WO2008026642A1 - Dispositif d'alimentation électrique pour un moteur linéaire de type à champ magnétique permanent et inverseur pwm pour un moteur de type à champ magnétique permanent - Google Patents

Dispositif d'alimentation électrique pour un moteur linéaire de type à champ magnétique permanent et inverseur pwm pour un moteur de type à champ magnétique permanent Download PDF

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Publication number
WO2008026642A1
WO2008026642A1 PCT/JP2007/066777 JP2007066777W WO2008026642A1 WO 2008026642 A1 WO2008026642 A1 WO 2008026642A1 JP 2007066777 W JP2007066777 W JP 2007066777W WO 2008026642 A1 WO2008026642 A1 WO 2008026642A1
Authority
WO
WIPO (PCT)
Prior art keywords
phase
permanent magnet
linear motor
magnet field
coil
Prior art date
Application number
PCT/JP2007/066777
Other languages
English (en)
Japanese (ja)
Inventor
Kazuo Shoda
Yuki Nomura
Yoshifumi Nagato
Original Assignee
Thk Co., Ltd.
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 Thk Co., Ltd. filed Critical Thk Co., Ltd.
Priority to KR1020097006290A priority Critical patent/KR101384063B1/ko
Priority to JP2008532093A priority patent/JP5315053B2/ja
Priority to CN2007800289950A priority patent/CN101501982B/zh
Publication of WO2008026642A1 publication Critical patent/WO2008026642A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • 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
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/006—Controlling linear motors
    • 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
    • H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
    • H02P2209/09—PWM with fixed limited number of pulses per period
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/907—Specific control circuit element or device
    • Y10S388/912—Pulse or frequency counter

