WO2012127687A1 - Linear motor drive device - Google Patents
Linear motor drive device Download PDFInfo
- Publication number
- WO2012127687A1 WO2012127687A1 PCT/JP2011/057222 JP2011057222W WO2012127687A1 WO 2012127687 A1 WO2012127687 A1 WO 2012127687A1 JP 2011057222 W JP2011057222 W JP 2011057222W WO 2012127687 A1 WO2012127687 A1 WO 2012127687A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- axis current
- linear motor
- control circuit
- current control
- drive device
- Prior art date
Links
Images
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
- H02P25/064—Linear motors of the synchronous type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- 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
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- 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
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
- H02P2207/055—Surface mounted magnet motors
Definitions
- the present invention relates to a linear motor driving device.
- the stop position control (movement distance) is also performed in the linear motor by performing d-axis current control to increase / decrease the frictional force due to the magnetic attractive force. If the control can be performed, the configuration can be simplified.
- the present invention has been made in view of the above, and an object of the present invention is to obtain a linear motor driving apparatus capable of increasing and decreasing the frictional force due to the magnetic attractive force by performing d-axis current control.
- the present invention provides a magnet array composed of a plurality of linearly arranged permanent magnets and the magnets for supporting and guiding the movable part on both sides of the magnet array.
- a fixed portion having two rails arranged in parallel with the row, two bearings supported by the two rails and slidable in sliding contact with each other, and the magnet row between the two bearings.
- a linear motor driving apparatus for driving a linear motor composed of a movable part having armatures arranged opposite to each other, in a current control circuit for generating and controlling d-axis current and q-axis current supplied to the coil of the armature
- the d-axis current control circuit includes a configuration for controlling a frictional force generated between the rail and the bearing by changing a generated d-axis current.
- the d-axis current control is performed to reduce the friction force due to the magnetic attraction force without providing the coil and magnet for increasing or decreasing the friction force due to the magnetic attraction force separately from the coil and magnet for generating the thrust. It can be increased or decreased. Therefore, the linear motor configuration can be simplified.
- FIG. 1 is a perspective view showing an external configuration of a linear motor according to an embodiment of the present invention.
- FIG. 2 is a cross-sectional view in the Y-axis direction.
- FIG. 3 is a block diagram illustrating a configuration example of a linear motor driving apparatus that drives the linear motor illustrated in FIG. 1.
- FIG. 4 is a waveform diagram showing speed characteristics of the linear motor shown in FIG.
- FIG. 1 and 2 are a perspective view and a cross-sectional view in the Y-axis direction showing an external configuration of a linear motor according to an embodiment of the present invention.
- the linear motor 100 is comprised by the fixed part 1 and the movable part 2 arrange
- the fixing part 1 is formed on a base 13 that is long in the X-axis direction. That is, a strip-shaped mounting seat 12 is fixed on the base 13 in the X-axis direction, and a plurality of permanent magnets 11 are fixedly arranged on the mounting seat 12 at equal intervals in the X-axis direction.
- a scale 41 is fixedly disposed in parallel with the X-axis direction. Position information is optically or magnetically recorded on the scale 41.
- the movable part 2 is attached to the top plate 24.
- the top plate 24 has a longer width than the interval between the two rails 31, and two bearings 32 that are in sliding contact with the two rails 31 are fixed to the lower surfaces of the both ends. Accordingly, the top plate 24 can move in the X-axis direction by sliding on the two rails 31 in a state where the two bearings 32 are supported by the two rails 31.
- the armature core 23 is fixed between the two bearings 32 on the lower surface of the top plate 24 at a position directly above the position where the permanent magnet 11 is disposed.
- a resin bobbin 22 containing an armature coil 21 is fixed to the outer periphery of the iron core 23. Note that the number of phases of the coil 21 is three.
- a three-phase alternating current is supplied to the three-phase coil 21 from the inverter 95 (see FIG. 3) of the driving device through the power supply lead wire 51.
- a magnetic attractive force 62 from the side toward the permanent magnet 11 side and a thrust toward the X-axis direction (not shown) are generated. It can be seen that the magnetic attractive force 62 generates a frictional force between the rail 31 and the bearing 32 in a direction opposite to the thrust direction.
- a position detector coupling member 43 is attached to the side end of the top plate 24 on the scale 41 side so that the position detector 42 faces the scale 41.
- the position detector 42 is connected to a position detector lead 52 for transmitting the detected position signal to the driving device.
- FIG. 3 is a block diagram showing a configuration example of a linear motor driving apparatus that drives the linear motor shown in FIG.
- a linear motor driving device 90 includes addition / subtraction circuits 91 and 93, a position control circuit 92, a speed control circuit 94, a current control circuit 95, a two-phase / three-phase conversion circuit 96, an inverter 97, A differentiation circuit 98 and a current detector 99 are provided.
- the current detector 99 is attached to the output terminal of the inverter 97, and the detected output current is input to the current control circuit 95.
- the current control circuit 95 includes a d-axis current control circuit 95a and a q-axis current control circuit 95b. Further, the position information on the scale 41 detected by the position detector 42 is input to the addition / subtraction circuit 91 and the differentiation circuit 98.
