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DE19605413A1 - DC linear motor for use in position control - Google Patents

DC linear motor for use in position control

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Publication number
DE19605413A1
DE19605413A1 DE19605413A DE19605413A DE19605413A1 DE 19605413 A1 DE19605413 A1 DE 19605413A1 DE 19605413 A DE19605413 A DE 19605413A DE 19605413 A DE19605413 A DE 19605413A DE 19605413 A1 DE19605413 A1 DE 19605413A1
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DE
Germany
Prior art keywords
linear motor
measuring system
integrated
displacement measuring
signal
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
DE19605413A
Other languages
German (de)
Inventor
Wolfgang Schinkoethe
Michael Voss
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Individual
Original Assignee
Individual
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Publication date
Application filed by Individual filed Critical Individual
Priority to DE19605413A priority Critical patent/DE19605413A1/en
Publication of DE19605413A1 publication Critical patent/DE19605413A1/en
Priority to DE29705315U priority patent/DE29705315U1/en
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/50—Devices characterised by the use of electric or magnetic means for measuring linear speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/2006—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils
    • G01D5/2033—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils controlling the saturation of a magnetic circuit by means of a movable element, e.g. a magnet
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/33—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device
    • 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
    • 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
    • H02K41/035—DC motors; Unipolar motors
    • H02K41/0352—Unipolar motors
    • H02K41/0354—Lorentz force motors, e.g. voice coil motors
    • H02K41/0356—Lorentz force motors, e.g. voice coil motors moving along a straight path
    • 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
    • H02P25/032—Reciprocating, oscillating or vibrating motors
    • H02P25/034—Voice coil 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37019—Position detection integrated in actuator, lvdt integrated linear actuator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37133—Linear, rotary variable differential transformer, lvdt, rvdt
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37531—Superpose modulated measuring signal on servo command reference
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41355—Electro magnetic coil actuator, voice coil

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Control Of Linear Motors (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

The DC linear motor includes the winding which receives a correction signal for controlling the drive force and a measurement signal which serves to measure the travel. The linear motor can consist of one part with at least one permanent magnet (1) and a second part with at least one winding (3) with a magnetic yoke (4).

Description

Die Erfindung betrifft einen Gleichstromlinearmotor nach dem elektrodynamischen Wirk­ prinzip. Diese Motoren nutzen die Kraft auf bewegte Ladungen einer bestromten Leiter­ wicklung in einem Magnetfeld. Das Magnetfeld kann dabei entweder von einem Perma­ nentmagneten oder von einer zweiten stromdurchflossenen Leiterwicklung erzeugt wer­ den. Zur Nutzung der zwischen den beiden Teilen wirkenden Kraft zur linearen Bewegung ist eine der beiden Komponenten (z. B. die Leiterwicklung) ortsfest, und die andere (im Beispielfall der Permanentmagnet oder eine zweite Leiterwicklung) stellt den bewegten Abtrieb der Anordnung dar.The invention relates to a direct current linear motor according to the electrodynamic effect principle. These motors use the force on moving charges of a live conductor winding in a magnetic field. The magnetic field can either be from a perma Magnet or generated by a second current-carrying conductor winding the. To use the force between the two parts for linear movement one of the two components (e.g. the conductor winding) is stationary, and the other (in For example, the permanent magnet or a second conductor winding) represents the moving one Output of the arrangement.

Motoren dieser Bauform besitzen keine internen Maßverkörperungen und weisen keine Selbsthemmung auf. Eine bestimmte Position anzufahren bzw. eine Position zu halten, erfordert die Realisierung eines kompletten Regelkreises mit mindestens einem Meß­ system für die Wegmessung bzw. bei Forderung nach konstanten gleichförmigen Bewe­ gungen mit einem Meßsystem für die Geschwindigkeit.Motors of this design have no internal measuring standards and have none Self-locking on. Moving to a certain position or holding a position requires the implementation of a complete control loop with at least one measurement system for distance measurement or when constant constant motion is required conditions with a measuring system for the speed.

