WO2011115098A1 - Dispositif et procédé de commande - Google Patents

Dispositif et procédé de commande Download PDF

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Publication number
WO2011115098A1
WO2011115098A1 PCT/JP2011/056025 JP2011056025W WO2011115098A1 WO 2011115098 A1 WO2011115098 A1 WO 2011115098A1 JP 2011056025 W JP2011056025 W JP 2011056025W WO 2011115098 A1 WO2011115098 A1 WO 2011115098A1
Authority
WO
WIPO (PCT)
Prior art keywords
magnetic pole
pole position
coils
estimated
linear motor
Prior art date
Application number
PCT/JP2011/056025
Other languages
English (en)
Japanese (ja)
Inventor
正史 井上
修平 山中
祐樹 野村
Original Assignee
Thk株式会社
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株式会社 filed Critical Thk株式会社
Priority to JP2012505693A priority Critical patent/JPWO2011115098A1/ja
Publication of WO2011115098A1 publication Critical patent/WO2011115098A1/fr

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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
    • 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

Definitions

  • a linear motor in which one of the armature or the magnet unit linearly moves in the axial direction by a magnetic field generated by flowing current through a plurality of coils and a magnetic field generated by a plurality of magnets provided in the magnet unit
  • a magnetic pole position calculation step of calculating a first estimated magnetic pole position according to the received signal, a second estimated magnetic pole position that is 180 ° different from the first estimated magnetic pole position, and the first estimated magnetic pole position. You select one of the pole position is a control method characterized in that it comprises a determination step of determining an estimated magnetic pole position selected as the initial magnetic pole position.
  • the time required for detecting the initial magnetic pole position can be shortened by reducing the number of times the motor is energized when starting the synchronous motor.
  • FIG. 1 is a schematic diagram showing a linear motor device 1 in the present embodiment.
  • the linear motor device 1 includes a control device 10 and a linear motor 20.
  • the control device 10 is a device that controls to drive the linear motor 20.
  • the linear motor 20 includes a long stator 21, a mover 25 that moves on the stator 21, and a pair of guide devices 22 and 22 for assembling the stator 21 and the mover 25.
  • the guide device 22 includes, for example, a track rail 23 and a slide block 26 assembled via a ball.
  • the track rail 23 of the guide device 22 is fixed to the base 54 of the stator 21, and the slide block 26 of the guide device 22 is fixed to the mover 25, so that the mover 25 moves on the stator 21 along the track rail 23. You can be guided freely.
  • the stator 21 includes a plurality of driving magnets 24 arranged between the pair of track rails 23 and 23.
  • the plurality of drive magnets 24 are arranged so that the N-pole and S-pole magnetic poles alternate in the moving direction, which is the direction in which the mover 25 moves.
  • the drive magnets 24 have the same length in the movement direction. Accordingly, the movable element 25 can obtain a constant thrust at any position on the stator 21.
  • the track rail 23 of the guide device 22 is attached to the upper surface of the side wall 54b of the base 54.
  • the track rail 23 and the slide block 26 are assembled via a plurality of balls (not shown).
  • the slide block 26 is provided with a track-shaped ball circulation path for circulating a plurality of balls.
  • a plurality of balls circulate in the ball circulation path. Thereby, the slide block 26 can smoothly slide on the track rail 23 with a small sliding resistance.
  • a table 53 of the mover 25 is attached to the upper surface of the slide block 26 of the guide device 22.
  • the table 53 is a table on which a moving object made of a nonmagnetic material is placed, and is made of, for example, aluminum.
  • An armature 60 is suspended from the lower surface of the table 53.
  • a gap g is provided between the driving magnet 24 and the armature 60.
  • the guide device 22 keeps the clearance g between the armature 60 and the driving magnet 24 constant even when the mover 25 moves relative to the stator 21.
  • the MR sensor 27 is attached to the armature 60. When the armature 60 moves, the MR sensor 27 moves with the armature 60 and detects a change in the direction of the magnetic flux lines generated by the driving magnets 24 arranged on the stator 21.