- the addition / subtraction circuit 91 obtains a deviation between the position command of the target position input from the outside and the current position on the scale 41 detected by the position detector 42.
- the position control circuit 92 performs proportional control for calculating an internal speed command from the position deviation obtained by the addition / subtraction circuit 91, and outputs the obtained internal speed command.
- the addition / subtraction circuit 93 obtains a deviation between the internal speed command obtained by the position control circuit 92 and the motor speed obtained by differentiating the position information from the position detector 42 by the differentiation circuit 98.
- the speed control circuit 94 performs proportional-integral control on the speed deviation obtained by the addition / subtraction circuit 93 to calculate the d-axis current command and the q-axis current command, and uses the calculated d-axis current command and q-axis current command as the current control circuit 95. Output to.
- the current control circuit 95 an operation for generating a d-axis current instructed by the d-axis current command input in the d-axis current control circuit 95a is performed, and the q-axis current command input in the q-axis current control circuit 95b is instructed.
- the d-axis current control circuit 95a and the q-axis current control circuit 95b control each generated current with reference to the motor supply current detected by the current detector 99.
- the two-phase / three-phase conversion circuit 96 converts the d-axis and q-axis currents id and iq output from the current control circuit 95 into uvw three-phase alternating currents iu, iv and iv.
- the inverter 97 converts and amplifies the converted three-phase alternating currents iu, iv, and iv into PWM signals, and supplies the PWM signals to the three-phase coil 21. As a result, a magnetic attractive force 62 and a thrust in the X-axis direction are generated.
- the dynamic friction coefficient k, the mass M of the movable part 2, the magnetic permeability ⁇ , the magnetic flux ⁇ of the permanent magnet 11, and the d-axis inductance Ld are known. Therefore, the frictional force Ff by the magnetic attractive force Fm can be controlled by controlling the d-axis current id.
- FIG. 4 is a waveform diagram showing the speed characteristics of the linear motor shown in FIG.
- the travel time 80 to the target position is divided into an acceleration time 81, a constant speed time 82, and a deceleration time 83.
- the acceleration time 81 and the deceleration time 83 caused the same frictional force between the bearing 32 and the rail 31.
- the d-axis current control circuit 95a uses the motor current detected by the current detector 99 as a reference signal so that the friction force is decreased during acceleration and the friction force is increased during deceleration. Control the current. This control may be performed at both acceleration and deceleration, or may be performed at one side. As a result, both or one of the acceleration time 81 and the deceleration time 83 can be made shorter than before, so that the travel time 80 can be shortened.
- d is provided without a coil and a magnet for increasing and decreasing the frictional force due to the magnetic attractive force separately from the thrust generating coil and magnet. Since the axial force control can be performed to increase or decrease the frictional force due to the magnetic attractive force, the configuration of the linear motor can be simplified.
- the linear motor driving apparatus is useful as a linear motor driving apparatus capable of increasing and decreasing the frictional force due to the magnetic attractive force by performing d-axis current control.
Abstract
A linear motor drive device for driving a linear motor, comprising: a fixed section provided with a magnet row composed of a plurality of rectilinearly arranged permanent magnets and two rails arranged on both sides of the magnet row and parallel to the magnet row in order to support and guide a mobile section; and a mobile section provided with two bearings that are supported by and are capable of moving in sliding contact with the two rails, respectively, and an armature arranged between the two bearings so as to face the magnet row in close proximity, wherein a d-axis current control circuit in a current control circuit for generating and controlling a d-axis current and q-axis current fed to the coil of the armature is provided with a configuration for varying the generated d-axis current and controlling the frictional force produced between the rails and the bearings.
Description
本発明は、リニアモータ駆動装置に関するものである。
The present invention relates to a linear motor driving device.
リニアモータの停止位置（移動距離）を制御する構成として、推力を発生させるためのコイルおよび磁石のほかに、磁気吸引力による摩擦力を増減させるためのコイルおよび磁石を設ける構成が知られている（例えば、特許文献１）。
As a configuration for controlling the stop position (movement distance) of the linear motor, a configuration is known in which a coil and a magnet for increasing and decreasing a frictional force due to a magnetic attractive force are provided in addition to a coil and a magnet for generating a thrust. (For example, patent document 1).
一方、回転モータの停止制御では、ｄ軸電流制御によりブレーキトルクを発生させて減速させる方法が用いられている（例えば、特許文献２）。
On the other hand, in the stop control of the rotary motor, a method of generating brake torque by d-axis current control and decelerating is used (for example, Patent Document 2).
推力発生用のコイルおよび磁石とは別に、磁気吸引力による摩擦力を増減させるためのコイルおよび磁石を設ける構成では、停止位置（移動距離）を制御するための構成が複雑になる。
In a configuration in which a coil and a magnet for increasing and decreasing the frictional force due to the magnetic attractive force are provided separately from the thrust generating coil and magnet, the configuration for controlling the stop position (movement distance) becomes complicated.
ところが、リニアモータの駆動制御でも、回転モータと同様のベクトル制御が用いられるので、リニアモータにおいてもｄ軸電流制御を行って磁気吸引力による摩擦力を増減することで、停止位置制御（移動距離制御）が行えれば、構成の簡素化が図れる。
However, since the vector control similar to that of the rotary motor is also used in the drive control of the linear motor, the stop position control (movement distance) is also performed in the linear motor by performing d-axis current control to increase / decrease the frictional force due to the magnetic attractive force. If the control can be performed, the configuration can be simplified.