Bekannt sind an den Motor angekoppelte externe Meßsysteme oder in den Gesamtaufbau mechanisch integrierte interne Meßsysteme, die jedoch generell von der Antriebswicklung unabhängige separate Bauteile, beispielsweise Meßspulen, nutzen.External measuring systems coupled to the motor or in the overall structure are known mechanically integrated internal measuring systems, but generally from the drive winding use independent, separate components, such as measuring coils.

Bekannt sind auch Motoren, vorzugsweise rotatorische, die die Antriebswicklung gleich­ zeitig zur Lageerkennung von Übergängen zwischen unterschiedlichen Feldbereichen und damit zur Ableitung eines Kommutierungssignals nutzen.Also known are motors, preferably rotary ones, that have the same drive winding in time for position detection of transitions between different field areas and use it to derive a commutation signal.

Ebenfalls bekannt sind Motoren bzw. Schaltungen, die aus dem Spannungsabfall über der Antriebswicklung ein geschwindigkeitsproportionales Meßsignal ableiten.Also known are motors or circuits that result from the voltage drop across the Derive a signal proportional to the speed of the drive winding.

Für die kontinuierliche Wegmessung sind damit derzeit stets zusätzliche separate Meß­ systeme oder zumindest zusätzliche Bauteile (Meßspulen) notwendig.For the continuous distance measurement there are currently always additional separate measurements systems or at least additional components (measuring coils) necessary.

Aufgabe des erfindungsgemäßen Gleichstromlinearmotors mit integriertem Wegmeß­ system ist es, durch duale Nutzung des Spulensystems ein wegproportionales Signal für die Läuferstellung abzuleiten und damit ein zusätzliches, aus separaten Bauteilen beste­ hendes, externes oder internes Wegmeßsystem überflüssig werden zu lassen. Object of the DC linear motor according to the invention with integrated displacement measurement system is to provide a path proportional signal for the dual use of the coil system derive the rotor position and thus an additional, best from separate components existing, external or internal measuring system.  

Dazu wurde der erfindungsgemäße Gleichstromlinearmotor mit integriertem Wegmeß­ system entsprechend dem Patentanspruch 1 so ausgeführt und angesteuert, daß die Spulenwicklung gleichzeitig als Antriebs- und als Meßwicklung genutzt werden kann.For this purpose, the DC linear motor according to the invention with an integrated path measurement System according to claim 1 executed and controlled so that the Coil winding can be used simultaneously as a drive and as a measuring winding.

Die Nutzung der Antriebswicklung sowohl für Bewegungs- als auch für Meßaufgaben kann dabei entweder gleichzeitig bei verschiedenen Frequenzen von Meß- und Stellsignal oder in Zeitintervallen entsprechend Patentanspruch 9 erfolgen, wobei in einem, jeweils sehr kurzen Zeitintervall entweder gemessen oder gestellt wird.The drive winding can be used for both movement and measurement tasks either at the same time at different frequencies of the measurement and control signal or done at time intervals according to claim 9, being in one, each very short time interval is either measured or posed.

Eine vorteilhafte Ausgestaltung der Erfindung ist im Patentanspruch 7 angegeben, nach dem die Feldführung durch zwei Polschuhe verbessert wird.An advantageous embodiment of the invention is specified in claim 7, according to which the field management is improved by two pole shoes.

Die mit der Erfindung erzielten Vorteile bestehen insbesondere darin, daß separate Wegsysteme bzw. separate zusätzliche Bauteile für die Wegmessung entfallen und dadurch ein wesentlich einfacherer kostengünstigerer und miniaturisierbarer Aufbau erreicht werden kann.The advantages achieved by the invention are in particular that separate Path systems or separate additional components for path measurement are eliminated and thereby a much simpler, cheaper and miniaturizable structure can be reached.

Ein Ausführungsbeispiel des Motors und ein Ersatzschaltbild der Meßwertaufbereitung sind in den Zeichnungen dargestellt und werden nachfolgend näher beschrieben.An embodiment of the motor and an equivalent circuit of the measured value processing are shown in the drawings and are described in more detail below.

Es stellen darIt represent

Fig. 1 Schnittdarstellung des Prinzipaufbaus einer Ausführungsform eines solchen Gleichstromlinearmotores mit integriertem Wegmeßsystem. Fig. 1 shows a sectional view of the basic structure of an embodiment of such a direct current linear motor with integrated displacement measuring system.

