WO2012172657A1 - 搬送システム - Google Patents
搬送システム Download PDFInfo
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- WO2012172657A1 WO2012172657A1 PCT/JP2011/063703 JP2011063703W WO2012172657A1 WO 2012172657 A1 WO2012172657 A1 WO 2012172657A1 JP 2011063703 W JP2011063703 W JP 2011063703W WO 2012172657 A1 WO2012172657 A1 WO 2012172657A1
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- inverter
- mover
- primary
- speed
- primary coil
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G54/00—Non-mechanical conveyors not otherwise provided for
- B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
Definitions
- the embodiment of the disclosure relates to a transport system that transports an object to be transported using a linear induction motor as a drive source.
- a plurality of primary coils are installed along the conveyance path, a secondary conductor is provided on a moving body that is movably installed on the conveyance path so as to face the primary coil, and power is supplied to the primary coil by supplying power to the primary coil.
- a conveyance system using a linear induction motor as a drive source is known in which a moving body is caused to travel by sequentially applying thrust to a secondary conductor.
- an inverter is installed corresponding to each of a plurality of primary side coils, and one that controls power feeding to each coil by a control command from a central control device has been proposed (for example, Patent Document 1).
- the present invention has been made in view of such problems, and an object of the present invention is to provide a transport system that can perform highly accurate positioning with a simple configuration.
- a stator including a plurality of primary coils disposed along a conveyance path, and a movably provided along the conveyance path,
- a linear induction motor including a mover including a secondary conductor facing the primary coil, and at least one primary coil disposed in an area where positioning on the conveyance path is required.
- a first inverter that performs vector control with a sensor, and a first inverter that performs V / F control and is provided corresponding to at least one primary coil disposed in an area where positioning on the conveyance path is unnecessary.
- a transport system having two inverters and a controller that outputs a speed command to the first inverter and the second inverter to control power feeding to the primary coil is applied.
- FIG. 4 is a conceptual side view of a positioning station and a speed control station for explaining switching of control of each station by a photosensor detection signal, and a diagram showing an on / off section of each photosensor. It is a parameter curve showing the slip characteristic which obtains the maximum thrust according to the speed of a mover. It is an approximate curve showing the correlation between the speed of the mover and the slip to obtain the maximum thrust. It is a system block diagram showing schematic structure of the conveyance system in the modification which provides one inverter corresponding to a some primary side coil. It is a figure showing the variation of the shape of a conveyance path.
- the transport system 1 of this embodiment is a transport system for transporting an object (not shown) using a linear induction motor as a drive source.
- the conveyance system 1 includes a stator 4 having a plurality of primary side coils 3 disposed along a substantially linear conveyance path 2, a movably provided along the conveyance path 2, and the primary side coil 3. And a linear induction motor provided with a mover 5 provided with a secondary side conductor (not shown) opposite to each other.
- the transport system 1 includes a first inverter 6 (described as “INV1” in FIG. 1) provided corresponding to the primary coil 3 disposed in an area where positioning on the transport path 2 is necessary, A second inverter 7 (referred to as “INV2” in FIG. 1) provided corresponding to the primary coil 3 disposed in an area where positioning on the path 2 is unnecessary, a first inverter 6 and a second inverter 7 And a controller 8 for controlling the power supply to the primary coil 3 by outputting a speed command.
- Each of the first inverter 6 and the second inverter 7 is provided for each primary coil 3 so that the primary coil 3 is controlled by one inverter.
- the first inverter 6 and the second inverter 7 are connected to each other so that information can be transmitted and received between the controller 8 and between the inverters.
- the combination of each of the inverters 6, 7 and the corresponding primary coil 3 is “station”
- the combination of the first inverter 6 and the corresponding primary coil 3 is “positioning station”
- the corresponding primary coil 3 is referred to as a “speed control station”.
- the transport system 1 has positioning stations at a total of three positions, two at both ends of the transport path 2 and one at the middle.
- the position and number of positioning stations are not limited to this. It can be changed according to the specifications.
- An optical or magnetic detector 11 is disposed in an area where positioning on the transport path 2 is necessary, that is, in the vicinity of the primary coil 3 of the positioning station.
- the detector 11 optically or magnetically detects the scale 12 provided on the mover 5.