本発明は、上記に鑑みてなされたものであり、ｄ軸電流制御を行って磁気吸引力による摩擦力を増減することができるリニアモータ駆動装置を得ることを目的とする。
The present invention has been made in view of the above, and an object of the present invention is to obtain a linear motor driving apparatus capable of increasing and decreasing the frictional force due to the magnetic attractive force by performing d-axis current control.
上述した課題を解決し、目的を達成するために、本発明は、直線状に配列された複数の永久磁石からなる磁石列および前記磁石列の両側において可動部を支持および案内するために該磁石列と並行に配置される２本のレールを備える固定部と、前記２本のレールにそれぞれ支持され摺接して滑動できる２個のベアリングおよび前記２個のベアリングの間において前記磁石列と近接して対向配置される電機子を備える可動部とで構成されるリニアモータを駆動するリニアモータ駆動装置において、前記電機子のコイルに供給するｄ軸電流およびｑ軸電流を生成制御する電流制御回路におけるｄ軸電流制御回路は、生成するｄ軸電流を変化させて前記レールと前記ベアリングとの間に生ずる摩擦力を制御する構成を備えることを特徴とする。
In order to solve the above-mentioned problems and achieve the object, the present invention provides a magnet array composed of a plurality of linearly arranged permanent magnets and the magnets for supporting and guiding the movable part on both sides of the magnet array. A fixed portion having two rails arranged in parallel with the row, two bearings supported by the two rails and slidable in sliding contact with each other, and the magnet row between the two bearings. In a linear motor driving apparatus for driving a linear motor composed of a movable part having armatures arranged opposite to each other, in a current control circuit for generating and controlling d-axis current and q-axis current supplied to the coil of the armature The d-axis current control circuit includes a configuration for controlling a frictional force generated between the rail and the bearing by changing a generated d-axis current.
本発明によれば、推力発生用のコイルおよび磁石とは別に、磁気吸引力による摩擦力を増減させるためのコイルおよび磁石を設けることなく、ｄ軸電流制御を行って磁気吸引力による摩擦力を増減することができる。したがって、リニアモータ構成の簡素化を図ることができるという効果を奏する。
According to the present invention, the d-axis current control is performed to reduce the friction force due to the magnetic attraction force without providing the coil and magnet for increasing or decreasing the friction force due to the magnetic attraction force separately from the coil and magnet for generating the thrust. It can be increased or decreased. Therefore, the linear motor configuration can be simplified.
以下に、本発明にかかるリニアモータ駆動装置の実施例を図面に基づいて詳細に説明する。なお、この実施例によりこの発明が限定されるものではない。
Hereinafter, an embodiment of a linear motor driving device according to the present invention will be described in detail based on the drawings. Note that the present invention is not limited to the embodiments.
図１および図２は、本発明の一実施例によるリニアモータの外観構成を示す斜視図およびＹ軸方向断面図である。両図において、リニアモータ１００は、固定部１と、固定部１上にＸ軸方向へ移動可能に配置される可動部２とで構成される。
1 and 2 are a perspective view and a cross-sectional view in the Y-axis direction showing an external configuration of a linear motor according to an embodiment of the present invention. In both figures, the linear motor 100 is comprised by the fixed part 1 and the movable part 2 arrange | positioned on the fixed part 1 so that a movement to an X-axis direction is possible.
固定部１は、Ｘ軸方向に長尺なベース１３上に形成されている。すなわち、ベース１３上にＸ軸方向へ短冊板状の取付座１２が固定され、取付座１２上に複数の永久磁石１１がＸ軸方向へ等間隔で固定配置されている。取付座１２の短手方向（Ｙ軸方向）の両側におけるベース１３上には、２本のレール３１がそれぞれＸ軸方向に並行して固定配置されている。そして、一方のレール３１の外側におけるベース１３上には、スケール４１がＸ軸方向に並行して固定配置されている。スケール４１には、位置情報が光学的もしくは磁気的に記録されている。
The fixing part 1 is formed on a base 13 that is long in the X-axis direction. That is, a strip-shaped mounting seat 12 is fixed on the base 13 in the X-axis direction, and a plurality of permanent magnets 11 are fixedly arranged on the mounting seat 12 at equal intervals in the X-axis direction. On the base 13 on both sides of the mounting seat 12 in the short direction (Y-axis direction), two rails 31 are fixedly arranged in parallel with each other in the X-axis direction. On the base 13 outside the one rail 31, a scale 41 is fixedly disposed in parallel with the X-axis direction. Position information is optically or magnetically recorded on the scale 41.