Fig. 2 Elektrisches Ersatzschaltbild zur Meßwertaufbereitung. Fig. 2 Electrical equivalent circuit for the processing of measured values.

Der Gleichstromlinearmotor mit integriertem Wegmeßsystem besteht im dargestellten Ausführungsbeispiel nach Fig. 1 aus einem zylinderförmigen Permanentmagneten (1), der in axialer Richtung magnetisiert ist (Teilsystem 1). Koaxial zum Teilsystem 1 ist eine solenoidförmiges Spulensystem (3) angeordnet, dessen axiale Ausdehnung größer als die des Teilsystems 1 ist. Das Spulensystem (3) besteht aus zwei axial gleich langen Berei­ chen (Teilspulen) mit entgegengesetzt gerichteten, im Spuleninneren axial verlaufenden Spulenfeldern. Die Spule ist in Fig. 1 schematisiert einlagig dargestellt, wobei die Umkehr des Spulenfeldes durch die unterschiedliche Richtung des Spulenstroms verdeutlicht ist. Die Anschlüsse jeder der beiden Teilspulen sind entweder separat oder unter Ausnutzung eines Mittelabgriffs nach außen geführt. Zwischen dem Permanentmagneten (1) und dem Spulensystem (3) befindet sich eine dünnwandige Führungsbuchse (2), die zur Ver­ besserung der Führung und zur Verminderung der Reibung dient. Die Führungsbuchse (2) besitzt in Achsrichtung die gleiche Länge wie das Spulensystem (3). Radial an das Spulen­ system (3) schließt sich der Rückschluß (4) an. Er besitzt bezüglich der Bewegungsachse die gleiche Rotationssymmetrie wie das Spulensystem (3) und in Achsrichtung die gleiche Länge. Rückschluß (4), Spulensystem (3) und Führungsbuchse (2) bilden ein zweites Teilsystem. Jedes dieser beiden Teilsysteme könnte den bewegten Abtrieb und damit den Läufer bilden und das jeweils andere Teilsystem dann den feststehenden Stator.In the exemplary embodiment shown in FIG. 1, the direct current linear motor with integrated displacement measuring system consists of a cylindrical permanent magnet ( 1 ) which is magnetized in the axial direction (subsystem 1). A solenoid-shaped coil system ( 3 ) is arranged coaxially with subsystem 1, the axial extent of which is greater than that of subsystem 1. The coil system ( 3 ) consists of two axially equally long areas (partial coils) with oppositely directed coil fields that run axially inside the coil. The coil is shown schematically in FIG. 1 in one layer, the reversal of the coil field being illustrated by the different direction of the coil current. The connections of each of the two coil sections are either routed separately or using a center tap to the outside. Between the permanent magnet ( 1 ) and the coil system ( 3 ) there is a thin-walled guide bush ( 2 ), which serves to improve the guidance and to reduce friction. The guide bush ( 2 ) has the same length in the axial direction as the coil system ( 3 ). Radial to the coil system ( 3 ) follows the inference ( 4 ). It has the same rotational symmetry with respect to the movement axis as the coil system ( 3 ) and the same length in the axial direction. Inference ( 4 ), coil system ( 3 ) and guide bush ( 2 ) form a second subsystem. Each of these two subsystems could form the moving output and thus the rotor and the other subsystem could then form the fixed stator.

Der axial magnetisierte Permanentmagnet (1) schließt seine Feldlinien über den Luftspalt zwischen den Teilsystemen, die Führungsbuchse (2), das Spulensystem (3) und den Rückschluß (4). Die im Luftspalt zwischen Magnet und Rückschluß befindlichen Teilspulen (3) erzeugen eine Axialkraft für die Abtriebsbewegung und stellen gleichzeitig das Meß­ system zur Positionsbestimmung des bewegten Permanentmagneten (1) dar.The axially magnetized permanent magnet ( 1 ) closes its field lines across the air gap between the subsystems, the guide bush ( 2 ), the coil system ( 3 ) and the yoke ( 4 ). The partial coils ( 3 ) located in the air gap between the magnet and the yoke generate an axial force for the output movement and at the same time represent the measuring system for determining the position of the moving permanent magnet ( 1 ).