- a signal processing circuit (not shown) generates position data of the pulse signal, and outputs this pulse signal to the first inverter 6 and the controller 8.
- the first inverter 6 converts this pulse signal into a speed by a difference calculation or the like in a control circuit unit 64 described later, and takes it into a speed loop as a feedback speed.
- the controller 8 takes this pulse signal into the position loop as a feedback position.
- the form of the position data output from the signal processing circuit is not limited to the pulse signal, and there are various forms such as serial data and an analog sine wave.
- the pulse signal will be described as an example.
- two photosensors 13 for switching control of each station are provided on both ends in the transport direction of each primary coil 3 in the positioning station and the speed control station. Each photosensor 13 detects the presence or absence of the mover 5 and outputs a detection signal to the corresponding inverters 6 and 7.
- the detector 11 corresponds to an example of a first sensor described in the claims, and the photosensor 13 corresponds to an example of a second sensor.
- the first inverter 6 includes a converter unit 61 that converts AC power supplied from the AC power supply 14 into DC power, a smoothing circuit unit 62 that smoothes the converted DC power, and a control circuit.
- An inverter unit 63 that converts DC power into AC power of a predetermined frequency based on a speed command from the unit 64 and supplies the AC power to the primary coil 3 of the positioning station; a control circuit unit 64 that mainly controls the inverter unit 63; And a storage unit 65 composed of a memory or the like.
- the control circuit unit 64 converts the pulse signal from the detector 11 into a speed by a difference calculation or the like, takes it into a speed loop as a feedback speed, performs a vector calculation based on the deviation between the speed command from the controller 8 and the feedback speed, For example, a PWM (Pulse Width Modulation) signal is output to the inverter unit 63. In this way, a speed loop is formed, and the first inverter 6 performs vector control with a sensor using the feedback speed.
- the controller 8 inputs the pulse signal from the detector 11 as a feedback position, and outputs a speed command to the control circuit unit 64 of the first inverter 6 based on the deviation between the position command and the feedback position. In this way, a position loop is formed and position control of the mover 5 is executed.
- the second inverter 7 includes a converter unit 71 that converts AC power supplied from the AC power supply 14 into DC power, a smoothing circuit unit 72 that smoothes the converted DC power, and a control circuit.
- An inverter unit 73 that converts DC power into AC power of a predetermined frequency based on a speed command from the unit 74 and supplies the AC power to the primary coil 3 of the speed control station; and a control circuit unit 74 that mainly controls the inverter unit 73; And a storage unit 75 composed of a memory or the like.
- the control circuit unit 74 performs an operation so that the ratio between the output voltage and the output frequency is substantially constant, and outputs a speed command to the inverter unit 73. In this way, the second inverter 7 performs V / F (Voltage / Frequency) control and controls the speed of the mover 5.
- V / F Voltage / Frequency
- the mover 5 on which the object is transported starts to accelerate in the right direction from the position on the positioning station at the left end of FIG.
- the mover 5 normally has a constant speed on the positioning station, and shifts to the control of the speed control station adjacent to the right.
- control is performed by V / F control by the second inverter 7.
- the control becomes vector control with a sensor by the first inverter 6, and a predetermined position set in advance in the controller 8. It is positioned with high accuracy.
- the control circuit unit 64 of the first inverter 6 and the control circuit unit 74 of the second inverter 7 both receive the detection signal from the photosensor 13 and switch the control of each station based on the detection signal. This will be described in detail with reference to FIG. FIG. 4 shows an example in which control is switched from the positioning station to the speed control station.
- each photosensor 13 is disposed at a distance L1 from the end of the primary coil 3, and the interval L2 between the photosensors 13 and 13 is a mover. 5 is smaller than the conveying direction length L3 of the secondary side conductor (having the same size as the mover 5; the same shall apply hereinafter).
- the distance L1 is substantially equal to the length of one pole of the primary coil 3 so that the secondary conductor can face at least one pole of the primary coil 3 when the photosensor 13 detects the mover 5. It has become.
- each primary coil 3 has an interval L4 so that the secondary conductor of the mover 5 can face at least one of the poles of the adjacent primary coil 3.
- the distance L4 is smaller than the length obtained by subtracting twice L3 from L1.