可動部２は、天板２４に取り付けられている。天板２４は、長手幅が２本のレール３１の間隔よりも長くなっていて、その両端側の下面に、２本のレール３１とそれぞれ摺接する２個のベアリング３２が固定されている。これによって、２個のベアリング３２が２本のレール３１に支持された状態で２本のレール３１上を滑動することで、天板２４は、Ｘ軸方向へ移動できる。
The movable part 2 is attached to the top plate 24. The top plate 24 has a longer width than the interval between the two rails 31, and two bearings 32 that are in sliding contact with the two rails 31 are fixed to the lower surfaces of the both ends. Accordingly, the top plate 24 can move in the X-axis direction by sliding on the two rails 31 in a state where the two bearings 32 are supported by the two rails 31.
また、天板２４の下面において２個のベアリング３２の間に、永久磁石１１の配置位置の直上位置に、電機子の鉄心２３が固定されている。鉄心２３の外周囲には、電機子のコイル２１を収容した樹脂製のボビン２２が固定されている。なお、コイル２１の相数は３であるとしている。三相のコイル２１には、電源用リード線５１により、駆動装置のインバータ９５（図３参照）から三相の交流電流が供給される。これによって、三相のコイル２１に電流が流れることにより鉄心２３に形成される磁気回路による磁束と永久磁石１１が作る磁束との相互作用により、鉄心２３と永久磁石１１との間に、鉄心２３側から永久磁石１１側へ向かう磁気吸引力６２と、図示しないＸ軸方向へ向かう推力とが生ずる。磁気吸引力６２によって、レール３１とベアリング３２との間に摩擦力が推力の方向とは逆向きに発生することが解る。
Further, the armature core 23 is fixed between the two bearings 32 on the lower surface of the top plate 24 at a position directly above the position where the permanent magnet 11 is disposed. A resin bobbin 22 containing an armature coil 21 is fixed to the outer periphery of the iron core 23. Note that the number of phases of the coil 21 is three. A three-phase alternating current is supplied to the three-phase coil 21 from the inverter 95 (see FIG. 3) of the driving device through the power supply lead wire 51. As a result, an interaction between the magnetic flux generated by the magnetic circuit formed in the iron core 23 and the magnetic flux generated by the permanent magnet 11 due to the current flowing through the three-phase coil 21 causes the iron core 23 to be interposed between the iron core 23 and the permanent magnet 11. A magnetic attractive force 62 from the side toward the permanent magnet 11 side and a thrust toward the X-axis direction (not shown) are generated. It can be seen that the magnetic attractive force 62 generates a frictional force between the rail 31 and the bearing 32 in a direction opposite to the thrust direction.
そして、スケール４１側における天板２４の側端には、位置検出器４２がスケール４１と対向するように、位置検出器結合部材４３により取り付けられている。位置検出器４２には、検出した位置信号を駆動装置へ伝達するための位置検出器用リード線５２が接続されている。
Further, a position detector coupling member 43 is attached to the side end of the top plate 24 on the scale 41 side so that the position detector 42 faces the scale 41. The position detector 42 is connected to a position detector lead 52 for transmitting the detected position signal to the driving device.
図３は、図１に示すリニアモータを駆動するリニアモータ駆動装置の構成例を示すブロック図である。図３において、リニアモータ駆動装置９０は、加減算回路９１，９３と、位置制御回路９２と、速度制御回路９４と、電流制御回路９５と、二相／三相変換回路９６と、インバータ９７と、微分回路９８と、電流検出器９９とを備えている。電流検出器９９は、インバータ９７の出力端に取り付けられ、検出した出力電流は、電流制御回路９５に入力される。電流制御回路９５は、ｄ軸電流制御回路９５ａと、ｑ軸電流制御回路９５ｂとで構成される。また、位置検出器４２が検出したスケール４１上の位置情報は、加減算回路９１と、微分回路９８とに入力される。
FIG. 3 is a block diagram showing a configuration example of a linear motor driving apparatus that drives the linear motor shown in FIG. In FIG. 3, a linear motor driving device 90 includes addition / subtraction circuits 91 and 93, a position control circuit 92, a speed control circuit 94, a current control circuit 95, a two-phase / three-phase conversion circuit 96, an inverter 97, A differentiation circuit 98 and a current detector 99 are provided. The current detector 99 is attached to the output terminal of the inverter 97, and the detected output current is input to the current control circuit 95. The current control circuit 95 includes a d-axis current control circuit 95a and a q-axis current control circuit 95b. Further, the position information on the scale 41 detected by the position detector 42 is input to the addition / subtraction circuit 91 and the differentiation circuit 98.
加減算回路９１は、外部から入力される目標位置の位置指令と位置検出器４２が検出したスケール４１上の現在位置との偏差を求める。位置制御回路９２は、加減算回路９１が求めた位置偏差から内部速度指令を算出する比例制御を行い、得られた内部速度指令を出力する。
The addition / subtraction circuit 91 obtains a deviation between the position command of the target position input from the outside and the current position on the scale 41 detected by the position detector 42. The position control circuit 92 performs proportional control for calculating an internal speed command from the position deviation obtained by the addition / subtraction circuit 91, and outputs the obtained internal speed command.