Die zwei identischen, separaten Teilspulen stellen ohne ihre Antriebsaufgabe zu betrach­ ten mit dem Rückschluß (4) und dem bewegten Permanentmagneten (1) ein induktives Wegmeßsystem nach dem Differentialdrosselprinzip dar.The two identical, separate coil sections represent an inductive position measuring system based on the differential throttle principle with the yoke ( 4 ) and the moving permanent magnet ( 1 ) without considering their drive task.

Zur Realisierung eines Bewegungsvorganges werden die beiden Teilspulen mit ent­ gegengesetztem Wicklungssinn so bestromt, daß ihre magnetischen Felder entgegenge­ richtet, und die Lorentzkräfte damit über den Polen gleichgerichtet sind. Die Position des bewegten Permanentmagneten (1) in axialer Richtung wird mit Hilfe der sich in Abhängig­ keit der Position ändernden Induktivitäten in den Teilspulen (3) bestimmt.To implement a movement process, the two partial coils are energized with ent opposite sense of winding so that their magnetic fields are opposed, and the Lorentz forces are thus rectified across the poles. The position of the moving permanent magnet ( 1 ) in the axial direction is determined with the aid of the inductances in the partial coils ( 3 ) which change depending on the position.

Die beiden magnetisch durch den Permanentmagneten gekoppelten Spulen sind elektrisch in Reihe geschaltet. Zur Messung der Induktivitätsänderung wird dem Stellsignal gemäß Fig. 2 ein hochfrequentes Rechtecksignal kleiner Amplitude überlagert. Die über der Zeit abfallende Spannung der beiden Teilspulen wird einem Differenzverstärker zugeführt. Das verstärkte Differenzsignal wird gefiltert, um das Wegsignal auszukoppeln und anschlie­ ßend über ein Zeitintervall integriert. Am Schaltungsausgang steht ein wegabhängiges analoges Gleichspannungssignal zur Verfügung. Das Signal ist in weiten Bereichen linear von der Position abhängig.The two coils magnetically coupled by the permanent magnet are electrically connected in series. To measure the change in inductance, a high-frequency square-wave signal of small amplitude is superimposed on the control signal according to FIG. 2. The voltage of the two sub-coils falling over time is fed to a differential amplifier. The amplified difference signal is filtered in order to decouple the path signal and then integrated over a time interval. A path-dependent analog DC voltage signal is available at the circuit output. The signal is linearly dependent on the position in wide areas.

Damit kann mittels eines Antriebsspulensystems sowohl die Stellbewegung realisiert als auch ein Wegsignal erzeugt werden.This means that both the actuating movement can be realized by means of a drive coil system a path signal can also be generated.

Claims (9)

