WO2011001555A1 - 磁石可動型リニアモータ用の位置検出装置 - Google Patents
磁石可動型リニアモータ用の位置検出装置 Download PDFInfo
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- WO2011001555A1 WO2011001555A1 PCT/JP2009/071543 JP2009071543W WO2011001555A1 WO 2011001555 A1 WO2011001555 A1 WO 2011001555A1 JP 2009071543 W JP2009071543 W JP 2009071543W WO 2011001555 A1 WO2011001555 A1 WO 2011001555A1
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- 238000001514 detection method Methods 0.000 title claims abstract description 96
- 230000005291 magnetic effect Effects 0.000 claims abstract description 291
- 238000005259 measurement Methods 0.000 claims description 62
- 230000004044 response Effects 0.000 claims description 10
- 239000002907 paramagnetic material Substances 0.000 claims description 3
- 230000004907 flux Effects 0.000 description 32
- 239000000696 magnetic material Substances 0.000 description 13
- MROJXXOCABQVEF-UHFFFAOYSA-N Actarit Chemical compound CC(=O)NC1=CC=C(CC(O)=O)C=C1 MROJXXOCABQVEF-UHFFFAOYSA-N 0.000 description 11
- 238000004891 communication Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 230000007423 decrease Effects 0.000 description 6
- 238000002474 experimental method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000001965 increasing effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
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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
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
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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
- H02P25/062—Linear motors of the induction 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
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/225—Detecting coils
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
-
- 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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
-
- 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
- H02K29/12—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using detecting coils using the machine windings as detecting coil
Definitions
- the present invention relates to a position detection device that detects the position of a mover in a magnet movable linear motor in which the mover moves along one direction by a magnetic field generated by applying a voltage to a plurality of coils on the stator side.
- a magnet-movable linear motor in which coils are arranged on the stator side and permanent magnets are arranged on the mover side does not require expensive magnets to be arranged on a long track, and heat is generated on the mover side.
- it since it is not necessary to supply power to the movable element side, it is widely applied as a drive source for a transport mechanism having a particularly long track.
- the stator is configured by arranging a plurality of coils in one direction, and the permanent magnet on the mover side is arranged to face the coil on the stator side. Therefore, when a moving magnetic field is formed by applying a multiphase AC voltage to the stator side coil, a thrust in the same direction as the moving magnetic field is generated in the mover. As a result, the mover moves in the one direction. Will move along.
- Patent Document 1 proposes a magnet movable linear motor as an elevator drive source as described above.
- a linear encoder is installed in the magnet movable linear motor, and by performing servo control using a position detection signal obtained from the linear encoder, the mover The propulsive force generated in the was controlled.
- a control unit that performs servo control is provided on the stator side, and a position detection sensor is provided on the mover side. Therefore, in order to perform servo control by the control unit using the position detection signal obtained from the sensor, communication for transmitting the position detection signal from the mover side to the stator side to the magnet movable linear motor. There was a need to deploy means.
- communication may be interrupted during transmission of the position detection signal.
- a wired communication means it is necessary to arrange communication wiring in a tower in which a car moves. Especially in a multi-car elevator in which a plurality of cars move in one tower, communication wiring is required. There is a problem of complicated arrangement.
- an object of the present invention is to provide a position detection device that can detect the position of the mover on the stator side and has high detection accuracy in the magnet movable linear motor.
- a position detecting device for a magnet movable linear motor includes a stator configured by arranging a plurality of coils in one direction, and a movable element having a permanent magnet disposed to face the stator.
- a detection device comprising a magnetic body fixed to the mover, selecting one or a plurality of coils, applying a voltage to the coil, and a current or voltage induced in a coil adjacent to the coil. Based on the measured current or voltage, the position of the magnetic body that changes according to the position of the mover is calculated.
- the mutual inductance when the position of the magnetic material changes, the mutual inductance between adjacent coils changes.
- the mutual inductance changes according to the position of the magnetic material. Is used.
- the mutual inductance is obtained by calculating the ratio between the voltage applied to the coil and the voltage induced in the coil adjacent to the coil.
- the position detection device includes a magnetic body fixed to the mover, power supply control means for generating a magnetic field for position detection by applying a voltage to a coil selected in response to the instruction, and the instruction.
- Measuring means for measuring the current or voltage induced in the selected coil
- command means gives a first command for selecting one or a plurality of coils as a voltage application target to the power supply control means, and measures a current or voltage to the measurement means.
- the second command for selecting the coil adjacent to the coil to be selected by the power supply control means upon receiving the first command is given.
- the position calculation means controls the command operation by the command means, and calculates the position of the magnetic body that changes according to the position of the mover based on the measurement value measured by the measurement means.
- the power supply control means receives the first command from the command means, and applies a voltage to one or a plurality of coils (selected coils) selected based on the first command, thereby
- the magnetic field for position detection passes inside the coil (adjacent coil) adjacent to the selection coil, and a voltage (current) is induced in the adjacent coil.
- the magnetic substance has a low magnetic resistance. Therefore, when a magnetic body exists at a position facing the selection coil, the magnetic field for position detection easily passes through the magnetic body. For this reason, the magnetic flux density is increased at the position where the magnetic body is present, while the magnetic flux density is decreased in other regions.
- the magnetic flux passing through the inside of the adjacent coil is increased, thereby increasing the current induced in the adjacent coil.
- the magnetic flux passing through the inner side of the adjacent coil is reduced, thereby reducing the current induced in the adjacent coil. Therefore, a current corresponding to the magnetic body position is induced in the adjacent coil.
- the position calculation unit is measured by the measurement unit.
- the position of the magnetic body corresponding to the measured value can be calculated, and as a result, the position of the mover corresponding to the position of the magnetic body is detected.
- the second command given by the command means to the measurement means is adjacent to both sides of the coil that receives the first command and is selected by the power supply control means.
- a command for selecting a pair of coils wherein the measuring means receives the second command, selects the pair of coils, measures the current or voltage induced in the pair of coils, and
- the calculation means acquires two measurement values measured by the measurement means, and calculates the position of the magnetic body based on the two measurement values.
- the position of the magnetic body may not be uniquely determined only by measuring the current or voltage induced in any of the coils.
- the position calculation means selects one of the one or more positions corresponding to one measurement value by matching or approximating one or more positions corresponding to the other measurement value. Even if it is not possible to uniquely determine the position of the magnetic material by using only the measured values, it is possible to uniquely determine the position of the magnetic material by using both measured values.