- the photosensors 13 are sequentially arranged from the upstream side (left side in FIG. 4) to the downstream side (right side in FIG. 4) in the transport direction of the movable element 5 (the direction of the arrow 15 in FIG. 4).
- PS1, PS2, PS3, and PS4 are denoted by PS1, PS2, PS3, and PS4.
- the state in which the mover 5 is not located in the drive region of any station can be eliminated.
- the photosensor PS2 is turned off, and the first inverter 6 stops supplying power to the primary coil 3.
- the subsequent control at the speed control station is the same as described above, and when the movable element 5 reaches the photosensor PS4, both the photosensors PS3 and PS4 are turned on (section T6 in FIG. 4D). .
- the photosensor PS3 is turned off and only PS4 is turned on (section T7 in FIG. 4D).
- the movable element 5 in this state is indicated by a one-dot chain line in FIG. In this way, the control is switched from the positioning station to the speed control station.
- the area which united area T1, T2, T3 is an area electrically fed to the primary side coil 3 by the 1st inverter 6,
- mover 5 moves during this is the area
- speed command correction performed by the control circuit 74 of the second inverter 7 will be described with reference to FIGS. 5 and 6.
- the position and speed are controlled using feedback by the controller 8 and the first inverter 6, so that the mover 5 moves at a speed following the speed command from the controller 8.
- the speed control station the actual speed of the mover 5 is lower than the speed command by a slip inherent to the induction motor. For this reason, when the mover 5 moves from the positioning station to the speed control station, speed fluctuation occurs.
- the storage unit 75 of the second inverter 7 uses the slip characteristics (an example is shown in FIG. 5) that obtains the maximum thrust according to the speed of the mover, and the speed of the mover 5.
- An approximate curve (an example is shown in FIG. 6) representing the correlation with the slip for obtaining the maximum thrust is stored as a parameter.
- the control circuit 74 of the second inverter 7 stores the slip that can obtain the maximum thrust by the speed command from the controller 8 when the mover 5 moves from the positioning station to the speed control station.
- the speed command from the controller 8 is corrected by specifying the parameter based on the above parameters and dividing the speed command by the specified slip to obtain a speed command inside the inverter.
- the control circuit unit 74 outputs the corrected speed command to the inverter unit 73 and supplies power to the primary coil 3. Thereby, the speed in the speed control station can be increased, and the speed fluctuation of the mover 5 when moving across the positioning station and the speed control station can be minimized.
- parameters stored in the storage unit 75 correspond to an example of correlation information between the speed of the mover and the slip to obtain the maximum thrust described in the claims.
- the second inverter 7 performs V / F control based on the speed command from the controller 8 in an area where positioning on the transport path 2 is unnecessary.
- the first inverter 6 performs vector control with the sensor using the feedback speed based on the detection signal (feedback position) from the detector 11, and the controller 8 detects it.
- the feedback position from the device 11 is input, and a speed command based on the feedback position is output to the first inverter 6 to perform position control.
- speed control of the mover 5 is performed in an area where positioning is not necessary, and high-accuracy positioning corresponding to the resolution of the detector 11 can be performed in an area where positioning is necessary.
- the first inverter 6 that performs relatively advanced control is provided only in an area that requires positioning on the transport path 2, and relatively low control is performed in other areas that do not require positioning.
- a second inverter 7 is provided.
- the primary side coil 3 is arranged with an interval L4 so that the secondary side conductor of the mover 5 can face at least one of the adjacent primary side coils 3.
- the mover 5 stops at a position where the mover 5 does not face the photosensor 13 of any primary coil 3 due to an emergency stop or the like, and the mover 5 becomes inoperable.
- the first inverter 6 and the second inverter 7 directly input the detection signals of the two photosensors 13 disposed on both ends of the primary side coil 3 in the transport direction, and at least one of the photosensors.
- the sensor 13 detects the mover 5
- power is supplied to the primary coil 3
- both the photosensors 13 do not detect the mover 5
- power supply to the primary coil 3 is stopped.
- power can be reliably supplied to the primary coil 3 in which the mover 5 exists in the drive region, and power supply is stopped to the primary coil 3 in which the mover 5 is not in the drive region, thereby preventing unnecessary power consumption. it can.
- the first inverter 6 and the second inverter 7 directly take in the detection signal of the photosensor 13, a delay in power feeding can be suppressed to the minimum with respect to the mover 5 that moves at high speed.