加減算回路９３は、位置制御回路９２が求めた内部速度指令と、微分回路９８が位置検出器４２からの位置情報を微分して求めたモータ速度との偏差を求める。速度制御回路９４は、加減算回路９３が求めた速度偏差について比例積分制御を行ってｄ軸電流指令およびｑ軸電流指令を算出し、算出したｄ軸電流指令およびｑ軸電流指令を電流制御回路９５へ出力する。
The addition / subtraction circuit 93 obtains a deviation between the internal speed command obtained by the position control circuit 92 and the motor speed obtained by differentiating the position information from the position detector 42 by the differentiation circuit 98. The speed control circuit 94 performs proportional-integral control on the speed deviation obtained by the addition / subtraction circuit 93 to calculate the d-axis current command and the q-axis current command, and uses the calculated d-axis current command and q-axis current command as the current control circuit 95. Output to.
電流制御回路９５では、ｄ軸電流制御回路９５ａにおいて入力されたｄ軸電流指令が指示するｄ軸電流を生成する動作が行われ、ｑ軸電流制御回路９５ｂにおいて入力されたｑ軸電流指令が指示するｑ軸電流を生成する動作が行われるが、ｄ軸電流制御回路９５ａおよびｑ軸電流制御回路９５ｂは、電流検出器９９が検出したモータ供給電流を参考にしてそれぞれの生成電流を制御する。
In the current control circuit 95, an operation for generating a d-axis current instructed by the d-axis current command input in the d-axis current control circuit 95a is performed, and the q-axis current command input in the q-axis current control circuit 95b is instructed. The d-axis current control circuit 95a and the q-axis current control circuit 95b control each generated current with reference to the motor supply current detected by the current detector 99.
二相／三相変換回路９６は、電流制御回路９５が出力するｄ軸およびｑ軸の電流ｉｄ，ｉｑとをｕｖｗの三相の交流電流ｉｕ，ｉｖ，ｉｖへ変換する。インバータ９７は、変換された三相の交流電流ｉｕ，ｉｖ，ｉｖを、それぞれＰＷＭ信号に変換・増幅し、三相のコイル２１に供給する。これによって、磁気吸引力６２およびＸ軸方向への推力が発生する。
The two-phase / three-phase conversion circuit 96 converts the d-axis and q-axis currents id and iq output from the current control circuit 95 into uvw three-phase alternating currents iu, iv and iv. The inverter 97 converts and amplifies the converted three-phase alternating currents iu, iv, and iv into PWM signals, and supplies the PWM signals to the three-phase coil 21. As a result, a magnetic attractive force 62 and a thrust in the X-axis direction are generated.
さて、可動部２と固定部１との間に働くマイナスＺ軸方向の磁気吸引力６２は、Ｆｍ［Ｎ］と表せば、透磁率μ［Ｈ／ｍ］、永久磁石１１が作る磁束φｍ［Ｗｂ］、ｄ軸インダクタンスＬｄ［Ｈ］、ｄ軸電流ｉｄ［Ａ］、固定部１と可動部２との磁路断面積Ｓ［ｍ２］を用いて、式（１）で与えられる。
Ｆｍ＝（Ｓ／２μ）｛（φｍ＋Ｌｄｉｄ）／Ｓ｝２ …（１） Now, if the magnetic attraction force 62 in the minus Z-axis direction acting between themovable part 2 and the fixed part 1 is expressed as Fm [N], the magnetic permeability μm [H / m] and the magnetic flux φm [ Wb], d-axis inductance Ld [H], d-axis current id [A], and magnetic path cross-sectional area S [m 2 ] between fixed part 1 and movable part 2 are given by equation (1).
Fm = (S / 2μ) {(φm + Ldid) / S} 2 (1)
Ｆｍ＝（Ｓ／２μ）｛（φｍ＋Ｌｄｉｄ）／Ｓ｝２ …（１） Now, if the magnetic attraction force 62 in the minus Z-axis direction acting between the
Fm = (S / 2μ) {(φm + Ldid) / S} 2 (1)
また、Ｘ軸方向への推力により可動部２がレール３１に案内されて移動する際に、ベアリング３２とレール３１との間に発生する摩擦力Ｆｆ［Ｎ］は、推力と逆向きのＸ方向に働くが、ベアリング３２とレール３１との間の動摩擦係数ｋ、ベアリング３２に働く垂直抗力Ｎ［Ｎ］を用いて式（２）で与えられる。
Ｆｆ＝ｋＮ …（２） Further, when themovable part 2 is guided by the rail 31 and moves by the thrust in the X-axis direction, the frictional force Ff [N] generated between the bearing 32 and the rail 31 is the X direction opposite to the thrust. However, the dynamic friction coefficient k between the bearing 32 and the rail 31 and the vertical drag N [N] acting on the bearing 32 are given by Equation (2).
Ff = kN (2)
Ｆｆ＝ｋＮ …（２） Further, when the
Ff = kN (2)
そして、垂直抗力Ｎは、可動部２の質量Ｍ［ｋｇ］、重力加速度ｇ［ｍ／ｓ２］、磁気吸引力Ｆｍ［Ｎ］を用いて式（３）で与えられる。
Ｎ＝Ｍｇ＋Ｆｍ …（３） Then, the vertical drag N is given by Equation (3) using the mass M [kg] of themovable part 2, the gravitational acceleration g [m / s 2 ], and the magnetic attractive force Fm [N].