- the position detection device further includes a recording unit in which a table representing a relationship between the position of the magnetic body and the current or voltage induced in the coil is recorded.
- the position calculation means calculates at least one position corresponding to one measurement value obtained from the measurement means as the first position information based on a table recorded in the recording means, and the other position Calculating at least one position corresponding to the measurement value as the second position information, and selecting a position that matches or approximates the position included in the second position information from the positions included in the first position information; The selected position is calculated as the position of the magnetic body.
- the table is determined by the dimensions of the coil, the number of turns of the coil, the dimensions of the magnetic body, the magnetic characteristics of the magnetic body, and the like, and can be obtained in advance by experiment or analysis.
- the first command given by the command unit to the power supply control unit selects a pair of coils positioned with one coil interposed therebetween as a voltage application target.
- the second command given to the measuring unit by the command unit is a command for selecting a coil to be sandwiched between the pair of coils as a target for measuring current or voltage, and a position
- the detection device further includes voltage adjustment means and determination means.
- the voltage adjustment unit acquires the measurement value measured by the measurement unit, and controls the power supply control unit based on the acquired measurement value, whereby the measurement value measured by the measurement unit becomes a predetermined value. Similarly, the voltage applied to the pair of coils is adjusted.
- the determination unit acquires a measurement value measured by the measurement unit, and determines whether or not the acquired measurement value matches or approximates the predetermined value.
- the position calculating means acquires the voltage applied to the pair of coils from the power supply control means when the determining means determines that the measured value matches or approximates a predetermined value.
- the position of the magnetic body is calculated based on the acquired two voltages.
- the current induced in the intermediate coil or The voltage applied to the pair of coils is adjusted so that the voltage becomes a predetermined value, and the two adjusted voltages are acquired from the power supply control means by the position calculation means.
- the two voltages obtained in this way vary depending on the position of the magnetic body, but the two voltages and the position of the magnetic body have a one-to-one relationship. Therefore, in the position detection device, the position of the magnetic body can be uniquely determined by using two voltages obtained from the power supply means.
- the power supply control unit is opposite to the inside of the coil sandwiched between the pair of coils with respect to the pair of coils selected in response to the first command from the command unit.
- a voltage is applied so that a magnetic field in the direction is generated.
- the voltage applied to the pair of coils can be easily adjusted so that the current or voltage induced in the coil sandwiched between the pair of coils becomes a predetermined value. Become.
- the voltage adjusting means is configured so that magnetic fields generated by applying a voltage to the pair of coils cancel each other out inside the coil sandwiched between the pair of coils.
- the power supply control means is controlled to adjust the voltage applied to the pair of coils.
- the position detection device further includes a voltage to be applied to the pair of coils when the position of the magnetic body and the measurement value obtained from the measurement means reach the predetermined value.
- Recording means in which a table representing the relationship between the magnetic material and the position calculating means is obtained from two voltages obtained from the power supply control means based on the table recorded in the recording means. The position of is calculated.
- the magnetic body is disposed at a position where the magnetic body is opposed to a coil different from the coil opposed to the permanent magnet.
- the magnetic body is made of a paramagnetic material.
- the stator is divided into a plurality of segments, and a plurality of coils are arranged in the one direction in each segment, and the power supply control means applies to each coil for each segment.
- the voltage to be controlled can be individually controlled. As a result, it is possible to detect the position of the magnetic body with less power consumption.
- Each segment can be provided with at least one coil set with three coils as one coil set.
- the voltage applied to the plurality of coils by the power supply control means is an alternating voltage.
- an AC voltage By using an AC voltage, even when the mover is stopped and the magnetic body is stopped, current or voltage is induced in the coil adjacent to the coil to which the voltage is applied. Detection is possible.
- the position detection device for a magnet movable linear motor according to the present invention can detect the position of the mover on the stator side and has high detection accuracy.
- FIG. 1 is a plan view showing a magnet movable linear motor.
- FIG. 2 is a plan view showing a coil group provided in the stator.
- FIG. 3 is a block diagram showing a magnet movable linear motor including the position detection device according to the first embodiment of the present invention.
- FIG. 4 is a plan view illustrating the first form of the position detection operation focusing on three coils arranged in one direction in the first embodiment.
- FIG. 5 is a side view showing the state of the magnetic field in the first embodiment.
- FIG. 6 is a plan view illustrating a second form of the position detection operation focusing on three coils arranged in one direction in the first embodiment.
- FIG. 7 is a side view showing the state of the magnetic field in the second embodiment.
- FIG. 1 is a plan view showing a magnet movable linear motor.
- FIG. 2 is a plan view showing a coil group provided in the stator.
- FIG. 3 is a block diagram showing a magnet movable linear motor including the position detection
- FIG. 8 is a plan view illustrating a third form of the position detection operation focusing on three coils arranged in one direction in the first embodiment.
- FIG. 9 is a side view showing the state of the magnetic field in the third embodiment.
- FIG. 10 is a diagram showing the relationship between the magnetic body position and the magnitude of the induced voltage.
- FIG. 11 is a block diagram showing a magnet movable linear motor including a position detection device according to the second embodiment of the present invention.
- FIG. 12 is a plan view illustrating the first form of the position detection operation focusing on three coils arranged in one direction in the second embodiment.
- FIG. 13 is a side view showing the state of the magnetic field before voltage adjustment in the first embodiment.
- FIG. 14 is a plan view illustrating a second form of the position detection operation focusing on three coils arranged in one direction in the second embodiment.
- FIG. 15 is a side view showing the state of the magnetic field before voltage adjustment in the second embodiment.
- FIG. 16 is a plan view illustrating a third form of the position detection operation focusing on three coils arranged in one direction in the second embodiment.
- FIG. 17 is a side view showing the state of the magnetic field before voltage adjustment in the third embodiment.
- FIG. 18 is a diagram illustrating the voltage adjustment operation of the voltage adjustment means.
- FIG. 19 is a side view showing the state of the magnetic field after voltage adjustment in the second embodiment of the second embodiment.
- FIG. 20 is a side view showing the state of the magnetic field after voltage adjustment in the third mode of the second embodiment.
- FIG. 21 is a side view showing the state of the magnetic field in the fourth form of the position detection operation in the second embodiment.