  • FIG. 5 is a schematic block diagram showing the configuration of the control device 10 and the mover 25 in the present embodiment.
  • the control device 10 includes line receivers 11 a and 11 b, a magnetic pole position calculation unit 12, a control unit 13, and a drive unit 14.
  • the mover 25 includes the MR sensor 27 and the three coils 28u, 28v, and 28w as a plurality of coils.
  • the line receivers 11 a and 11 b receive two differential signals output from the MR sensor 27 provided in the mover 25.
  • the line receivers 11 a and 11 b remove noise signals from the two input differential signals, and output the two differential signals from which the noise signals have been removed to the magnetic pole position calculation unit 12.
  • the two differential signals are a sine wave signal (Ssin) and a cosine wave signal (Scos), and are signals having a phase difference of ( ⁇ / 2).
  • the magnetic pole position calculation unit 12 calculates the estimated magnetic pole position ⁇ based on the sine wave signal and the cosine wave signal input from the line receivers 11a and 11b.
  • the figure also shows excitation patterns for the coils 28u, 28v, 28w according to the magnetic pole positions.
  • the excitation pattern is a ratio of voltages Vu, Vv, Vw applied to the coils 28u, 28v, 28w corresponding to the magnetic pole positions.
  • the drive unit 14 stores the excitation pattern shown in the figure in association with the magnetic pole position. Then, the drive unit 14 energizes the coils 28 u, 28 v, 28 w with the excitation pattern corresponding to the magnetic pole position input from the magnetic pole position detection unit 131.
  • the magnetic pole position detector 131 stores the first estimated magnetic pole position ⁇ calculated by the magnetic pole position calculator 12.
  • the magnetic pole position detector 131 controls the drive unit 14 to energize the coils 28u, 28v, and 28w with an excitation pattern corresponding to a magnetic pole position ( ⁇ + 90 °) shifted by + 90 ° from the first estimated magnetic pole position ⁇ . (Step S102).
  • the drive unit 14 energizes the coils 28u, 28v, 28w
  • the drive unit 14 stops energization of the coils 28u, 28v, 28w.
  • the initial current value is a current value at which the mover 25 starts to move when the load applied to the mover 25 is minimum.
  • the maximum current value is a current value at which the mover 25 starts to move when the load that can be applied to the mover 25 is the maximum in the design of the linear motor 20. Appropriate values are set for the initial current value, the maximum current value, and the constant time interval based on simulation and actual measurement. Thereby, even when the mover 25 (armature 60) moves, the amount of movement can be reduced by gradually strengthening the magnetic field generated in the coils 28u, 28v, 28w by energization.
  • the magnetic pole position detection unit 131 detects that the mover 25 has moved based on changes in the sine wave signal and the cosine wave signal, or the current value of the current flowing through the coils 28u, 28v, 28w becomes the maximum current value. When it reaches, the drive unit 14 is controlled to stop energization (step S121). The magnetic pole position detection unit 131 determines whether or not the mover 25 has moved in the forward direction during energization in step S120 (step S122).
  • the difference between the magnetic pole position and the excitation pattern is 90 ° regardless of whether the mover 25 is positioned at either the first estimated magnetic pole position ⁇ or the second estimated magnetic pole position ( ⁇ + 180). .
  • a movement amount of 90 ° can be secured as the magnetic pole position, and the movable element 25 is movable. The accuracy of determining the direction in which the child 25 has moved can be improved.
  • the sensor case 38 is provided with a substrate 381.
  • An MR sensor 27 as a magnetic sensor is attached to one main surface of the substrate 381 so as to face the rod 32.
  • a hall sensor 382 as a magnetic pole sensor is attached to the other main surface of the substrate 381 so as to face the rod 31.
  • the MR sensor 27 and the Hall sensor 382 are attached to each main surface of the substrate 381, the size of the substrate 381 can be shortened in the direction in which the rod 32 moves.
  • the MR sensor 27 and the Hall sensor 382 may be attached to one main surface of the substrate 381.
  • the sensor case 38 is not shown for easy identification of the MR sensor 27 and the Hall sensor 382.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Linear Motors (AREA)
  • Linear Motors (AREA)

