[go: up one dir, main page]

EP4118736A1 - Procédé de commande d'un système d'entraînement planaire et système d'entraînement planaire - Google Patents

Procédé de commande d'un système d'entraînement planaire et système d'entraînement planaire

Info

Publication number
EP4118736A1
EP4118736A1 EP21717476.2A EP21717476A EP4118736A1 EP 4118736 A1 EP4118736 A1 EP 4118736A1 EP 21717476 A EP21717476 A EP 21717476A EP 4118736 A1 EP4118736 A1 EP 4118736A1
Authority
EP
European Patent Office
Prior art keywords
rotor
magnetic field
orientation
stator module
preferred
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.)
Pending
Application number
EP21717476.2A
Other languages
German (de)
English (en)
Inventor
Lukas Bentfeld
Johannes BECKHOFF
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beckhoff Automation GmbH and Co KG
Original Assignee
Beckhoff Automation GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beckhoff Automation GmbH and Co KG filed Critical Beckhoff Automation GmbH and Co KG
Publication of EP4118736A1 publication Critical patent/EP4118736A1/fr
Pending legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • 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
    • 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
    • G01D5/142—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 using Hall-effect devices
    • G01D5/145—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 using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/14—Stator cores with salient poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/18—Machines moving with multiple degrees of freedom

Definitions

  • the invention relates to a method for controlling a planar drive system and a planar drive system which is set up to carry out the method for controlling a planar drive system.
  • Planar drive systems can be used, among other things, in automation technology, in particular in production technology, handling technology and process technology.
  • a movable element of a system or machine can be moved or positioned in at least two linearly independent directions by means of planar drive systems.
  • Planar drive systems can comprise a permanently excited electromagnetic planar motor with a planar stator and a rotor movable on the stator in at least two directions.
  • a driving force is exerted on the rotor in that current-carrying conductors interact magnetically with drive magnets of a magnet arrangement.
  • the invention relates in particular to embodiments of planar drive systems in which the drive magnets ei Nes electric planar motor on the rotor and the current-carrying conductors of the planar motor are arranged in a stationary planar stator.
  • the runner comprises at least one first magnet unit for driving the runner in a first direction and a second magnet unit for driving the runner in a linearly independent of the first direction, for example in a second direction orthogonal to the first direction Direction.
  • the planar stator comprises at least one group of first energizable conductors, which interact magnetically with the magnets of the first magnet unit to drive the rotor in the first direction, and a group of second energizable conductors, which interact magnetically with the magnets of the second magnet unit, around the rotor to drive in the second direction.
  • the first and second groups of conductors can generally be powered independently of one another in order to allow the runner to move independently of one another to enable the first and second directions. If the conductors of the first and second groups can themselves be energized independently of one another, at least in part, several rotors can be moved independently of one another on a stator at the same time.
  • each stator module has at least one sensor module with a plurality of magnetic field sensors which are set up to detect the magnetic field of the rotor, which enables the rotor's position to be determined relative to the respective sensor module or relative to the respective stator module.
  • a determination of the orientation primarily detects a rotation of the rotor about an axis of rotation which is oriented perpendicular to a stator surface of the stator module and runs through a geometric center of the rotor.
  • Determining the orientation of the rotor relative to the stator module is of particular interest if the rotor has a preferred orientation due to the respective area of application of the planar drive system, for example because the workpieces to be transported through the stator are to be transported with a preferred orientation.
  • determining the orientation of the rotor relative to the stator module enables improved precision in determining the position of the rotor on the stator module.
  • an exact determination of the orientation of the rotor relative to the stator module can be advantageous. Due to the exact knowledge of the orientation of the rotor relative to the stator module, the magnetic field sensors for determining the position of the rotor can better interpret the values of the rotor magnetic field, which leads to an improved precision of the position determination.
  • Determining an orientation of the rotor relative to the stator module is particularly demanding if, as in the case of the present invention, the rotor, and in particular the magnet arrangement of the rotor, is rotationally symmetrical with respect to the axis of rotation oriented perpendicular to the stator surface of the stator module.