- the magnet-movable linear motor (1) includes a stator (2) extending in one direction and a plurality of permanent magnets arranged to face the stator (2). It is comprised from the needle
- the stator (2) is constituted by connecting a plurality of divided segments (21)... (21) in a line, and each segment (21) is opposed to the movable element (3).
- a coil group (22) is provided on the surface to be formed as shown in FIG.
- the coil group (22) includes a U-phase coil (22u) to which a U-phase AC voltage is applied, a V-phase coil (22v) to which a V-phase AC voltage is applied, and a W-phase to which a W-phase AC voltage is applied.
- Coil (22w) is one coil set and four coil sets are included.
- U-phase to W-phase coils (22u) (22v) (22w) included in each coil set are in the order of UVW. Lined up in one direction. Further, adjacent coils partially overlap each other. In each coil group (22), four coils are connected in series for each phase.
- U-phase coils (22u) form a U-phase series coil (23u) in which these are connected in series
- four V-phase coils (22v) form a V-phase series in which they are connected in series
- a coil (23v) is formed
- a W-phase series coil (23w) in which these are connected in series is formed by four W-phase coils (22w).
- each permanent magnet (not shown) arranged in the mover (3) has an N-pole and an S-pole at both ends in one direction and is included in the same coil set. It has approximately the same length as the distance ⁇ (see FIG. 2) between the centers of the coil (22u) and the W-phase coil (22w).
- an inverter (41) and inverter control means (40) for controlling the inverter (41) are arranged on the stator (2) side of the magnet movable linear motor (1).
- the inverter (41) can individually control the AC voltage applied to each series coil for each segment (21).
- the inverter (41) receives a control command from the inverter control means (40)
- the inverter (41) applies a three-phase AC voltage to the coil group (22) based on the control command, and thereby the stator (2).
- a moving magnetic field is generated on the coil side surface.
- the inverter (41) can adjust the magnitude and propagation speed of the moving magnetic field based on the control command from the inverter control means (40).
- the inverter (41) Based on the control command from the inverter control means (40), the inverter (41) is partly or entirely opposed to the mover (3) among the plurality of segments (21)... (21). A three-phase AC voltage is applied only to the segment (21) (the segment indicated by hatching in FIG. 1). That is, the inverter (41) receives a command from the inverter control means (40), selects a plurality of coil groups (22) to apply a three-phase AC voltage, and selects the selected plurality of coil groups. (22) ... A three-phase AC voltage is applied to (22) to generate a moving magnetic field. Therefore, the magnet movable linear motor (1) is driven with low power consumption.
- a magnetic body (5) is further fixed to the mover (3), and the magnetic body (5) is made of a paramagnetic material. ing. Further, the magnetic body (5) is located at a position facing a segment (21) different from a group of segments (21) partially or entirely facing the mover (3), here the group. Is disposed at a position facing the segment (21) that is positioned with only one other segment (21) interposed therebetween.
- the magnet movable linear motor (1) is provided with a position detection device for detecting the position of the mover (3), and a part of the position detection device includes the magnetic body (5 ) And an inverter (41).
- the position detection device includes a measuring means (42), a command means (in addition to a magnetic body (5) and an inverter (41)). 43), position calculating means (44), and recording means (45).
- the inverter (41) can receive from the command means (43) a first command different from the command from the inverter control means (40), and receives the first command from the command means (43).
- Select one series coil from U-phase to W-phase series coils (23u) (23v) (23w) arranged in the segment (21) facing the magnetic body (5). An alternating voltage is applied to the one series coil. Thereby, a magnetic field for position detection different from the moving magnetic field is generated on the coil side surface of the segment (21) facing the magnetic body (5).
- the measuring means (42) can receive a second command different from the first command from the command means (43).
- the magnetic body (5) Two series coils are selected from the U-phase to W-phase series coils (23u) (23v) (23w) arranged in the opposing segment (21), and are induced by the selected two series coils. Measure the voltage (inductive voltage).
- the command means (43) is provided with a segment (21) facing the magnetic body (5) as a voltage application target to the inverter (41).
- a second command for selecting a pair of series coils different from the series coil to be selected by the inverter (41) in response to the first command is given.
- an AC voltage Vu0 is applied to the U-phase coil (22u) to generate a magnetic field Bu for position detection, which causes the V-phase coil (22v) and the W-phase coil (22w) to As shown in FIG. 5, the magnetic field Bu for position detection passes through the area where the coils overlap each other inside.
- the voltages Vvi and Vwi are induced in the V-phase coil (22v) and the W-phase coil (22w), and the induced voltages Vvi and Vwi are measured by the measuring means (42).
- the magnetic body (5) has a low magnetic resistance. Therefore, as shown in FIG. 6, when the magnetic body (5) exists at a position facing the U-phase coil (22u) to which the AC voltage Vu0 is applied, the magnetic field Bu for position detection is the magnetic body (5). It becomes easy to pass through. For this reason, as shown in FIG. 7, the magnetic flux density of the magnetic field Bu increases at the position where the magnetic body (5) exists, while the magnetic flux density of the magnetic field Bu decreases in the other regions.
- FIG. 10 shows that a voltage Vwi corresponding to the position x of the magnetic body (5) is induced in the W-phase coil (22w). Note that FIG. 10 shows that the magnitude
- FIG. 10 shows that a voltage Vvi corresponding to the position x of the magnetic body (5) is induced in the V-phase coil (22v). Note that FIG. 10 shows that the magnitude
- the recording means (45) includes a table showing the relationship between the magnetic body position x and the magnitude of the voltage induced in the V-phase coil (22v)
- the voltage Vvi induced in the V-phase coil (22v) and the voltage Vwi induced in the W-phase coil (22w) are measured while actually moving the magnetic body (5). Is mentioned.
- a magnetic field model of a system including a magnet movable linear motor (1) and a magnetic body (5) is set, and the magnetic field model is analyzed using a finite element method. It is done.
- the position calculating means (44) acquires the two induced voltages Vvi and Vwi measured by the measuring means (42) from the measuring means (42) as measured values Vvi0 and Vwi0, and acquires the two measured values Vvi0, Based on Vwi0, the position of the magnetic body (5) that changes according to the position of the mover (3) is calculated.
- the position calculating means (44) corresponds to one measured value Vvi0 obtained from the measuring means (42) based on the table recorded in the recording means (45).