N = Mg + Fm (3)
Ｎ＝Ｍｇ＋Ｆｍ …（３） Then, the vertical drag N is given by Equation (3) using the mass M [kg] of the
N = Mg + Fm (3)
式（１）～式（３）において、動摩擦係数ｋ、可動部２の質量Ｍ、透磁率μ、永久磁石１１の磁束φ、およびｄ軸インダクタンスＬｄは、既知である。したがって、磁気吸引力Ｆｍによる摩擦力Ｆｆは、ｄ軸電流ｉｄの制御によって、制御することができる。
In the equations (1) to (3), the dynamic friction coefficient k, the mass M of the movable part 2, the magnetic permeability μ, the magnetic flux φ of the permanent magnet 11, and the d-axis inductance Ld are known. Therefore, the frictional force Ff by the magnetic attractive force Fm can be controlled by controlling the d-axis current id.
図４は、図１に示すリニアモータの速度特性を示す波形図である。図４において、目標位置までの移動時間８０は、加速時間８１と、等速時間８２と、減速時間８３とに分けられる。今までは、加速時間８１と減速時間８３とで、ベアリング３２とレール３１の間に同じ大きさの摩擦力を生じさせていた。
FIG. 4 is a waveform diagram showing the speed characteristics of the linear motor shown in FIG. In FIG. 4, the travel time 80 to the target position is divided into an acceleration time 81, a constant speed time 82, and a deceleration time 83. Until now, the acceleration time 81 and the deceleration time 83 caused the same frictional force between the bearing 32 and the rail 31.
本実施例では、ｄ軸電流制御回路９５ａが、電流検出器９９が検出したモータ電流を参照信号にして、加速時には摩擦力を減少させるように、減速時には摩擦力を増加させるように、ｄ軸電流を制御する。この制御は、加速時と減速時との両方で行ってもよく、片方で行ってもよい。これによって、加速時間８１と減速時間８３との両方または一方を今までよりも短くすることができるので、移動時間８０を短縮することが可能となる。
In this embodiment, the d-axis current control circuit 95a uses the motor current detected by the current detector 99 as a reference signal so that the friction force is decreased during acceleration and the friction force is increased during deceleration. Control the current. This control may be performed at both acceleration and deceleration, or may be performed at one side. As a result, both or one of the acceleration time 81 and the deceleration time 83 can be made shorter than before, so that the travel time 80 can be shortened.
このように、本実施によれば、特許文献１に示されるように、推力発生用のコイルおよび磁石とは別に、磁気吸引力による摩擦力を増減させるためのコイルおよび磁石を設けることなく、ｄ軸電流制御を行って磁気吸引力による摩擦力を増減することができるので、リニアモータ構成の簡素化が図れる。
Thus, according to the present embodiment, as shown in Patent Document 1, d is provided without a coil and a magnet for increasing and decreasing the frictional force due to the magnetic attractive force separately from the thrust generating coil and magnet. Since the axial force control can be performed to increase or decrease the frictional force due to the magnetic attractive force, the configuration of the linear motor can be simplified.
以上のように、本発明にかかるリニアモータ駆動装置は、ｄ軸電流制御を行って磁気吸引力による摩擦力を増減することができるリニアモータ駆動装置として有用である。
As described above, the linear motor driving apparatus according to the present invention is useful as a linear motor driving apparatus capable of increasing and decreasing the frictional force due to the magnetic attractive force by performing d-axis current control.
１ 固定部
２ 可動部
１１ 永久磁石
１２ 取付座
１３ ベース
２１ コイル
２２ ボビン
２３ 鉄心
２４ 天板
３１ レール
３２ ベアリング
４１ スケール
４２ 位置検出器
４３ 位置検出器結合部材
５１ 電源用リード線
５２ 位置検出器用リード線
６２ 磁気吸引力
８０ 移動時間
８１ 加速時間
８２ 等速時間
８３ 減速時間
９０ リニアモータ駆動装置
９１，９３ 加減算回路
９２ 位置制御回路
９４ 速度制御回路
９５ 電流制御回路
９５ａ ｄ軸電流制御回路
９５ｂ ｑ軸電流制御回路
９６ 二相／三相変換回路
９７ インバータ
９８ 微分回路
９９ 電流検出器
１００ リニアモータ DESCRIPTION OFSYMBOLS 1 Fixed part 2 Movable part 11 Permanent magnet 12 Mounting seat 13 Base 21 Coil 22 Bobbin 23 Iron core 24 Top plate 31 Rail 32 Bearing 41 Scale 42 Position detector 43 Position detector coupling member 51 Lead wire for power supply 52 Lead wire for position detector 62 Magnetic attractive force 80 Movement time 81 Acceleration time 82 Constant speed time 83 Deceleration time 90 Linear motor drive device 91, 93 Addition / subtraction circuit 92 Position control circuit 94 Speed control circuit 95 Current control circuit 95a d-axis current control circuit 95b q-axis current control Circuit 96 Two-phase / three-phase conversion circuit 97 Inverter 98 Differentiation circuit 99 Current detector 100 Linear motor
２ 可動部
１１ 永久磁石
１２ 取付座
１３ ベース
２１ コイル
２２ ボビン
２３ 鉄心
２４ 天板
３１ レール
３２ ベアリング
４１ スケール
４２ 位置検出器
４３ 位置検出器結合部材
５１ 電源用リード線
５２ 位置検出器用リード線
６２ 磁気吸引力
８０ 移動時間
８１ 加速時間
８２ 等速時間
８３ 減速時間
９０ リニアモータ駆動装置
９１，９３ 加減算回路
９２ 位置制御回路
９４ 速度制御回路
９５ 電流制御回路
９５ａ ｄ軸電流制御回路
９５ｂ ｑ軸電流制御回路
９６ 二相／三相変換回路
９７ インバータ
９８ 微分回路
９９ 電流検出器
１００ リニアモータ DESCRIPTION OF
Claims (4)
- 直線状に配列された複数の永久磁石からなる磁石列および前記磁石列の両側において可動部を支持および案内するために該磁石列と並行に配置される２本のレールを備える固定部と、前記２本のレールにそれぞれ支持され摺接して滑動できる２個のベアリングおよび前記２個のベアリングの間において前記磁石列と近接して対向配置される電機子を備える可動部とで構成されるリニアモータを駆動するリニアモータ駆動装置において、