Definitions

  • the present invention relates to a permanent magnet field linear motor power supply device that supplies electric power to an armature of a permanent magnet field linear motor that generates magnetic flux with a field permanent magnet, and a field permanent magnet.
  • the present invention relates to a PWM inverter for a permanent magnet field motor that supplies electric power to an armature of a permanent magnet field motor that generates magnetic flux.
  • a linear motor is obtained by extending a stator side and a mover side of a rotary motor in a straight line, and directly converts electric energy to a linear thrust.
  • Linear motors are classified into DC motors, AC motors, stepping motors, brushless DC motors, etc., as well as rotary motors.
  • DC motors and brushless DC motors are roughly classified into two types: permanent magnet field types that use permanent magnets, and permanent magnets that do not use permanent magnets!
  • a permanent magnet field type linear motor generates a magnetic flux by a field permanent magnet and causes an AC current to flow through the armature, thereby generating a thrust in the field permanent magnet or the armature (for example, a patent Reference 1).
  • a permanent magnet field type linear motor as shown in FIG. 9, a multi-phase (generally three-phase) coil is wound around the comb teeth 1.
  • the coil is a set of three phases U, W, and V. Since three sets of three coils are provided, the total number of coils is an integer multiple of three.
  • the number of teeth of comb tooth 1 is an integral multiple of 3 equal to the total number of coils.
  • the plurality of coils and comb teeth are arranged side by side in the operating direction of the armature or permanent magnet.
  • Patent Document 1 JP 2003-70226 A (see page 1)
  • the magnetic flux ⁇ generated by the W-phase coil is the adjacent teeth of the U-phase and V-phase teeth.
  • the magnetic flux ⁇ generated by the two-phase coil can pass through the teeth of both adjacent teeth u-phase and V-phase.
  • the magnetic flux ⁇ generated by the U-phase coil passes through the W-phase teeth, but is indicated by a broken line in the figure. It is difficult for the magnetic flux to pass through the area.
  • V-phase teeth located at the other end of the comb teeth
  • An object of the present invention is to provide a permanent magnet field type linear motor power supply device and a permanent magnet field type motor PWM inverter.
  • the invention according to claim 1 is directed to a permanent magnet field linear motor power supply that supplies power to an armature of a permanent magnet field linear motor that generates magnetic flux with a field permanent magnet.
  • a power supply means for supplying a multiphase alternating current to a multiphase coil of an armature of a linear motor, and at least one phase (for example, W phase) not located at both ends in the operating direction of the linear motor.
  • a permanent magnet field linear motor comprising: current adjusting means for reducing the current supplied to the coil to be less than the current supplied to the remaining two phases (for example, U phase and V phase) located at both ends of the operating direction. Power supply device.
  • the invention according to claim 2 is a power supply device for a permanent magnet field linear motor that supplies power to an armature of a permanent magnet field linear motor that generates a magnetic flux with a field permanent magnet. Therefore, the U, V, W phase force of the armature of the linear motor, a power supply circuit that supplies a three-phase alternating current to the three-phase coil, and one phase that is not located at both ends of the linear motor operating direction ( For example, the current supplied to the one phase coil is connected to the other two phases (for example, the U phase and the V phase) located at both ends of the operation direction. And a power supply device for a permanent magnet field type linear motor.
  • the invention of claim 3 is a PWM inverter for a permanent magnet field type motor for supplying electric power to an armature of a permanent magnet field type motor that generates a magnetic flux with a field permanent magnet.
  • the arm composed of the upper and lower switching elements operating in the form of three-phase coils for the three-phase coil composed of the U, V, and W phases of the armature and in parallel between the DC power supplies,
  • An arm composed of two upper and lower switching elements that operate in pairs is further provided in parallel between the DC power supplies for the lead wire drawn from the neutral point (N) of the star-connected three-phase coil.
  • a PWM inverter for a permanent magnet field type motor that controls on and off of the switching element for the three-phase coil and the switching element for the lead wire by a control circuit.
  • the invention according to claim 4 is the PWM inverter for the permanent magnet field type motor according to claim 3, wherein the permanent magnet field type motor is a linear motor, and the permanent magnet field type
  • the PWM inverter for motor uses one phase that is not located at both ends of the linear motor operating direction (for example, It is characterized in that the current supplied to the coil of the W phase is made lower than the current supplied to the remaining two phases (for example, the U phase and the V phase) located at both ends of the operating direction.
  • the current adjusting means places the current supplied to the coils of at least one phase (for example, W phase) not located at both ends in the operating direction at both ends in the operating direction. This reduces the current supplied to the remaining two phases (for example, U phase and V phase), so that the thrust generated in the coils of each phase can be made uniform. Therefore, the force S is used to reduce the speed ripple.
  • the current supplied to the coil of at least one phase (for example, W phase) that is not located at both ends in the operation direction is supplied to the remaining resistors located at both ends in the operation direction. Since the current supplied to two phases (for example, U phase and V phase) is reduced, the thrust generated in the coils of each phase can be made uniform. Therefore, the speed ripple can be reduced.
  • the current supplied to the three-phase coil of the armature of the motor can be controlled for each phase.
  • the thrust generated in the coils of each phase can be made uniform. Therefore, the speed lip glue can be reduced.
  • FIG. 1 A sectional view along the direction of operation of a permanent magnet field linear motor.
  • FIG. 2 is a configuration diagram of a power supply device for a permanent magnet field linear motor according to an embodiment of the present invention.
  • FIG. 5A is a graph showing an example in which a three-phase alternating current having the same amplitude is supplied to each phase coil.
  • FIG. 5B is a graph showing an example in which the amplitude of the current supplied to the W-phase coil is reduced below the amplitude of the current supplied to the U-phase and V-phase.
  • FIG. 6 is a block diagram showing a PWM inverter for a permanent magnet field motor in an embodiment of the present invention.
  • FIG. 8A Schottrachloro-2