- the position corresponding to the measured values Vvi0 and Vwi0 is calculated using the table recorded in the recording means (45), the measured value from either one of the two measured values Vvi0 and Vwi0 Since a plurality of positions (for example, a plurality of positions xv1, xv2 with respect to the measurement value Vvi0) are calculated corresponding to the measurement value, the position of the magnetic body (5) cannot be uniquely determined.
- the position detection device since two pieces of position information corresponding to both of the two measurement values Vvi0 and Vwi0 are calculated as described above, position information obtained from one measurement value is obtained. Even if the position of the magnetic body (5) cannot be uniquely determined only by using, the position of the magnetic body (5) is uniquely determined by using the position information obtained from the other measured value.
- the induced voltage is measured by the measuring means (42), the induced voltage is measured with higher accuracy as the magnitude of the induced voltage is larger. That is, the relationship (table) between the magnetic body position x and the magnitude of the induced voltage shown in FIG. 10 has high reliability in the range where the width around the position where the magnitude of the induced voltage is maximum is about ⁇ . It will be. Therefore, when the position of the magnetic body (5) is detected from the two measured values Vvi0 and Vwi0 based on the table as described above, the relationship between the magnetic body position x and the magnitude of the induced voltage
- the range overlaps with the reliable range in the relationship between the magnetic body position x and the induced voltage magnitude
- , that is, the center position of the U-phase coil (22u) as a reference (x 0).
- the position of the magnetic body (5) detected in the range of x ⁇ / 4 to + ⁇ / 4 is highly accurate.
- the inverter (41) receives the first command from the command means (43), selects the V-phase coil (22v), and the measurement means (42) from the command means (43).
- the W phase coil (22w) and the U phase coil (22u) adjacent to both sides of the V phase coil (22v) selected by the inverter (41) upon receipt of the first command are selected.
- the inverter (41) receives the first command from the command means (43) and selects the W-phase coil (22w), and the measurement means (42) receives the second command from the command means (43),
- the W phase coil (22w) receives the U phase coil (22u) and the V phase coil (22v) adjacent to both sides of the W phase coil (22w) selected by the inverter (41) in response to the first command are selected.
- the position detection device detects the position of the magnetic body (5) based on the voltage induced in the coil. Therefore, in the magnet movable linear motor (1), the position of the mover (3) is detected on the stator (2) side. Therefore, even when servo control or the like is executed using the detected position of the movable element (3), the magnet movable linear motor (1) needs to be provided with communication means like a conventional magnet movable linear motor. Absent.
- the magnetic field is an oscillating magnetic field. Therefore, even when the mover (3) is stopped and the magnetic body (5) is stopped, the voltage is induced in the pair of coils adjacent to both sides of the coil to which the AC voltage is applied. It is possible to detect the position of the magnetic body (5).
- one of the U-phase to W-phase series coils (23u) (23v) (23w) arranged in the segment (21) facing the magnetic body (5) is connected in series. Since an AC voltage is applied only to the coil, less power is required to detect the position of the magnetic body (5).
- the position detection device includes a magnetic means (5) and an inverter (41), a measuring means (42), a command means ( 43), a position calculating means (44), a recording means (45), a voltage adjusting means (46), and a judging means (47).
- the inverter (41) can receive from the command means (43) a first command different from the command from the inverter control means (40), and receives the first command from the command means (43).
- the measuring means (42) can receive a second command different from the first command from the command means (43).
- the magnetic body (5) One series coil is selected from the U-phase to W-phase series coils (23u) (23v) (23w) arranged in the opposing segment (21), and is induced to the selected one series coil. Measure the voltage (inductive voltage).
- the command means (43) is provided with a segment (21) facing the magnetic body (5) as a voltage application target to the inverter (41).
- 2 series coils are selected from the U phase to W phase series coils (23u), (23v), and (23w) installed in A first command for applying an AC voltage having the same predetermined value V0 is given, and the inverter (41) receives the first command as a target for measuring the induced voltage to the measuring means (42).
- a second command for selecting one series coil different from the two series coils to be given is given.
- the measuring means (42) receives the second command from the command means (43), receives the first command, and the V-phase coil (22v) selected by the inverter (41) And the U-phase coil (22u) sandwiched between the W-phase coil (22w).
- the AC voltage Vv0 is applied to the V-phase coil (22v) to generate a position detecting magnetic field Bv
- the W-phase coil (22w) has a direction opposite to the AC voltage Vv0.
- An alternating voltage Vw0 having the same magnitude V0 is applied, and a position detecting magnetic field Bw having the same magnitude as the magnetic field Bv is generated in the opposite direction to the magnetic field Bv.
- the magnetic field Bv for position detection and the magnetic field Bw pass through two regions where the coils overlap each other as shown in FIG. 13 inside the U-phase coil (22u).
- the magnetic substance (5) has a low magnetic resistance. Therefore, as shown in FIG. 14, when the magnetic body (5) exists at a position facing the W-phase coil (22w) to which the AC voltage Vw0 is applied, the magnetic field Bw for position detection is the magnetic body (5). It becomes easy to pass through. For this reason, as shown in FIG. 15, the magnetic flux density of the magnetic field Bw is high at the position where the magnetic body (5) is present, while the magnetic flux density of the magnetic field Bw is low in other regions. In addition, as shown in FIG. 16, when the magnetic body (5) exists at a position facing the V-phase coil (22v) to which the AC voltage Vv0 is applied, the magnetic body (5) as shown in FIG. The magnetic flux density of the magnetic field Bv increases at a position where the magnetic field B exists, while the magnetic flux density of the magnetic field Bv decreases in other areas.
- the voltage adjusting means (46) fixes the magnitude
- of the AC voltage Vw0 applied to the W-phase coil (22w) is changed from the predetermined value V0 to 0.
- the AC voltage Vv0 by the voltage adjustment means (46) is determined. , Vw0 adjustment ends.
- the induced voltage Vui measured by the measuring means (42) is a predetermined value by the adjusting operation (FIG. 18) of the voltage adjusting means (46).
- the magnetic flux amount of the magnetic field Bw passing through the inside of the U-phase coil (22u) becomes equal to the magnetic flux amount of the magnetic field Bv passing through the inside of the U-phase coil (22u).
- the magnetic field Bv and the magnetic field Bw cancel each other out inside (22u).
- the induced voltage Vui measured by the measuring means (42) is a predetermined value by the adjusting operation (FIG. 18) of the voltage adjusting means (46).