1. Gleichstromlinearmotor mit integriertem Wegmeßsystem mit einem feststehenden Stator und einem beweglichen Läufer, dadurch gekennzeichnet, daß das Spulen­ system des Gleichstromlinearmotors einerseits durch Beaufschlagung mit einem Stellsignal zur Schubkrafterzeugung für die Abtriebsbewegung genutzt wird und andererseits durch Beaufschlagung mit einem Meßsignal gleichzeitig als Meßwicklung für die Wegmessung des bewegten Abtriebs dient.1. DC linear motor with integrated displacement measuring system with a fixed stator and a movable rotor, characterized in that the coil system of the DC linear motor is used on the one hand by acting on it with an actuating signal for generating thrust force for the output movement and on the other hand by acting on it with a measuring signal simultaneously as a measuring winding for measuring the distance of the moving output. 2. Gleichstromlinearmotor mit integriertem Wegmeßsystem nach Patentanspruch 1, dadurch gekennzeichnet, daß der Gleichstrommotor aus einem ersten Teilsystem mit mindestens einem Permanentmagneten (1) und einem zweiten Teilsystem mit mindestens einem Spulensystem (3) mit einem fest verbundenen Rückschluß (4) besteht.2. DC linear motor with integrated displacement measuring system according to claim 1, characterized in that the DC motor consists of a first subsystem with at least one permanent magnet ( 1 ) and a second subsystem with at least one coil system ( 3 ) with a fixed yoke ( 4 ). 3. Gleichstromlinearmotor mit integriertem Wegmeßsystem nach den Patentansprüchen 1 und 2, dadurch gekennzeichnet, daß zwischen den beiden Teilsystemen sich ein geringer Luftspalt und gegebenenfalls eine Führungsbuchse (2) befindet, wobei jedes dieser Teilsysteme den bewegten Abtrieb und damit den Läufer bilden kann, und das andere Teilsystem dann den feststehenden Stator darstellt.3. DC linear motor with integrated displacement measuring system according to claims 1 and 2, characterized in that there is a small air gap and possibly a guide bush ( 2 ) between the two subsystems, each of these subsystems can form the moving output and thus the rotor, and that other subsystem then represents the fixed stator. 4. Gleichstromlinearmotor mit integriertem Wegmeßsystem nach den Patentansprüchen 1 bis 3, dadurch gekennzeichnet, daß das Spulensystem (3) des Gleichstromlinear­ motors aus zwei separaten, hintereinanderliegenden, identischen Teilspulen ent­ gegengesetzten Wicklungssinns aufgebaut ist.4. DC linear motor with integrated displacement measuring system according to claims 1 to 3, characterized in that the coil system ( 3 ) of the DC linear motor is constructed from two separate, successive, identical part coils ent opposite sense of winding. 5. Gleichstromlinearmotor mit integriertem Wegmeßsystem nach den Patentansprüchen 1 bis 4, dadurch gekennzeichnet, daß die Anschlüsse jeder der beiden Teilspulen entweder separat oder unter Ausnutzung eines Mittenabgriffs nach außen geführt sind.5. DC linear motor with integrated position measuring system according to the patent claims 1 to 4, characterized in that the connections of each of the two partial coils either led separately or using a center tap to the outside are. 6. Gleichstromlinearmotor mit integriertem Wegmeßsystem nach den Patentansprüchen 1 bis 5, dadurch gekennzeichnet, daß die Induktivitätsänderung infolge der relativen Verschiebung zwischen dem Permanentmagneten (1) und den zwei hintereinanderlie­ genden, identischen Teilspulen (3) elektronisch zur Wegmessung ausgewertet wird. 6. DC linear motor with integrated displacement measuring system according to claims 1 to 5, characterized in that the change in inductance due to the relative displacement between the permanent magnet ( 1 ) and the two consecutive identical sub-coils ( 3 ) is electronically evaluated for displacement measurement. 7. Gleichstromlinearmotor mit integriertem Wegmeßsystem nach den Patentansprüchen 1 und 2, dadurch gekennzeichnet, daß axial am Permanentmagneten (1) zur besse­ ren Feldführung zwei Polschuhe angeordnet sind.7. DC linear motor with integrated displacement measuring system according to claims 1 and 2, characterized in that two pole shoes are arranged axially on the permanent magnet ( 1 ) for better field guidance. 8. Gleichstromlinearmotor mit integriertem Wegmeßsystem nach den Patentansprüchen 1 bis 6, dadurch gekennzeichnet, daß das Meßsignal dem Stellsignal überlagert ist, und dadurch sowohl Wegmessung als auch Stellen des Antriebs gleichzeitig mit nur einem Spulensystem (3) möglich ist.8. DC linear motor with integrated displacement measuring system according to claims 1 to 6, characterized in that the measurement signal is superimposed on the control signal, and thereby both displacement measurement and positioning of the drive is possible simultaneously with only one coil system ( 3 ). 9. Gleichstromlinearmotor mit integriertem Wegmeßsystem nach den Patentansprüchen 1 bis 6, dadurch gekennzeichnet, daß das Meßsignal und das Stellsignal während der Bewegung zwar zeitlich getrennt in unterschiedlichen, jeweils sehr kurzen Zeit­ intervallen abgesetzt werden aber auf das gleiche Spulensystem (3) wirken.9. DC linear motor with integrated displacement measuring system according to claims 1 to 6, characterized in that the measuring signal and the control signal are separated during the movement in different, very short time intervals but act on the same coil system ( 3 ).
DE19605413A 1996-02-14 1996-02-14 DC linear motor for use in position control Withdrawn DE19605413A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE19605413A DE19605413A1 (en) 1996-02-14 1996-02-14 DC linear motor for use in position control
DE29705315U DE29705315U1 (en) 1996-02-14 1997-01-25 DC linear motor with integrated position measuring system