  • FIG. 8B Schematic showing the current flowing in the three-phase coil in the second stage process
  • FIG. 1 shows a cross-sectional view along the operating direction of a permanent magnet field type linear motor whose armature side is movable as an example of the permanent magnet field type linear motor 2.
  • N-pole and S-pole permanent magnets 4 are alternately arranged at a constant pitch in the armature operating direction.
  • armature 5 side a three-phase coil 10 having U, V, and W phase forces is provided.
  • the armature 5 includes a comb tooth 9 fixed to the top plate 7 with a bolt 8 or the like, and a coil 10 wound around the tooth 9a of the comb tooth 9.
  • the coil 10 is a set of three phases U, W, and V.
  • the total number of coils 10 is an integer multiple of three.
  • the number of teeth 9a as an iron core is an integral multiple of 3 equal to the total number of coils 10.
  • Coils 10 are arranged side by side in the operating direction of the U, W, V, ..., U, W, V phase and armature. Both ends of the armature 5 in the operating direction are a U-phase coil 10 and a V-phase coil 10.
  • the coil 10 may be a coreless coil without an iron core.
  • the linear motor may be a so-called rod-type linear motor in which a coil is wound in an annular shape around a rod.
  • FIG. 2 shows a permanent magnet field type linear motor power supply device 11 according to an embodiment of the present invention.
  • the power supply device 11 of this embodiment is composed of a voltage-type PWM inverter (PWM: Pulse Width Modulation) that converts a DC voltage into an AC voltage, and the armature 5 of the linear motor 2 has a three-phase AC. Supply current.
  • PWM Pulse Width Modulation
  • the permanent magnet field linear motor power supply device 11 includes a DC power source 12, an inverter main circuit 13, and a control circuit 14.
  • the inverter main circuit 13 consists of three phases (U phase, W phase, V phase) arm 15, 16, 17 force.
  • Each of the arms 15, 16, and 17 is also configured with switching elements 15a, 15b, 16a, 16b, 17a, and 17b that move in pairs.
  • Each of the switching elements 15a to 17b is composed of a parallel connection of a transistor and a flywheel diode. The flywheel diode is used to feed back the reverse current to the transistor.
  • the on / off of the switching elements 15a to 17b is determined by the on / off signal of the transistor.
  • MOSFETs Metal Oxide Semi-conductors or Piezoelectric Defects
  • IGBTs Insulated Bipolar Mode Transistors
  • the control circuit 14 outputs a PWM signal for controlling on / off of the transistor.
  • a triangular wave comparison method is used in which a three-phase sine wave voltage command is compared with a triangular wave (carrier) that is a carrier wave to obtain a voltage of a pulse train.
  • the inverter main circuit 13 outputs a voltage in a Nores series approximated to a three-phase AC voltage.
  • a three-phase AC voltage is output from the inverter main circuit 13
  • a three-phase AC current is supplied to the three-phase coil of the linear motor.
  • FIG. 3 shows a method for connecting coils of a linear motor.
  • delta connection delta connection
  • Y connection star
  • Figure 3 shows a commonly used star connection.
  • the voltage output from the inverter main circuit 13 is a line voltage between WV, WU, and UV.
  • the resistor 19 is connected in parallel with the W-phase coil in order to reduce the current supplied to the W-phase harder than the current supplied to the U-phase and V-phase coils.
  • the resistor 19 may be provided in the power supply device or may be provided in the linear motor.
  • the current flowing in the W-phase coil branches into a current flowing in the resistor 19 side and a current flowing in the W-phase coil side.
  • Fig. 4 shows the voltage generated in the coils of each phase when the armature is moved at a constant speed.
  • the W-phase coil Since the W-phase coil is not located at both ends of the linear motor in the operating direction, it has a lower magnetic resistance than the other U-phase and V-phase. For this reason, as shown in FIG. 4, the amplitude force of the generated voltage at both ends of the W-phase coil is larger than the amplitude of the generated voltage generated in the U-phase and V-phase coils. In other words, the counter electromotive force constant of the W phase coil is larger than the counter electromotive force constant of the U phase and V phase coils. In the case of a DC motor, the counter electromotive force constant is equal to the torque constant.
  • the motor connection may be a ⁇ connection, or the motor may be driven by a unipolar drive using three semiconductor elements. Further, the motor may be a four-phase motor connected with a three-phase motor.
  • FIG. 6 shows a PWM inverter 20 (PWM: Pulse Width Modulation) for a permanent magnet field motor in an embodiment of the present invention.
  • PWM Pulse Width Modulation
  • the PWM inverter 20 converts a DC voltage into an AC voltage and supplies a three-phase AC current to the armature of the linear motor.
  • the PWM inverter 20 includes a DC power source 21, an inverter main circuit 22, and a control circuit 28.
  • the inverter main circuit 22 has two upper and lower switching elements 23a, 23b, 24a, 24b, 25a, and 25b that operate in pairs. For three-phase coils consisting of phases, three phases are provided in parallel between DC power supplies 21. More
  • the inverter main circuit 22 of this embodiment includes the upper and lower switching elements 26a and 26b acting as a pair, and the arm 26 consisting of the neutral point of the star-connected three-phase coil. Provided in parallel between the DC power supplies 21 for the lead wire 27 drawn from N.
  • the arm 26 composed of the upper and lower switching elements 26a, 26b is connected in parallel to the DC power source 21, while the lead wire 27 is drawn from the neutral point N, and the upper switching element 26a and the lower switching element Connect lead wire 27 drawn from neutral point N to 26b.
  • Each arm 23 to 26 is composed of switching elements 23a to 26b that operate in pairs in the vertical direction.
  • Each switching element 23a to 26b is configured by a parallel connection of a transistor and a flywheel diode.
  • the flywheel diode is used to feed back the reverse current to the transistor.
  • the on / off state of the switching element is determined by the on / off signal of the transistor.
  • By turning on and off the switching element it is possible to output a three-phase AC voltage equivalently by changing the width of the output voltage without changing the magnitude of the DC voltage.
  • a MOSFET Metal Oxide Semi-conductor or Piezoelectric Effect Transistor
  • a "IGBT Insulated Bipolar Mode Transistor
  • an arm 26 is provided for the lead-out line drawn from the neutral point N.
  • the processing when the switching element is on is divided into two stages. Specifically, as shown in FIG. 8A, in the first stage processing, current I flows from the W-phase coil to the lead wire 27.
  • Table 1 shows the two-step switching mode of the PWM inverter 20.
  • control by a conventional triangular wave comparison method that obtains a voltage of a pulse train by comparing a three-phase sine wave voltage command and a triangular wave (carrier) as a carrier wave, and a current to a W-phase coil.