- the magnetic flux amount of the magnetic field Bv passing through the inside of the U-phase coil (22u) becomes equal to the magnetic flux amount of the magnetic field Bw passing through the inside of the U-phase coil (22u).
- the magnetic field Bv and the magnetic field Bw cancel each other out inside (22u).
- the two AC voltages Vv0 and Vw0 adjusted in this way change according to the magnetic material position x, and have a one-to-one relationship with the magnetic material position x.
- is recorded.
- the table is determined by the dimensions of the coil, the number of turns of the coil, the dimensions of the magnetic body, the magnetic characteristics of the magnetic body, and the like, and can be obtained in advance by experiment or analysis.
- a method for acquiring a table by experiment it is possible to measure two AC voltages Vv0 and Vw0 after adjustment while actually moving the magnetic body (5).
- a magnetic field model of a system including a magnet movable linear motor (1) and a magnetic body (5) is set, and the magnetic field model is analyzed using a finite element method. It is done.
- the position calculation means (44) uses the inverter (41). AC voltages Vv0 and Vw0 applied to the V-phase coil (22v) and the W-phase coil (22w) are acquired from the inverter (41), and based on the acquired two AC voltages Vv0 and Vw0, the mover (3 The position of the magnetic body (5) that changes in accordance with the position of) is calculated.
- the position calculating means (44) based on the two AC voltages Vv0, Vw0 acquired from the inverter (41), from the table recorded in the recording means (45), the two AC voltages Vv0, A position x corresponding to the magnitudes
- the position of the magnetic body (5) is uniquely determined from the two AC voltages Vv0 and Vw0 after adjustment.
- the inverter (41) receives the first command from the command means (43) and the U-phase coil (22u) positioned with one V-phase coil (22v) in between The W phase coil (22w) is selected, the measurement means (42) receives the second command from the command means (43), the U phase coil (22u) selected by the inverter (41) in response to the first command
- the inverter (41) receives the first command from the command means (43), the U-phase coil (22u) and the V-phase coil (22v) positioned with one W-phase coil (22w) in between.
- the measurement means (42) receives the second command from the command means (43), receives the first command, and the inverter (41) selects the U-phase coil (22u) and V-phase coil (22v).
- the position of the magnetic body (5) having high accuracy is detected.
- the position detection device detects the position of the magnetic body (5) based on the adjusted AC voltage applied to the pair of coils. Therefore, in the magnet movable linear motor (1), the position of the mover (3) is detected on the stator (2) side. Therefore, even when servo control or the like is executed using the detected position of the movable element (3), the magnet movable linear motor (1) needs to be provided with communication means like a conventional magnet movable linear motor. Absent.
- the magnetic field is an oscillating magnetic field. Therefore, even when the mover (3) is stopped and the magnetic body (5) is stopped, a voltage is induced in the coil sandwiched between the pair of coils to which the AC voltage is applied. Therefore, it is possible to detect the position of the magnetic body (5).
- a pair of series is selected from the U-phase to W-phase series coils (23u) (23v) (23w) arranged in the segment (21) opposed to the magnetic body (5). Since an AC voltage is applied only to the coil, less power is required to detect the position of the magnetic body (5).
- the position x of the magnetic body (5) having high accuracy is detected. Therefore, in order to detect the absolute position of the magnetic body (5), the coil set facing the magnetic body (5) from the initial position where the magnetic body (5) can be detected by a switch, a sensor or the like. It is necessary to calculate the distance L to the center position (the center position of the V-phase coil (22v)).
- the permanent magnet arranged in the mover (3) is the distance ⁇ between the centers of the U-phase coil (22u) and the W-phase coil (22w) included in the same coil set (see FIG. 2). ) And substantially the same length.
- the mover (3) when a three-phase AC voltage is applied to the coil group (22) on the stator (2) side in order to move the mover (3), the mover (3) has a three-phase AC voltage. Each time it vibrates for one period, it moves by the distance between the centers of two coils of the same phase included in the adjacent coil set.
- the initial position is obtained. From this, the distance L to the center position of the coil set facing the magnetic body (5) can be calculated.
- the distance L calculated as described above is added to the position of the magnetic body (5) detected by the position detection device, and the coil of which phase the position of the magnetic body (5) detected by the position detection device is added.
- the absolute position of the magnetic body (5) is calculated by adding together the correction values determined depending on whether the center position of the magnetic body is based on.
- the correction value is 0 when the position of the magnetic body (5) is obtained with reference to the center position of the V-phase coil (22v), and the position of the magnetic body (5) is U-phase.
- the position of the magnetic body (5) is the center position of the W-phase coil (22w). + ⁇ / 2 (or - ⁇ / 2) in the case of being obtained with reference to.
- the position detection device according to the present invention is applied to a magnet movable linear motor in which adjacent coils partially overlap each other, but the applicable range of the position detection device according to the present invention is this. It is not limited to.
- the position detection device according to the present invention can be applied to a magnet movable linear motor in which adjacent coils do not overlap each other.
- adjacent coils need to have a positional relationship in which a magnetic field generated in one coil passes through the inside of the other coil.
- the magnetic body (5) needs to have a shape that allows the magnetic field generated in one coil to pass through the inside of the other coil through the magnetic body (5) in relation to the adjacent coil. is there.
- each segment (21) has only one coil set. It may be arranged, and a plurality of coil sets other than four may be arranged.
- the magnetic body (5) is provided between a group of segments (21) partly or entirely facing the mover (3) and a segment (21) facing the magnetic body (5).
- the magnetic body (5) may be fixed to the movable element (3) such that the segment (21) facing the magnetic body (5) is adjacent to a group of the segments (21).
- the movable element (3) may be fixed so that a plurality of segments (21) are sandwiched between a group of segments (21) and the segment (21) facing the magnetic body (3).
- the position detecting device includes the command means (43), and gives commands (first command and second command) to the inverter (41) and the measurement means (42) by the command means (43).
- the present invention is not limited to this, and instead of the command means (43), the inverter control means (40) gives commands to the inverter (41) and the measurement means (42) (first command and second command). ) May be given.
- the position detection device performs position detection using the coil for driving the mover (3).
- a position detection coil is provided separately from the mover driving coil. It may be arranged in the stator (2), and position detection by a position detection device may be performed using the position detection coil.
- the measuring means (42) measures the voltage induced in the coil. However, instead of this, the current induced in the coil may be measured.