- the drive area of each station can be widened compared to the case where only one is provided, and one side in the transport direction is also provided. Similarly, a wide driving area can be obtained for movement from either the side or the other side. As a result, the arrangement interval of the primary side coils 3 can be widened.
- the detector 11 disposed in an area where positioning on the transport path 2 needs to detect the scale 12 provided on the movable element 5 to generate a pulse signal.
- the scale 12 on the movable element 5 side in this way, the cable wiring and the flexible cable holding member required when the detector 11 is provided on the movable element 5 side become unnecessary, and the configuration is further simplified. This makes it easy to transport the object to be transported over a long distance.
- each inverter 6, 7 is provided for each primary coil 3.
- the power supply may be performed to the plurality of primary coils 3 with one inverter.
- one of the second inverters 7 is provided corresponding to a plurality (three in this example) of primary coils 3 disposed in an area where positioning on the conveyance path 2 is unnecessary.
- a combination of the second inverter 7 and a plurality of corresponding primary coils 3 is a “speed control station”.
- a curved shape may be used as shown in FIG. 8A, or a cross shape or the like in which a plurality of conveyance paths 2 intersect as shown in FIG. 8B.
- the speed command is corrected based on the parameters stored in the storage unit 75 of the second inverter 7, but the present invention is not limited to this, and the parameters are stored in the storage unit of the controller 8.
- the second inverter 7 may acquire parameters from the storage unit of the controller 8 as necessary to correct the speed command.
- the parameter may be stored in the storage unit 65 of the first inverter 6 so that the second inverter 7 acquires the parameter from the first inverter 6 and corrects the speed command.
- the speed command may be corrected not by the second inverter 7 but by the controller 8, and the corrected speed command may be output from the controller 8 to the second inverter 7.
- the controller 8 inputs the feedback position from the detector 11 and executes the position control of the mover 5.
- the first inverter 6 inputs the feedback position from the detector 11 and has a sensor. Position control may be executed together with vector control.
- the AC power supply 14 is used as the power supply for each of the inverters 6 and 7, but a DC power supply may be used. In this case, the converter units 61 and 71 of the inverters 6 and 7 are not necessary.
- the detector 11 is provided in the transport path 2 and the scale 12 is provided in the movable element 5.
- the detector 11 is conversely provided. May be provided on the mover 5 and the scale 12 may be provided on the transport path 2.
- the detector 11 is used as the speed sensor and the position sensor of the mover 5 and the optical photosensor 13 is used as a sensor for detecting the presence or absence of the mover 5.
- the present invention is not limited to this.