Abstract

Le dispositif de commande de l'invention comprend : une unité de calcul de position de pôle magnétique qui reçoit un signal correspondant à l'orientation des lignes de flux magnétique d'un capteur magnétique faisant face à un aimant utilisé pour l'entraînement d'un moteur linéaire, et qui calcule une première position estimée de pôle magnétique à partir du signal reçu ;et une unité de commande qui sélectionne soit la première position estimée de pôle magnétique, soit une seconde position estimée de pôle magnétique, la seconde position estimée s'écartant de 180° de la première position estimée, et détermine que la position estimée sélectionnée de pôle magnétique est la position de pôle magnétique initiale.
PCT/JP2011/056025 2010-03-17 2011-03-15 Dispositif et procédé de commande WO2011115098A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2012505693A JPWO2011115098A1 (ja) 2010-03-17 2011-03-15 制御装置、及び制御方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2010060987 2010-03-17
JP2010-060987 2010-03-17

Publications (1)

Publication Number Publication Date
WO2011115098A1 true WO2011115098A1 (fr) 2011-09-22

Family

ID=44649183

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2011/056025 WO2011115098A1 (fr) 2010-03-17 2011-03-15 Dispositif et procédé de commande

Country Status (3)

Country Link
JP (1) JPWO2011115098A1 (fr)
TW (1) TW201212516A (fr)
WO (1) WO2011115098A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014196940A (ja) * 2013-03-29 2014-10-16 日立オートモティブシステムズ株式会社 電磁サスペンション装置
WO2019150868A1 (fr) * 2018-02-01 2019-08-08 株式会社日立産機システム Procédé d'estimation de position de pôle magnétique et dispositif de commande
CN111189479A (zh) * 2018-11-14 2020-05-22 由田新技股份有限公司 倒吊式双面光学检测设备
WO2023058697A1 (fr) * 2021-10-08 2023-04-13 パナソニックＩｐマネジメント株式会社 Système de détection de position de moteur

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000175485A (ja) * 1998-09-30 2000-06-23 Hitachi Ltd 同期モ―タ制御装置及び電気車制御装置並びに同期モ―タ制御方法
WO2008123400A1 (fr) * 2007-03-30 2008-10-16 Thk Co., Ltd. Procédé de détection de pôle magnétique et système de guidage d'entraînement
WO2008149805A1 (fr) * 2007-05-31 2008-12-11 Thk Co., Ltd. Système de détection de position de moteur linéaire

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000175485A (ja) * 1998-09-30 2000-06-23 Hitachi Ltd 同期モ―タ制御装置及び電気車制御装置並びに同期モ―タ制御方法
WO2008123400A1 (fr) * 2007-03-30 2008-10-16 Thk Co., Ltd. Procédé de détection de pôle magnétique et système de guidage d'entraînement
WO2008149805A1 (fr) * 2007-05-31 2008-12-11 Thk Co., Ltd. Système de détection de position de moteur linéaire

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014196940A (ja) * 2013-03-29 2014-10-16 日立オートモティブシステムズ株式会社 電磁サスペンション装置
WO2019150868A1 (fr) * 2018-02-01 2019-08-08 株式会社日立産機システム Procédé d'estimation de position de pôle magnétique et dispositif de commande
CN111189479A (zh) * 2018-11-14 2020-05-22 由田新技股份有限公司 倒吊式双面光学检测设备
WO2023058697A1 (fr) * 2021-10-08 2023-04-13 パナソニックＩｐマネジメント株式会社 Système de détection de position de moteur

Also Published As

Publication number Publication date
TW201212516A (en) 2012-03-16
JPWO2011115098A1 (ja) 2013-06-27

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