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Abstract
Description
即ち、磁性体の位置が変化することによって、隣接するコイル間の相互インダクタンスが変化することになるが、上記位置検出装置は、この様に磁性体の位置に応じて該相互インダクタンスが変化することを利用したものである。ここで、相互インダクタンスは、コイルに印加される電圧と該コイルに隣接するコイルに誘導される電圧との比率を計算することによって求められる。
ここで、磁性体は磁気抵抗が低い。よって、選択コイルと対向する位置に磁性体が存在する場合、位置検出用の磁界は磁性体を通過し易くなる。このため、磁性体が存在する位置にて磁束密度が高くなる一方、その他の領域においては磁束密度が低くなる。従って、隣接コイルの近傍位置に磁性体が存在する場合、隣接コイルの内側を通過する磁束が増加し、これにより該隣接コイルに誘導される電流が増加することになる。一方、隣接コイルの近傍位置から磁性体が移動して遠ざかった場合、隣接コイルの内側を通過する磁束が減少し、これにより該隣接コイルに誘導される電流が減少することになる。よって、隣接コイルには、磁性体位置に応じた電流が誘導されることになる。
上記第1の具体的構成においては、上記一方のコイルに誘導される電流又は電圧に加えて、他方のコイルに誘導される電流又は電圧が測定手段によって測定され、測定された2つの測定値が位置算出手段によって取得される。従って、位置算出手段において、一方の測定値に対応する1又は複数の位置の中から、他方の測定値に対応する1又は複数の位置と一致又は近似しているものを選択することにより、一方の測定値を用いただけでは磁性体の位置を一意に決めることが出来ない場合でも、両方の測定値を用いることによって磁性体の位置を一意に決めることが可能となる。
ここで、上記テーブルは、コイルの寸法、コイルの巻き数、磁性体の寸法、磁性体の磁気的特性等により決定され、実験又は解析により予め取得することが出来るものである。
該具体的構成によれば、前記一対のコイルに印加する電圧を、該一対のコイルの間に挟まれているコイルに誘導される電流又は電圧が所定値となる様に調整することが容易となる。
又、各セグメントには、3つのコイルを1つのコイル組として少なくとも1つのコイル組を配備することが出来る。
交流電圧を用いることにより、可動子が停止していて磁性体が停止しているときでも、電圧が印加されているコイルに隣接するコイルには電流又は電圧が誘導されるので、磁性体の位置検出が可能である。
1.磁石可動型リニアモータ
磁石可動型リニアモータ(1)は、図1に示す如く、一方向に延びている固定子(2)と、該固定子(2)に対向して配置された複数の永久磁石(図示せず)を有する可動子(3)とから構成されている。固定子(2)は、分割された複数のセグメント(21)・・・(21)を一列に並べて連結することによって構成されており、各セグメント(21)には、可動子(3)と対向することとなる表面に、図2に示す如くコイル群(22)が配備されている。
そして、各コイル群(22)においては、相毎に4つのコイルが直列に接続されている。即ち、4つのU相コイル(22u)によって、これらが直列に接続されたU相直列コイル(23u)が形成され、4つのV相コイル(22v)によって、これらが直列に接続されたV相直列コイル(23v)が形成され、4つのW相コイル(22w)によって、これらが直列に接続されたW相直列コイル(23w)が形成されている。
又、インバータ(41)は、インバータ制御手段(40)からの制御指令に基づいて、移動磁界の大きさや伝播速度を調整することが出来る。
図3に示す様に、第1実施形態に係る位置検出装置は、磁性体(5)とインバータ(41)の他に、測定手段(42)と、指令手段(43)と、位置算出手段(44)と、記録手段(45)とを具えている。
ここで、インバータ(41)は、上述したインバータ制御手段(40)からの指令とは別の第1指令を指令手段(43)から受けることが出来、指令手段(43)から第1指令を受けた場合、磁性体(5)が対向しているセグメント(21)に配備されているU相~W相直列コイル(23u)(23v)(23w)の中から1つの直列コイルを選択し、選択した1つの直列コイルに対して交流電圧を印加する。これによって、移動磁界とは別の位置検出用の磁界が、磁性体(5)が対向しているセグメント(21)のコイル側表面に発生することになる。
図4に示す様に、インバータ(41)が、指令手段(43)から第1指令を受けてU相コイル(22u)を選択した場合、測定手段(42)は、指令手段(43)から第2指令を受けて、第1指令を受けてインバータ(41)が選択したU相コイル(22u)の両側に隣接するV相コイル(22v)とW相コイル(22w)とを選択することになる。
一方、図8及び図9に示す如く、U相コイル(22u)とW相コイル(22w)とが互いに重なった領域と対向した位置から磁性体(5)が移動して遠ざかった場合、W相コイル(22w)の内側を通過する磁界Buの磁束量は減少し、これにより該W相コイル(22w)に誘導される電圧Vwiは減少することになる。
一方、図6及び図7に示す如く、U相コイル(22u)とV相コイル(22v)とが互いに重なった領域と対向した位置から磁性体(5)が移動して遠ざかった場合、V相コイル(22v)の内側を通過する磁界Buの磁束量は減少し、これにより該V相コイル(22v)に誘導される電流Vviは減少することになる。
尚、これらのテーブルは、コイルの寸法、コイルの巻き数、磁性体の寸法、磁性体の磁気的特性等により決定され、実験又は解析により予め取得することが出来るものである。実験によるテーブルの取得方法として、実際に磁性体(5)を移動させつつ、V相コイル(22v)に誘導される電圧VviとW相コイル(22w)に誘導される電圧Vwiとを測定することが挙げられる。又、解析によるテーブルの取得方法として、磁石可動型リニアモータ(1)と磁性体(5)とから成るシステムの磁界モデルを設定し、該磁界モデルに有限要素法を用いて解析することが挙げられる。
しかし、第1実施形態に係る位置検出装置においては、上述の如く2つの測定値Vvi0,Vwi0の両方からこれらに対応する2つの位置情報が算出されるため、一方の測定値から得られる位置情報を用いただけでは磁性体(5)の位置を一意に決めることが出来ない場合でも、他方の測定値から得られる位置情報を用いることにより磁性体(5)の位置が一意に決まることになる。