- Other types of sensors such as a sound wave sensor, a capacitance sensor, a magnetic sensor, and an electromagnetic wave sensor may be used.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Linear Motors (AREA)
- Non-Mechanical Conveyors (AREA)
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
- Control Of Conveyors (AREA)
Abstract
Description
前述の実施形態においては、各インバータ6,7を各一次側コイル3に対し1台ずつ設けるようにしたが、これに限らず、1台のインバータで複数の一次側コイル3に給電を行うようにしてもよい。
前述の実施形態においては、可動子5が直線状の搬送路2上を移動する場合を一例として説明したが、前述したように一次側コイル5は、可動子5の二次側導体が隣り合う一次側コイル3の少なくともいずれか一方の1極分と対向できる範囲であれば、間隔を空けて不連続に配置することが可能であるため、搬送路2を直線以外の種々の形状とすることが可能である。
以上では、第2インバータ7が自身の記憶部75に記憶させたパラメータに基づいて速度指令の補正を行うようにしたが、これに限らず、コントローラ8の記憶部にパラメータを記憶させておき、第2インバータ7が必要に応じてコントローラ8の記憶部からパラメータを取得して速度指令の補正を行うようにしてもよい。また、第1インバータ6の記憶部65にパラメータを記憶させておき、第2インバータ7が第1インバータ6からパラメータを取得して速度指令の補正を行うようにしてもよい。さらに、速度指令の補正を第2インバータ7が行うのではなくコントローラ8が行うようにし、当該補正した速度指令をコントローラ8から第2インバータ7に出力してもよい。
1A 搬送システム
2 搬送路
3 一次側コイル
4 固定子
5 可動子
6 第1インバータ
7 第2インバータ
8 コントローラ
11 検出器(第1センサ)
12 スケール
13 フォトセンサ(第2センサ)
65 記憶部
75 記憶部
Claims (6)
- 搬送路に沿って配設された複数の一次側コイルを備えた固定子と、前記搬送路に沿って移動自在に設けられ、前記一次側コイルと対向する二次側導体を備えた可動子と、を備えたリニア誘導モータと、
前記搬送路上の位置決めが必要な領域に配設された少なくとも1つの前記一次側コイルに対応して設けられ、センサ付きベクトル制御を行う第1インバータと、
前記搬送路上の位置決めが不要な領域に配設された少なくとも1つの前記一次側コイルに対応して設けられ、V/F制御を行う第2インバータと、
前記第1インバータ及び前記第2インバータに対し速度指令を出力して前記一次側コイルへの給電を制御するコントローラと、を有する
ことを特徴とする搬送システム。 - 前記コントローラは、
前記第1インバータ及び前記第2インバータとの間で相互に情報の送受信が可能なように接続され、
前記搬送路上の位置決めが必要な領域に配設された少なくとも1つの前記一次側コイルに対応して設けられた第1センサからフィードバック位置を入力し、前記第1インバータに対し前記フィードバック位置に基づく前記速度指令を出力して位置制御を行う
ことを特徴とする請求項1に記載の搬送システム。 - 前記第2インバータは、
前記可動子の速度と前記リニア誘導モータの最大推力を得るすべりとの相関情報を記憶した記憶部を有し、
前記コントローラからの前記速度指令で最大推力を得られるすべりを前記相関情報に基づいて特定し、前記速度指令をすべりで除算することにより補正した速度指令に基づき、前記一次側コイルへの給電を行う
ことを特徴とする請求項1又は2に記載の搬送システム。 - 前記コントローラは、
前記可動子の速度と前記リニア誘導モータの最大推力を得るすべりとの相関情報を記憶した記憶部を有し、
前記第2インバータに出力する前記速度指令で最大推力を得られるすべりを前記相関情報に基づいて特定し、前記速度指令をすべりで除算することにより補正する
ことを特徴とする請求項1又は2に記載の搬送システム。 - 前記一次側コイルは、
前記可動子の前記二次側導体が隣り合う前記一次側コイルの少なくともいずれか一方の1極分と対向できるように、間隔を空けて配置されている
ことを特徴とする請求項1乃至4のいずれか1項に記載の搬送システム。 - 前記第1インバータ及び前記第2インバータは、
前記一次側コイルの搬送方向両端側に配設され、前記可動子の有無を検出する2つの第2センサの検出信号を直接入力し、少なくとも一方の前記第2センサが前記可動子を検出した場合には前記一次側コイルへの給電を行い、両方の前記第2センサが前記可動子を検出しない場合には前記一次側コイルへの給電を停止する
ことを特徴とする請求項1乃至5のいずれか1項に記載の搬送システム。
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PCT/JP2011/063703 WO2012172657A1 (ja) | 2011-06-15 | 2011-06-15 | 搬送システム |
CN201180071567.2A CN103608272B (zh) | 2011-06-15 | 2011-06-15 | 输送系统 |
KR1020147000955A KR101584022B1 (ko) | 2011-06-15 | 2011-06-15 | 반송 시스템 |
JP2012540203A JP5305257B2 (ja) | 2011-06-15 | 2011-06-15 | 搬送システム |
US14/105,187 US9143077B2 (en) | 2011-06-15 | 2013-12-13 | Conveying system |
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PCT/JP2011/063703 WO2012172657A1 (ja) | 2011-06-15 | 2011-06-15 | 搬送システム |
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US14/105,187 Continuation US9143077B2 (en) | 2011-06-15 | 2013-12-13 | Conveying system |
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Also Published As
Publication number | Publication date |
---|---|
CN103608272B (zh) | 2016-04-13 |
JP5305257B2 (ja) | 2013-10-02 |
JPWO2012172657A1 (ja) | 2015-02-23 |
KR101584022B1 (ko) | 2016-01-08 |
CN103608272A (zh) | 2014-02-26 |
KR20140022956A (ko) | 2014-02-25 |
US9143077B2 (en) | 2015-09-22 |
US20140097783A1 (en) | 2014-04-10 |
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