  • the rotor and in particular the magnet arrangement of the rotor and the rotor magnetic field generated thereby, is rotationally symmetrical with respect to a rotation around the axis of rotation perpendicular to the stator surface by 90 °, 180 ° and 270 °, so that the rotor and the rotor magnetic field rotate by 90 °, 180 ° or 270 ° and obviously 0 ° and 360 ° can be converted into one another.
  • an orientation of 90 °, 180 ° or 270 ° cannot be distinguished from an orientation of 0 °.
  • Another object of the invention is to provide a planar drive system which is adapted to carry out the method according to the invention.
  • a method for controlling a planar drive system comprising at least one control unit, a stator module with a stator surface and a rotor that can be positioned on the stator surface, the stator module being configured to electrically control the rotor along the Stator surface to generate stator magnetic fields, the rotor having a magnet arrangement for generating a rotor magnetic field, wherein a magnetic coupling between the rotor and the stator module can be achieved via the stator magnetic fields and the rotor magnetic field, the stator module for determining a position of the rotor, a sensor module with a A plurality of magnetic field sensors, wherein the stator module or the rotor has a magnetic device for generating an orientation magnetic field, the orientation magnetic field rotationally asymmetrical with respect to a rotation about one to the stator er surface is vertical axis of rotation and has a preferred magnetic field direction, and wherein the other of the stator module and the rotor is
  • stator module Identifying a stator module preferred direction of the stator module with the preferred magnetic field direction or the preferred sensor direction and identifying a preferred rotor direction of the rotor with the other of the preferred magnetic field direction or the preferred sensor direction in a preferred direction identification step, the stator module preferably being oriented parallel to the stator surface of the stator module, and wherein the preferred direction of the rotor is parallel is oriented to a tread of the runner;
  • the magnetic field sensor device Recording at least one measured value of the orientation magnetic field by the magnetic field sensor device in a magnetic field determination step, the at least one measured value of the orientation magnetic field including at least one value of a component of the orientation magnetic field in a direction parallel to the preferred sensor direction;
  • Determination of a first orientation of the rotor on the stator module based on the orientation of the preferred direction of the rotor relative to the preferred direction of the stator module in an orientation determination step, with a first orientation of the rotor relative to the stator module in a second orientation of the rotor relative to the stator module via a rotation of the rotor relative to the Stator module can be transferred around the axis of rotation, which is oriented perpendicular to the stator surface and runs through a geometric center of the rotor.
  • An orientation of the rotor relative to the stator module is given in the sense of the application via an orientation of a preferred rotor direction relative to a preferred stator module direction.
  • a first orientation of the rotor relative to the stator module can be converted into a second orientation of the rotor relative to the stator module by rotating the rotor about an axis of rotation that runs perpendicular to a stator surface of the stator module and runs through a geometric center of the rotor.
  • An alignment of the preferred direction of the rotor relative to the preferred direction of the stator module can be expressed, for example, via an angle between the preferred direction of the rotor and the preferred direction of the stator module.
  • a preferred rotor direction is an arbitrarily selectable direction of the rotor, by means of which a rotation of the rotor about the axis of rotation can be determined by a corresponding realignment of the defined preferred rotor direction.
  • the preferred direction of the rotor can be selected as desired and is used exclusively to distinguish between different orientations of the rotor relative to the stator module, in particular if the rotor is designed with a rotationally symmetrical shape.
  • the runner preferential direction is independent of the design of the runner and can be freely selected separately from it.
  • a preferred stator module direction in the sense of the application in this context is an arbitrarily selectable direction parallel to the stator surface of the stator module, via which an alignment of the preferred rotor direction and thus an orientation of the rotor relative to the stator module can be defined.
  • the planar drive system has a magnetic device for generating an orientation magnetic field and a magnetic field sensor device for detecting the orientation magnetic field.
  • the orientation magnetic field is rotationally asymmetrical to the axis of rotation, which is oriented perpendicular to the stator surface, and has a preferred magnetic field direction.
  • the magnetic field sensor device has a magnetic field in the preferred direction of the sensor and is designed to detect components of the magnetic orientation field parallel or antiparallel to the preferred direction of the sensor.