前記電機子のコイルに供給するｄ軸電流およびｑ軸電流を生成制御する電流制御回路におけるｄ軸電流制御回路は、
生成するｄ軸電流を変化させて前記レールと前記ベアリングとの間に生ずる摩擦力を制御する構成
を備えることを特徴とするリニアモータ駆動装置。 A fixed part comprising a magnet array composed of a plurality of permanent magnets arranged in a straight line, and two rails arranged in parallel with the magnet array to support and guide the movable part on both sides of the magnet array; A linear motor comprising two bearings supported by two rails and slidable in sliding contact with each other, and a movable part having an armature disposed in close proximity to the magnet row between the two bearings. In the linear motor drive device that drives
The d-axis current control circuit in the current control circuit for generating and controlling the d-axis current and the q-axis current supplied to the armature coil is:
A linear motor drive device comprising: a configuration for controlling a frictional force generated between the rail and the bearing by changing a generated d-axis current. - 前記ｄ軸電流制御回路は、
前記可動部を目標位置へ移動させる場合の加減速時に、生成するｄ軸電流を変化させて前記摩擦力を制御する
ことを特徴とする請求項１に記載のリニアモータ駆動装置。 The d-axis current control circuit is
The linear motor driving apparatus according to claim 1, wherein the frictional force is controlled by changing a d-axis current generated during acceleration / deceleration when moving the movable portion to a target position. - 前記ｄ軸電流制御回路は、
前記可動部を目標位置へ移動させる場合の加速時では、生成するｄ軸電流を前記摩擦力を減少させる方向へ変化させる
ことを特徴とする請求項２に記載のリニアモータ駆動装置。 The d-axis current control circuit is
The linear motor drive device according to claim 2, wherein the d-axis current to be generated is changed in a direction in which the frictional force is reduced during acceleration when moving the movable portion to a target position. - 前記ｄ軸電流制御回路は、
前記可動部を目標位置へ移動させる場合の減速時では、生成するｄ軸電流を前記摩擦力を増加させる方向へ変化させる
ことを特徴とする請求項２に記載のリニアモータ駆動装置。 The d-axis current control circuit is
The linear motor drive device according to claim 2, wherein the d-axis current to be generated is changed in a direction in which the frictional force is increased during deceleration when the movable unit is moved to a target position.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2011/057222 WO2012127687A1 (en) | 2011-03-24 | 2011-03-24 | Linear motor drive device |
| CN201180069423.3A CN103430445B (en) | 2011-03-24 | 2011-03-24 | Linear motor drive device |
| JP2013505753A JP5550782B2 (en) | 2011-03-24 | 2011-03-24 | Linear motor drive device |
| KR1020137024948A KR101524399B1 (en) | 2011-03-24 | 2011-03-24 | Linear motor drive device |
| TW100120510A TWI470904B (en) | 2011-03-24 | 2011-06-13 | Linear motor driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2011/057222 WO2012127687A1 (en) | 2011-03-24 | 2011-03-24 | Linear motor drive device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2012127687A1 true WO2012127687A1 (en) | 2012-09-27 |
Family
ID=46878879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/JP2011/057222 WO2012127687A1 (en) | 2011-03-24 | 2011-03-24 | Linear motor drive device |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP5550782B2 (en) |
| KR (1) | KR101524399B1 (en) |
| CN (1) | CN103430445B (en) |
| TW (1) | TWI470904B (en) |
| WO (1) | WO2012127687A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103671512A (en) * | 2013-12-26 | 2014-03-26 | 苏州市启扬商贸有限公司 | Linear guide rail |
| PT106910A (en) * | 2013-04-26 | 2014-10-27 | Inst Superior Técnico | LINEAR GUIDANCE MECHANISM WITH SIDE ADJUSTMENT FOR LINEAR FERRY CORE ENGINES |
| EP4300809A1 (en) * | 2022-06-30 | 2024-01-03 | Rockwell Automation Technologies, Inc. | System and method for electromagnetic pinning and hybrid control of a linear drive system |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2021175365A (en) * | 2020-04-17 | 2021-11-01 | 国立大学法人電気通信大学 | Motor control method and control device |
| CN117200526A (en) * | 2022-12-21 | 2023-12-08 | 阿帕斯数控机床制造(上海)有限公司 | Linear motor for numerical control machine tool and electric equipment thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11122902A (en) * | 1997-10-17 | 1999-04-30 | Mitsubishi Electric Corp | Linear motor drive gear |
| JP2009247036A (en) * | 2008-03-28 | 2009-10-22 | Thk Co Ltd | Device and method for controlling electric motor |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3931487B2 (en) * | 1999-06-25 | 2007-06-13 | 松下電工株式会社 | Drive control method for linear vibration motor |