Abstract

L'invention concerne un dispositif d'alimentation électrique pour un moteur linéaire de type à champ magnétique permanent, capable de commander une alimentation électrique à des bobines des phases respectives du moteur linéaire, de façon à réduire les irrégularités dans la poussée générée dans les bobines dans les phases respectives et à réduire l'ondulation de vitesse. Le dispositif d'alimentation électrique (11) pour un moteur linéaire de type à champ magnétique permanent alimente en électricité une armature (5) du moteur linéaire de type à champ magnétique permanent générant un flux magnétique par un aimant permanent de champ (4). Le dispositif d'alimentation électrique (11) comprend : un moyen d'alimentation électrique (13) qui adresse un courant alternatif multiphase à des bobines multiphase de l'armature (5) du moteur linéaire (2) ; et un moyen d'ajustement de courant (19) qui réduit le courant adressé à une bobine d'au moins une phase (par exemple, la phase W) non située aux deux extrémités de la direction de travail du moteur linéaire (2) par comparaison au courant adressé aux deux phases restantes (par exemple, la phase U et la phase V) situées aux deux extrémités de la direction de travail. Ainsi, il est possible de rendre identiques les poussées générées dans les bobines des phases respectives, réduisant ainsi l'ondulation de vitesse.
PCT/JP2007/066777 2006-08-30 2007-08-29 Dispositif d'alimentation électrique pour un moteur linéaire de type à champ magnétique permanent et inverseur pwm pour un moteur de type à champ magnétique permanent WO2008026642A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1020097006290A KR101384063B1 (ko) 2006-08-30 2007-08-29 영구 자석 계자형 리니어 모터용 전력 공급 장치 및 영구 자석 계자형 모터용 ｐｗｍ 인버터
JP2008532093A JP5315053B2 (ja) 2006-08-30 2007-08-29 永久磁石界磁型リニアモータ用電力供給装置、及び永久磁石界磁型モータ用ｐｗｍインバータ
CN2007800289950A CN101501982B (zh) 2006-08-30 2007-08-29 永磁铁磁场型线性电机用功率供给装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006-234412 2006-08-30
JP2006234412 2006-08-30