  • the magnetic field device is formed either on the rotor or on the stator module.
  • the magnetic field sensor device is formed on the respective other component of the planar drive system, i.e. either on the stator module or the rotor.
  • an alignment of the preferred direction of the sensor relative to the preferred direction of the magnetic field and, associated therewith, an alignment of the preferred preferred direction of the rotor relative to the preferred direction of the stator can be determined will. Based on the determined alignment of the preferred direction of the rotor relative to the preferred direction of the stator module, an orientation of the rotor relative to the stator module can be determined.
  • the method further comprises:
  • Determining a position of the rotor relative to the stator module by recording a plurality of measured values of the rotor magnetic field of the rotor by magnetic field sensors of the sensor module of the stator module in a position determination step, a first position of the rotor relative to the stator module in a second position of the rotor relative to the stator module via a translation of the geometric center of the rotor re relative to the stator module in a translation direction perpendicular to the axis of rotation can be transferred.
  • the method further comprises: Establishing a locking magnetic field through the stator module to lock the rotor in a position in a locking step, the locking magnetic field being oriented in opposite polarity to the rotor magnetic field, so that an attractive magnetic coupling is generated between the locking magnetic field and the rotor magnetic field.
  • By locking the runner in the specific position relative to the stator module further movement of the runner relative to the stator module during the determination of the orientation is avoided.
  • a more precise determination of the orientation of the rotor relative to the stator module is achieved.
  • a magnetic coupling between the orientation magnetic field required for orientation determination with either the rotor magnetic field of the rotor or the stator magnetic field of the stator module, which would lead to a movement of the rotor relative to the stator module, can be avoided.
  • the method further comprises:
  • the magnetic device is formed on the stator module and the magnetic field sensor device is formed on the rotor, the preferred direction of the stator module being identified with the preferred magnetic field direction and the preferred direction of the rotor being identified with the preferred sensor direction Magnetic field sensor device is defined by a measuring channel of the Hall sensor, and wherein the magnet device is formed by a stator unit of the stator module for generating the stator fields for driving the rotor.
  • the stator conductors or the stator unit of the stator module can be used, which is used to generate the stator field for steering the rotor.
  • the orientation magnetic field can thus be achieved via the control unit of the planar drive system by controlling the stator module.
  • An additional component of the planar drive system for providing the magnetic field device can thus be avoided and the control for generating the orientation magnetic field can be achieved via the control unit that has already been implemented.
  • the at least one 2D or 3D Hall sensor on the runner, a reliable and precise determination of the orientation magnetic field can be achieved by the magnetic field sensor device.
  • the preferred sensor direction is clearly defined by at least one measuring channel of the Hall sensor.
  • a measuring channel of the Hall sensor is an X, Y or Z measuring channel of the 2D or 3D Hall sensor.
  • the method further comprises:
  • This relationship between a value of the orientation magnetic field and a corresponding orientation of the preferred direction of the rotor relative to the preferred direction of the stator module, which corresponds to a corresponding orientation of the rotor relative to the stator module, can be used to determine an orientation of the preferred direction of the rotor relative to the preferred direction of the stator module, which is carried out to control the planar drive system in the orientation determination step is, a measured value of the component of the orientation magnetic field, which is oriented parallel to the preferred sensor direction of the Mag netfeldsensor recruited, compared with corresponding values of thepsmag netfelds according to the determined relationship between the orientation magnetic field and alignment of the preferred rotor device and based on the relationship between the value of the Orientation magnetic field and a corresponding alignment of the Läu fervoroplasty relative to the stator module preferred direction one for the measured Alignment of the preferred direction of the runner corresponding to the value of the magnetic orientation field.
  • a relation between values of the magnetic orientation field and various orientations of the rotor relative to the stator module can be stored, for example, in a corresponding look-up table.
  • a relation can be expressed in a corresponding mathematical function which describes an unambiguous assignment between values of the orientation magnetic field and various orientations of the runner.