従って、上述の如くテーブルに基づいて2つの測定値Vvi0,Vwi0から磁性体(5)の位置を検出する場合、磁性体位置xと誘導電圧の大きさ|Vvi0|との関係において信頼性の高い範囲と、磁性体位置xと誘導電圧の大きさ|Vwi0|との関係において信頼性の高い範囲とが重なっている範囲、即ちU相コイル(22u)の中心位置を基準(x=0)としたx=-τ/4~+τ/4の範囲において検出された磁性体(5)の位置は、精度の高いものとなる。
又、インバータ(41)が、指令手段(43)から第1指令を受けてW相コイル(22w)を選択し、測定手段(42)が、指令手段(43)から第2指令を受けて、第1指令を受けてインバータ(41)が選択したW相コイル(22w)の両側に隣接するU相コイル(22u)とV相コイル(22v)を選択した場合には、W相コイル(22w)の中心位置を基準(x=0)としたx=-τ/4~+τ/4の範囲において、高い精度を有する磁性体(5)の位置が検出されることになる。
よって、上記第1実施形態に係る位置検出装置においては、磁性体(5)の位置に拘わらず、該磁性体(5)の位置を高い精度で検出することが出来る。
図11に示す様に、第2実施形態に係る位置検出装置は、磁性体(5)とインバータ(41)の他に、測定手段(42)と、指令手段(43)と、位置算出手段(44)と、記録手段(45)と、電圧調整手段(46)と、判定手段(47)とを具えている。
ここで、インバータ(41)は、上述したインバータ制御手段(40)からの指令とは別の第1指令を指令手段(43)から受けることが出来、指令手段(43)から第1指令を受けた場合、磁性体(5)が対向しているセグメント(21)に配備されているU相~W相直列コイル(23u)(23v)(23w)の中から2つの直列コイルを選択し、選択した2つの直列コイルに対して互いに逆向きの交流電圧を印加する。これによって、移動磁界とは別の位置検出用の磁界が、磁性体(5)が対向しているセグメント(21)のコイル側表面に発生することになる。
図12に示す様に、インバータ(41)が、指令手段(43)から第1指令を受けて、1つのU相コイル(22u)を間に挟んで位置するV相コイル(22v)とW相コイル(22w)とを選択した場合、測定手段(42)は、指令手段(43)からの第2指令を受けて、第1指令を受けてインバータ(41)が選択したV相コイル(22v)とW相コイル(22w)と間に挟まれたU相コイル(22u)を選択することになる。
又、図16に示す様に、交流電圧Vv0が印加されているV相コイル(22v)と対向する位置に磁性体(5)が存在する場合、図17に示す様に、磁性体(5)が存在する位置にて磁界Bvの磁束密度が高くなる一方、その他の領域においては磁界Bvの磁束密度が低くなる。
そして、判定手段(47)によって、測定手段(42)から得られる測定値Vui0が所定値(=0)に一致又は近似していると判断されたとき、電圧調整手段(46)による交流電圧Vv0,Vw0の調整を終了する。
尚、上記テーブルは、コイルの寸法、コイルの巻き数、磁性体の寸法、磁性体の磁気的特性等により決定され、実験又は解析により予め取得することが出来るものである。実験によるテーブルの取得方法として、実際に磁性体(5)を移動させつつ、調整後の2つの交流電圧Vv0,Vw0を測定することが挙げられる。又、解析によるテーブルの取得方法として、磁石可動型リニアモータ(1)と磁性体(5)とから成るシステムの磁界モデルを設定し、該磁界モデルに有限要素法を用いて解析することが挙げられる。
又、インバータ(41)が、指令手段(43)から第1指令を受けて、1つのW相コイル(22w)を間に挟んで位置するU相コイル(22u)とV相コイル(22v)とを選択し、測定手段(42)が、指令手段(43)から第2指令を受けて、第1指令を受けてインバータ(41)が選択したU相コイル(22u)とV相コイル(22v)との間に挟まれたW相コイル(22w)を選択した場合には、W相コイル(22u)の中心位置を基準(x=0)としたx=-τ/4~+τ/4の範囲において、高い精度を有する磁性体(5)の位置が検出されることになる。
よって、上記第2実施形態に係る位置検出装置においては、磁性体(5)の位置に拘わらず、該磁性体(5)の位置を高い精度で検出することが出来る。
上述した第1及び第2実施形態に係る位置検出装置によれば、何れかのコイルに対して、該コイルの中心位置(x=0)を基準としたx=-τ/4~+τ/4の範囲内で、高い精度を有する磁性体(5)の位置xが検出されることになる。
従って、磁性体(5)の絶対位置を検出するためには、スイッチやセンサ等で磁性体(5)を検出することが出来る初期位置から、磁性体(5)が対向しているコイル組の中心位置(V相コイル(22v)の中心位置)迄の距離Lを算出する必要がある。
ここで、補正値は、磁性体(5)の位置がV相コイル(22v)の中心位置を基準として得られたものである場合には0であり、磁性体(5)の位置がU相コイル(22u)の中心位置を基準として得られたものである場合には-τ/2(又は、+τ/2)であり、磁性体(5)の位置がW相コイル(22w)の中心位置を基準として得られたものである場合には+τ/2(又は、-τ/2)である。
又、上記実施形態においては、測定手段(42)はコイルに誘導される電圧を測定していたが、これに代えてコイルに誘導される電流を測定してもよい。
(2) 固定子
(21) セグメント
(22) コイル群
(22u) U相コイル
(22v) V相コイル
(22w) W相コイル
(3) 可動子
(40) インバータ制御手段
(41) インバータ(電力供給制御手段)
(42) 測定手段
(43) 指令手段
(44) 位置算出手段
(45) 記録手段
(46) 電圧調整手段
(47) 判定手段
(5) 磁性体
Claims (13)
- 複数のコイルを一方向に配列して構成されている固定子と、該固定子に対向して配置された永久磁石を有する可動子とを具え、前記固定子側の複数のコイルに電圧を印加して発生する磁界によって前記可動子が前記一方向に沿って移動する磁石可動型リニアモータにおいて、前記可動子の位置を検出する位置検出装置であって、
前記可動子に固定された磁性体を具え、1又は複数のコイルを選択して該コイルに電圧を印加すると共に、該コイルに隣接するコイルに誘導される電流又は電圧を測定し、測定した電流又は電圧に基づいて、前記可動子の位置に応じて変化する前記磁性体の位置を算出する磁石可動型リニアモータ用の位置検出装置。 - 複数のコイルを一方向に配列して構成されている固定子と、該固定子に対向して配置された永久磁石を有する可動子とを具え、前記固定子側の複数のコイルに電圧を印加して発生する磁界によって前記可動子が前記一方向に沿って移動する磁石可動型リニアモータにおいて、前記可動子の位置を検出する位置検出装置であって、
前記可動子に固定された磁性体と、