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WO1997046924A1 (en) * 1996-06-05 1997-12-11 Krauss-Maffei Ag Motor-regulating device and method
DE10229689A1 (en) * 2002-06-27 2004-01-22 Universität Stuttgart Integrated displacement measurement in d.c. linear motors with alternating permanent magnets and flux guide points involves carrying out impedance measurement on complete motor lines
DE10229687A1 (en) * 2002-06-27 2004-01-22 Universität Stuttgart Integrated displacement measurement in direct current linear motors, involves using flux density changes in sub-systems with magnets by using impedance measurement for displacement measurement
DE10323629A1 (en) * 2003-03-24 2004-10-14 Technische Universität Berlin Traveling wave linear motor
US7429808B2 (en) 2003-03-24 2008-09-30 Technische Universitaet Berlin Gliding field linear motor
US7834488B2 (en) 2007-04-13 2010-11-16 Festo Ag & Co. Kg Electric linear drive unit
EP2947756A2 (en) 2014-05-23 2015-11-25 Karl Storz GmbH & Co. KG Position controlled electrodynamic linear motor
CN108880185A (en) * 2017-07-28 2018-11-23 柴民 A linear drive device and a linear motor

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DE19748647C2 (en) * 1997-11-04 2001-09-27 Festo Ag & Co Electromagnetic drive system with integrated path signal generation
DE102007017968A1 (en) 2007-04-11 2008-10-16 Festo Ag & Co. Kg Electric linear drive device
US9431887B2 (en) 2014-06-06 2016-08-30 Align Technology, Inc. Lens positioning system

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EP0457389A1 (en) * 1990-05-14 1991-11-21 Koninklijke Philips Electronics N.V. Electromagnetic drive system

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EP0457389A1 (en) * 1990-05-14 1991-11-21 Koninklijke Philips Electronics N.V. Electromagnetic drive system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
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Cardoletti, Cassat, Jufer: Sensorless Position and Speed Control of a Brushless DC-Motor from Start-up to Nominal Speed. In. EPE Journal Vol. 2, No. 1, 1992, S. 25-34 *

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997046924A1 (en) * 1996-06-05 1997-12-11 Krauss-Maffei Ag Motor-regulating device and method
US6118245A (en) * 1996-06-05 2000-09-12 Siemens Linear Motor Systems Gmbh & Co. Kg Control device and control process for motors
DE10229689A1 (en) * 2002-06-27 2004-01-22 Universität Stuttgart Integrated displacement measurement in d.c. linear motors with alternating permanent magnets and flux guide points involves carrying out impedance measurement on complete motor lines
DE10229687A1 (en) * 2002-06-27 2004-01-22 Universität Stuttgart Integrated displacement measurement in direct current linear motors, involves using flux density changes in sub-systems with magnets by using impedance measurement for displacement measurement
DE10323629A1 (en) * 2003-03-24 2004-10-14 Technische Universität Berlin Traveling wave linear motor
US7429808B2 (en) 2003-03-24 2008-09-30 Technische Universitaet Berlin Gliding field linear motor
US7834488B2 (en) 2007-04-13 2010-11-16 Festo Ag & Co. Kg Electric linear drive unit
EP2947756A2 (en) 2014-05-23 2015-11-25 Karl Storz GmbH & Co. KG Position controlled electrodynamic linear motor
DE102014107297A1 (en) 2014-05-23 2015-11-26 Karl Storz Gmbh & Co. Kg Position controlled electrodynamic linear drive
US9722480B2 (en) 2014-05-23 2017-08-01 Karl Storz Gmbh & Co. Kg Position controlled electrodynamic linear motor
CN108880185A (en) * 2017-07-28 2018-11-23 柴民 A linear drive device and a linear motor

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