase currents with the corresponding waveforms flow through the U-phase coil unit 10U, V-phase coil ⁇
- the CPU 60—: L also outputs a control signal S1 for amplitude control and phase control of the coil current to the current amplifiers 60—7U, 60_7V, and 60–7W as necessary.
- the control performed when the detection signals of the Hall elements 40a and 40b are input to the CPU 60-1 will be described as follows. As described with reference to FIG. 15 (a), when the slider 50 (FIG. 1), that is, the magnet main body 31 has a delay, the level of the detection signal of the Hall elements 40a and 40b is low, and the deviation is also large. Both positive and the same value.
- the CPU 60-1 sets the level force S of the detection signals of the ho / re elements 40a, 40b, and if the deviation is also positive and the same value, the slider 50 moves in synchronization with the synthetic magnetic flux. It is determined that no delay has occurred.
- FIG. 15 (b) shows that a large load is ⁇ Indicates that the magnet body 31 is delayed. Since the magnet body 31 moves together with the slider 50, the delay of the slider 50 and the delay of the magnet body 31 are the same. Therefore, in the following, the phenomenon of the delay will be described as the magnet main body 31.
- the CPU 60-1 executes the following control operation.
- the CPU 60-1 grasps the position of the magnet main body 31 (slider 50) and the current flowing through each coil based on the detection signals of the Honoré elements 40a and 40b. There is a delay in the magnet body 31: ⁇ , the CPU 60-1 outputs a control signal S1, indicating that the current amplitude is increased to the current amplifier 60-7U, 60-7V, 60-7W. As a result, the amplitude of the current flowing through the U-phase coil section 10 U, the V-phase coil section 10 V, and the W-phase coil section 10 W is increased. As a result, the intensity of the composite magnetic field formed by the laminated coil portion increases, and the magnet body
- Thrust acts on 31 so that its center is located at the position of the synthetic field strength 0.
- the magnet the body 31 is synchronized as shown in Fig. 15 (a) as shown in Fig. 15 (c). Delays by (1 Z4) wavelength [ ⁇ / 2 (rad)] of the synthetic magnetic flux.
- the detection signals of the Hall elements 40a and 40b have the same level but have different polarities. That is, the level of the detection signal of the Hall element 40a is negative, and the level of the detection signal of the Hall element 4 Ob is positive.
- the CPU 60-1 makes the above determination from the correlation between the levels and polarities of the detection signals of the Hall elements 40a and 40b.
- the CPU 60-1 can also calculate the force by which the delay of the magnet body 31 is based on the distance from the above correlation.
- the distance in this case means a distance from the position where the magnet main body 31 should be in the synchronized state.
- the CPU 60-1 issues an instruction to the oscillator 60-3 to lower the oscillation frequency based on the detection signals from the Hall elements 40a and 40b.
- the frequency of the current flowing through the U-phase coil unit 10U, the V-phase coil unit 10 V, and the W-phase coil unit 10W decreases, and the speed at which the synthetic magnetic flux advances (the change speed of the synthetic magnetic flux) decreases. 50 becomes easy to follow the synthetic magnetic flux.
- the CPU 60-1 first stops the oscillator 60-3. In this case, the counter 60-4 keeps the count value when the oscillator 60-3 stops. If the delay continues, reduce the count value of counter 60-4.
- the current flowing through the U-phase coil unit 10U, the V-phase coil unit 10V, and the W-phase coil unit 1 OW will be the W-phase ⁇ V-phase ⁇ U-phase ⁇ W-phase ⁇ V-phase ' —
- the traveling direction of the synthetic magnetic flux is also reversed.
- the traveling direction is from the direction of FIG. .
- This ⁇ moves the magnetized magnetic flux waveform, which moved from right to left in Fig. 15 with the passage of time, back to the waveform shown in Fig. 15 (c) to Fig. 15 (d).
- the delay of the main body 31 can be eliminated.
- the CPU 60-1 does not delay by more than (1/4) wavelength of the synthetic magnetic flux from the synchronous state in which the center of the magnet main body 31 is at the position of the synthetic magnetic field strength 0. In other words, the magnet main body 31 does not lose synchronism even though it may be delayed from the synchronous state to near the (1/4) wavelength of the synthetic magnetic flux.
- the magnet body 31 is delayed from the normal state (synchronous state) due to the load.
- the magnet body 31 is While traveling from normal state to 1/4 wavelength of the synthetic magnetic flux, the currents of the U-phase coil section 10 U, V-phase coil section 10 V, and W-phase coil section 10 W increase, but the magnet body 31
- the CPU 60-1 increases the count value of the counter 60-4 and advances the waveform of the synthetic magnetic flux to the front (the right side in FIG. 15).