指令を受けて選択したコイルに電圧を印加して位置検出用の磁界を発生させる電力供給制御手段と、
指令を受けて選択したコイルに誘導される電流又は電圧を測定する測定手段と、
前記電力供給制御手段に対して、電圧を印加する対象として1又は複数のコイルを選択するための第1指令を与えると共に、前記測定手段に対して、電流又は電圧を測定する対象として、前記第1指令を受けて前記電力供給制御手段が選択することとなるコイルに隣接するコイルを選択するための第2指令を与える指令手段と、
前記指令手段による指令動作を制御して、前記測定手段によって測定される測定値に基づいて、前記可動子の位置に応じて変化する前記磁性体の位置を算出する位置算出手段
とを具える磁石可動型リニアモータ用の位置検出装置。 - 前記指令手段が測定手段に与える第2指令は、前記第1指令を受けて前記電力供給制御手段が選択することとなるコイルの両側に隣接する一対のコイルを選択するための指令であり、前記測定手段は、前記第2指令を受けて前記一対のコイルを選択して、該一対のコイルに誘導される電流又は電圧を測定し、前記位置算出手段は、前記測定手段によって測定される2つの測定値を取得し、該2つの測定値に基づいて前記磁性体の位置を算出する請求項2に記載の磁石可動型リニアモータ用の位置検出装置。
- 更に、前記磁性体の位置と前記コイルに誘導される電流又は電圧との関係を表すテーブルが記録されている記録手段を具え、
前記位置算出手段は、前記記録手段に記録されているテーブルに基づいて、前記測定手段から得られる一方の測定値に対応する少なくとも1つの位置を第1位置情報として算出すると共に、他方の測定値に対応する少なくとも1つの位置を第2位置情報として算出し、第1位置情報に含まれる位置の中から、第2位置情報に含まれる位置と一致又は近似しているものを選択し、選択した位置を磁性体の位置として算出する請求項3に記載の磁石可動型リニアモータ用の位置検出装置。 - 前記指令手段が電力供給制御手段に与える第1指令は、電圧を印加する対象として1つのコイルを間に挟んで位置する一対のコイルを選択するための指令であり、前記指令手段が測定手段に与える第2指令は、電流又は電圧を測定する対象として前記一対のコイルの間に挟まれることとなるコイルを選択するための指令であり、更に、
前記測定手段によって測定される測定値を取得し、取得した測定値に基づいて前記電力供給制御手段を制御することにより、前記測定手段によって測定される測定値が所定値となる様に前記一対のコイルに印加する電圧を調整する電圧調整手段と、
前記測定手段によって測定される測定値を取得し、取得した測定値が前記所定値に一致又は近似しているか否かを判定する判定手段
とを具え、
前記位置算出手段は、前記判定手段により前記測定値が所定値に一致又は近似していると判定されたとき、前記一対のコイルに印加されている電圧を前記電力供給制御手段から取得し、取得した2つの電圧に基づいて前記磁性体の位置を算出する請求項2に記載の磁石可動型リニアモータ用の位置検出装置。 - 前記電力供給制御手段は、前記指令手段からの第1指令を受けて選択した一対のコイルに対して、該一対のコイルの間に挟まれているコイルの内側に互いに逆向きの磁界が発生する様に電圧を印加する請求項5に記載の磁石可動型リニアモータ用の位置検出装置。
- 前記電圧調整手段は、前記一対のコイルに電圧を印加して発生する磁界が、該一対のコイルの間に挟まれているコイルの内側にて互いに打ち消し合う様に、前記電力供給制御手段を制御して該一対のコイルに印加する電圧を調整する請求項6に記載の磁石可動型リニアモータ用の位置検出装置。
- 更に、前記磁性体の位置と前記測定手段から得られる測定値が前記所定値になったときに前記一対のコイルに印加されることとなる電圧との関係を表すテーブルが記録されている記録手段を具え、
前記位置算出手段は、前記記録手段に記録されているテーブルに基づいて、前記電力供給制御手段から得られる2つの電圧から前記磁性体の位置を算出する請求項5乃至請求項7の何れかに記載の磁石可動型リニアモータ用の位置検出装置。 - 前記磁性体は、前記永久磁石が対向しているコイルとは別のコイルに対向することとなる位置に配置されている請求項1乃至請求項8の何れかに記載の磁石可動型リニアモータ用の位置検出装置。
- 前記固定子は複数のセグメントに分割されており、各セグメントには複数のコイルが前記一方向に配列されており、前記電力供給制御手段は、セグメント毎に各コイルに印加する電圧を個々に制御することが可能である請求項1乃至請求項9の何れかに記載の磁石可動型リニアモータ用の位置検出装置。
- 各セグメントには、3つのコイルを1つのコイル組として少なくとも1つのコイル組が配備されている請求項10に記載の磁石可動型リニアモータ用の位置検出装置。
- 前記電力供給制御手段により前記複数のコイルに印加される電圧は交流電圧である請求項1乃至請求項11の何れかに記載の磁石可動型リニアモータ用の位置検出装置。
- 前記磁性体は常磁性材料から形成されている請求項1乃至請求項12に記載の磁石可動型リニアモータ用の位置検出装置。
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CN200980160191.5A CN102804566B (zh) | 2009-06-29 | 2009-12-25 | 动磁式直线电动机用的位置检测装置 |
EP09846846.5A EP2451061B1 (en) | 2009-06-29 | 2009-12-25 | Position detection device for movable magnet type linear motor |
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US8742702B2 (en) | 2014-06-03 |
KR101597862B1 (ko) | 2016-02-25 |
KR20120101291A (ko) | 2012-09-13 |
US20120091928A1 (en) | 2012-04-19 |
EP2451061B1 (en) | 2016-11-23 |
HUE031873T2 (en) | 2017-08-28 |
EP2451061A4 (en) | 2014-06-11 |
CN102804566A (zh) | 2012-11-28 |
JP5562333B2 (ja) | 2014-07-30 |
CN102804566B (zh) | 2015-02-25 |
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