| CN201360217Y (en) * | 2008-11-19 | 2009-12-09 | 北京华士德科技发展有限公司 | Three-phase permanent magnet synchronous linear motor |
-
2011
- 2011-03-24 JP JP2013505753A patent/JP5550782B2/en not_active Expired - Fee Related
- 2011-03-24 WO PCT/JP2011/057222 patent/WO2012127687A1/en active Application Filing
- 2011-03-24 KR KR1020137024948A patent/KR101524399B1/en not_active IP Right Cessation
- 2011-03-24 CN CN201180069423.3A patent/CN103430445B/en not_active Expired - Fee Related
- 2011-06-13 TW TW100120510A patent/TWI470904B/en not_active IP Right Cessation
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11122902A (en) * | 1997-10-17 | 1999-04-30 | Mitsubishi Electric Corp | Linear motor drive gear |
| JP2009247036A (en) * | 2008-03-28 | 2009-10-22 | Thk Co Ltd | Device and method for controlling electric motor |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PT106910A (en) * | 2013-04-26 | 2014-10-27 | Inst Superior Técnico | LINEAR GUIDANCE MECHANISM WITH SIDE ADJUSTMENT FOR LINEAR FERRY CORE ENGINES |
| PT106910B (en) * | 2013-04-26 | 2015-02-02 | Inst Superior Técnico | LINEAR GUIDANCE MECHANISM WITH SIDE ADJUSTMENT FOR LINEAR FERRY CORE ENGINES |
| CN103671512A (en) * | 2013-12-26 | 2014-03-26 | 苏州市启扬商贸有限公司 | Linear guide rail |
| CN103671512B (en) * | 2013-12-26 | 2016-04-06 | 苏州市启扬商贸有限公司 | A kind of linear rail |
| EP4300809A1 (en) * | 2022-06-30 | 2024-01-03 | Rockwell Automation Technologies, Inc. | System and method for electromagnetic pinning and hybrid control of a linear drive system |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI470904B (en) | 2015-01-21 |
| TW201240285A (en) | 2012-10-01 |
| KR20130129444A (en) | 2013-11-28 |
| JPWO2012127687A1 (en) | 2014-07-24 |
| JP5550782B2 (en) | 2014-07-16 |
| KR101524399B1 (en) | 2015-05-29 |
| CN103430445B (en) | 2016-04-13 |
| CN103430445A (en) | 2013-12-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6970194B2 (en) | Power electronics converters for controlling linear electromechanical machines and linear electromechanical machines | |
| US6734583B2 (en) | Slider unit with built-in moving-coil linear motor | |
| JP5550782B2 (en) | Linear motor drive device | |
| EP2131477A2 (en) | Linear stepping motor | |
| JP4811798B2 (en) | Linear motor device | |
| WO2005091478A1 (en) | Moving magnet-type linear slider | |
| JP2010130740A (en) | Movable magnet-type linear motor | |
| JP2008193845A (en) | Linear motor | |
| CN101850523B (en) | Magnetic suspension feeding platform of liner synchronous motor of digital control machine tool | |
| JP2008545361A (en) | Synchronous linear motor | |
| JP2007097372A (en) | Linear driving device | |
| CN112335161B (en) | Linear motor holder, linear motor, and linear motor system | |
| US6671637B2 (en) | Thrust ripple measuring apparatus and method in linear motor | |
| JP2009072030A (en) | Linear motor and method of attaching linear motor | |
| JP2015104200A (en) | Linear motor | |
| CN101972933A (en) | Magnetic suspension motion platform of precision heavy machine tool driven by double linear synchronous motors | |
| JP5431295B2 (en) | XY stage | |
| KR100712450B1 (en) | Method and system for controlling the linear motor | |
| JP2009136118A (en) | Synchronous linear motor | |
| JP5427037B2 (en) | Linear motor system | |
| JP2011214624A (en) | Linear actuator | |
| JPH11196561A (en) | Linear motor with adjustable braking characteristics | |
| JP2006034013A (en) | Linear motor for machine tool | |
| Appunn et al. | Operation of a vertically levitated ropeless elevator: Interaction of linear drive and magnetic guiding | |
| JP2006034014A (en) | Linear motor for machine tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 11861527 Country of ref document: EP Kind code of ref document: A1 |
|
| ENP | Entry into the national phase |
Ref document number: 2013505753 Country of ref document: JP Kind code of ref document: A |
|
| ENP | Entry into the national phase |
Ref document number: 20137024948 Country of ref document: KR Kind code of ref document: A |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 11861527 Country of ref document: EP Kind code of ref document: A1 |