- the slider 50 starts traveling from the origin position corresponding to the position of the origin sensor.
- the traveling speed and the stop position (target position) of the slider 50 after the start of traveling are input to the CPU 60-1 as variable data from an external set value input unit. It is stored in the storage device 60-2.
- the CPU 60-1 reads the variable data from the storage device 60-2 at the start of traveling. Based on the read variable data, the CPU 60-1 determines the oscillation frequency F1 and total output pulse number P1 of the generator 60-3 necessary to achieve the above-mentioned traveling speed and travel distance. Calculate and based on the calculated value! / Control the cinnamon 60-2. At this time, CPU 60-1 In order to calculate the number of pulses P1, the moving distance L1 of the slider 50 per one cycle of the output pulse of the oscillator 60-3 is also calculated. CPU 60-1 holds these calculated values.
- the CPU 60-1 calculates the current position of the slider 50 by multiplying the count value of the counter 60-4 by the moving distance L1 described above.
- CPU 60-1 also compares the total number of output pulses P1 with the count value of counter 60-4, and continues oscillation of oscillator 60-2 until the difference between the two becomes zero.
- the CPU 60-1 stops the oscillation of the oscillator 60-2 assuming that the slider 50 has reached the target position.
- each current value immediately before the stop is continuously supplied to each phase coil unit.
- the synthesized magnetic flux waveform does not move with time, and the magnet main body 31 (slider 50) is held at a fixed position.
- the current position of the slider 50 is calculated by multiplying the count value of the counter 60-4 by the moving distance L1.
- the magnet body 31 is
- the Hall element 40 detects this.
- the CPU 60-1 adds or subtracts the value of the counter 60-4 to control so as to eliminate the displacement of the Hall element 40.
- the CPU 60-1 can also accurately grasp the position of the slider 50 (magnet body 31) by looking at the count value of the counter 60-4. Even with one Hall element, the same effect as with two Hall elements can be obtained.
- the number of Hall elements is two, the position of the magnet body 31 can be grasped in more detail, so that the count value of the counter 60-4 can be corrected earlier, and thereby the position of the magnet body 31 can be precisely controlled. it can.
- the number of Hall elements is not limited to one or two, and three or more may be provided.
- the position can be calculated excluding position information having an error, so that the magnet 31 can be controlled more precisely.
- the rejuvenating motor according to the present invention requires only one magneto-electric conversion element combined with the movable part. Accurate running control can be maintained. On the other hand, by combining two or more magneto-electric transducers, the exact position force s of the magnet body was determined. Magnetic pole detection (power factor detection) Operation control can be performed, and the costly linear scale for position detection can be omitted, resulting in significant cost reduction.
- the linear motor according to the present invention is suitable for a transfer device for transferring a work such as a semiconductor substrate or a liquid crystal substrate.
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Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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AU2003261993A AU2003261993A1 (en) | 2003-09-08 | 2003-09-08 | Linear motor |
PCT/JP2003/011430 WO2005027323A1 (ja) | 2003-09-08 | 2003-09-08 | リニアモータ |
US10/570,762 US7425783B2 (en) | 2003-09-08 | 2003-09-08 | Linear motor |
JP2005508896A JP4417910B2 (ja) | 2003-09-08 | 2003-09-08 | リニアモータ |
Applications Claiming Priority (1)
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PCT/JP2003/011430 WO2005027323A1 (ja) | 2003-09-08 | 2003-09-08 | リニアモータ |
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WO2005027323A1 true WO2005027323A1 (ja) | 2005-03-24 |