Publications (1)

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WO2008026642A1 true WO2008026642A1 (fr) 2008-03-06

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PCT/JP2007/066777 WO2008026642A1 (fr) 2006-08-30 2007-08-29 Dispositif d'alimentation électrique pour un moteur linéaire de type à champ magnétique permanent et inverseur pwm pour un moteur de type à champ magnétique permanent

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JP (1) JP5315053B2 (fr)
KR (1) KR101384063B1 (fr)
CN (1) CN101501982B (fr)
WO (1) WO2008026642A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3249803A1 (fr) * 2016-05-25 2017-11-29 B&R Industrial Automation GmbH Commande de bobines de moteur linéaire à stator déployé d'un stator de moteur linéaire à stator déployé
JP2018507490A (ja) * 2014-11-28 2018-03-15 ハプテック，インコーポレーテッド 触覚システムのための方法および装置
US10508883B2 (en) 2012-05-22 2019-12-17 Haptech, Inc. Method and apparatus for firearm recoil simulation
US10852093B2 (en) 2012-05-22 2020-12-01 Haptech, Inc. Methods and apparatuses for haptic systems

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108494295B (zh) * 2018-03-13 2021-02-19 江西精骏电控技术有限公司 基于模型的交流电机逆变器非线性补偿和温度补偿方法
CN112701985B (zh) * 2020-12-11 2021-11-02 华中科技大学 一种直线永磁同步电机的控制方法、装置和系统

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JPH0880027A (ja) * 1994-08-31 1996-03-22 Okuma Mach Works Ltd リニアモータ

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KR19980021265A (ko) * 1996-09-14 1998-06-25 김광호 브러시레스 모터 제어회로
KR19990011223A (ko) * 1997-07-22 1999-02-18 이형도 인버터 전류검출회로
WO2003015254A1 (fr) * 2001-08-02 2003-02-20 Toyota Jidosha Kabushiki Kaisha Appareil de commande d'entrainement de moteur
JP2003189679A (ja) * 2001-12-21 2003-07-04 Nikon Corp 多相モータ駆動装置、ステージ装置、露光装置
JP4065441B2 (ja) * 2004-07-28 2008-03-26 松下電器産業株式会社 モータ駆動装置及びモータ駆動方法
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10508883B2 (en) 2012-05-22 2019-12-17 Haptech, Inc. Method and apparatus for firearm recoil simulation
US10852093B2 (en) 2012-05-22 2020-12-01 Haptech, Inc. Methods and apparatuses for haptic systems
US11512919B2 (en) 2012-05-22 2022-11-29 Haptech, Inc. Methods and apparatuses for haptic systems
JP2018507490A (ja) * 2014-11-28 2018-03-15 ハプテック，インコーポレーテッド 触覚システムのための方法および装置
JP2020072929A (ja) * 2014-11-28 2020-05-14 ハプテック，インコーポレーテッド 触覚システムのための方法および装置
EP3249803A1 (fr) * 2016-05-25 2017-11-29 B&R Industrial Automation GmbH Commande de bobines de moteur linéaire à stator déployé d'un stator de moteur linéaire à stator déployé
US10250176B2 (en) 2016-05-25 2019-04-02 B&R Industrial Automation GmbH Control of long-stator linear motor coils of long-stator linear motor stator

Also Published As

Publication number Publication date
CN101501982B (zh) 2011-10-19
KR20090043602A (ko) 2009-05-06
JPWO2008026642A1 (ja) 2010-01-21
JP5315053B2 (ja) 2013-10-16
CN101501982A (zh) 2009-08-05
KR101384063B1 (ko) 2014-04-09

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