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PCT/JP2003/011430 WO2005027323A1 (ja) | 2003-09-08 | 2003-09-08 | リニアモータ |
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US (1) | US7425783B2 (ja) |
JP (1) | JP4417910B2 (ja) |
AU (1) | AU2003261993A1 (ja) |
WO (1) | WO2005027323A1 (ja) |
Families Citing this family (11)
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US9825499B2 (en) * | 2001-05-24 | 2017-11-21 | Arjuna Indraeswaran Rajasingham | Axial gap electrical machine |
US6936937B2 (en) * | 2002-06-14 | 2005-08-30 | Sunyen Co., Ltd. | Linear electric generator having an improved magnet and coil structure, and method of manufacture |
US8803372B2 (en) * | 2005-08-29 | 2014-08-12 | Koninklijke Philips N.V. | Ironless magnetic linear motors having levitating and transversal force capacities |
JP4808590B2 (ja) * | 2006-10-26 | 2011-11-02 | 東芝機械株式会社 | リテーナの位置ずれ防止装置 |
US20110156501A1 (en) * | 2007-12-11 | 2011-06-30 | Industrial Technology Research Institute | Reciprocating power generating module |
JP6302549B2 (ja) * | 2014-06-13 | 2018-03-28 | 株式会社東芝 | インダクタユニット、無線電力伝送装置、及び電動車両 |
WO2016106140A1 (en) * | 2014-12-22 | 2016-06-30 | Otis Elevator Company | Mounting assembly for elevator linear propulsion system |
JP6082380B2 (ja) * | 2014-12-26 | 2017-02-15 | Thk株式会社 | リニアアクチュエータ |
US10515834B2 (en) | 2015-10-12 | 2019-12-24 | Lam Research Corporation | Multi-station tool with wafer transfer microclimate systems |
NL2022467B1 (en) * | 2019-01-28 | 2020-08-18 | Prodrive Tech Bv | Position sensor for long stroke linear permanent magnet motor |
CN218829314U (zh) * | 2022-11-30 | 2023-04-07 | 瑞声科技(南京)有限公司 | 直线驱动装置 |
Citations (4)
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JPH05219786A (ja) * | 1992-02-03 | 1993-08-27 | Nippon Parusumootaa Kk | テーブル移動装置 |
JPH0654516A (ja) * | 1992-01-07 | 1994-02-25 | Shicoh Eng Co Ltd | リニア直流モ−タ内へのリニア磁気エンコ−ダの組込み形成方法 |
JP2000341931A (ja) * | 1999-05-27 | 2000-12-08 | Mirae Corp | リニアモータの駆動装置 |
JP2001197718A (ja) * | 2000-01-14 | 2001-07-19 | Yaskawa Electric Corp | コアレスリニアモータ |
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JPS6176060A (ja) * | 1984-05-22 | 1986-04-18 | Takahashi Yoshiteru | 推進速度検出機構を有する直流リニアモ−タ |
JPS61210864A (ja) * | 1984-11-27 | 1986-09-19 | Takahashi Yoshiteru | リニア直流モ−タ |
US5208496A (en) * | 1990-09-17 | 1993-05-04 | Maglev Technology, Inc. | Linear synchronous motor having variable pole pitches |
JPH07123345B2 (ja) | 1992-11-17 | 1995-12-25 | 株式会社精工舎 | 可動マグネット形リニア直流モータ |
JP3834875B2 (ja) | 1996-07-05 | 2006-10-18 | 日本精工株式会社 | リニアモータ |
JPH10174420A (ja) | 1996-12-11 | 1998-06-26 | Yaskawa Electric Corp | 平滑巻線形リニアモータ |
JP3817967B2 (ja) * | 1999-05-18 | 2006-09-06 | 株式会社安川電機 | リニアモータ |
JP4068848B2 (ja) | 2001-01-17 | 2008-03-26 | クロノファング株式会社 | リニアモータ |
DE60125194T2 (de) * | 2001-11-27 | 2007-09-27 | Rexroth Indramat Gmbh | Wanderfeld Synchronmotor |
DE102005014664A1 (de) * | 2005-03-31 | 2006-10-05 | Hans-Peter Wyremba | Elektrische Maschine |
-
2003
- 2003-09-08 US US10/570,762 patent/US7425783B2/en active Active
- 2003-09-08 WO PCT/JP2003/011430 patent/WO2005027323A1/ja active Application Filing
- 2003-09-08 JP JP2005508896A patent/JP4417910B2/ja not_active Expired - Fee Related
- 2003-09-08 AU AU2003261993A patent/AU2003261993A1/en not_active Abandoned
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Publication number | Priority date | Publication date | Assignee | Title |
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JPH0654516A (ja) * | 1992-01-07 | 1994-02-25 | Shicoh Eng Co Ltd | リニア直流モ−タ内へのリニア磁気エンコ−ダの組込み形成方法 |
JPH05219786A (ja) * | 1992-02-03 | 1993-08-27 | Nippon Parusumootaa Kk | テーブル移動装置 |
JP2000341931A (ja) * | 1999-05-27 | 2000-12-08 | Mirae Corp | リニアモータの駆動装置 |
JP2001197718A (ja) * | 2000-01-14 | 2001-07-19 | Yaskawa Electric Corp | コアレスリニアモータ |
Also Published As
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US20070035184A1 (en) | 2007-02-15 |
AU2003261993A1 (en) | 2005-04-06 |
JP4417910B2 (ja) | 2010-02-17 |
JPWO2005027323A1 (ja) | 2006-11-24 |
US7425783B2 (en) | 2008-09-16 |
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