  • the determining step comprises: Recording a plurality of measured values of components of the magnetic orientation field parallel to preferred sensor directions of the magnetic field sensor device for a plurality of different orientations of the preferred rotor device relative to the preferred direction of the stator module by the magnetic field sensor device in one measuring step; or calculating the plurality of values of components of the orientation magnetic field parallel to preferred sensor directions of the magnetic field sensor device for the plurality of different orientations of the preferred rotor direction relative to the preferred stator module direction on the basis of a model description of the magnetic orientation field in a simulation step.
  • a plurality of measured values for a plurality of different orientations of the rotor relative to the stator module Component of the orientation magnetic field parallel to the preferred direction of the sensor of the magnetic field sensor device for a plurality of different orientations of the rotor relative to the stator module or for a plurality of different orientations of the preferred direction of the rotor relative to the preferred direction of the stator module.
  • the corresponding relation between the expected measured value of the orientation magnetic field and the associated alignment of the preferred direction of the rotor relative to the preferred direction of the stator module can then be made.
  • the plurality of values of the orientation magnetic field for a plurality of different orientations of the rotor relative to the stator module can be achieved by a simulation based on a model description of the orientation magnetic field.
  • the expected measured values of the orientation magnetic field for any orientations of the rotor relative to the stator module can be calculated and, on the basis of the calculated values of the orientation magnetic field, a corresponding relationship between the orientation magnetic field and the orientation of the preferred direction of the rotor relative to the preferred direction of the stator module can be achieved. This enables the orientation of the rotor relative to the stator module to be determined as precisely as possible.
  • an individual relationship between the orientation magnetic field and the orientation of the preferred direction of the runner relative to the preferred direction of the stator module or between the magnetic field of orientation and the orientation of the runner relative to the stator module can be determined.
  • individual properties of individual runners can be taken into account, so that the orientation can be determined as precisely and precisely as possible by recording a plurality of measured values of the orientation magnetic field.
  • the comparison is carried out in the comparison step using an approximation method.
  • the approximation method can, for example, be based on a least square method, in which a difference between a measured value of the component of the orientation magnetic field parallel to the preferred sensor direction and a value of the orientation magnetic field for a specific orientation of the preferred rotor direction relative to the preferred stator module direction is minimized according to the relation, and so that the corresponding value of the orientation magnetic field of the relation is determined.
  • a least square method in which a difference between a measured value of the component of the orientation magnetic field parallel to the preferred sensor direction and a value of the orientation magnetic field for a specific orientation of the preferred rotor direction relative to the preferred stator module direction is minimized according to the relation, and so that the corresponding value of the orientation magnetic field of the relation is determined.
  • an orientation of the rotor relative to the stator module that corresponds to the measured value of the orientation magnetic field can be determined.
  • the relation includes a look-up table in which the values of the orientation magnetic field are assigned orientations of the runner
  • the corresponding values of the orientation magnetic field of the look-up table can be determined on the basis of the measured values of the orientation magnetic field using the least square method the corresponding orientations of the rotor relative to the stator module can then be determined via the assignment of the look-up table
  • the rotor furthermore has a transmission unit which is set up to transmit the measured values of the orientation magnetic field recorded in the magnetic field determination step to the controller, and wherein the orientation determination step and the orientation determination step are carried out by the controller.
  • the runner also has a processor unit which is set up to carry out the orientation determination step and the orientation determination step, and a transmission unit which is set up to transmit the orientation determined in the orientation determination step and / or the orientation determined in the orientation determination step to the controller .
  • the processor unit formed on the runner which is set up to carry out the alignment determination step and the orientation determination step and the associated evaluation of the recorded measured values of the orientation magnetic field, ensures that instead of transmitting the measured values of the orientation magnetic field recorded by the magnetic field sensor device from the runner to the control unit , only the evaluated data, in particular In particular, the calculated orientation of the preferred direction of the rotor relative to the preferred direction of the stator module or the calculated orientation of the rotor relative to the stator module can be transmitted to the control unit for further processing. As a result, the data volume to be transmitted can be substantially reduced and data transmission can be simplified and accelerated.
  • an energy supply for the magnetic field sensor device is designed as a wireless energy supply.
  • the rotor's magnetic field sensor device can be supplied with energy via a wireless energy supply in the form of a corresponding modulation of the stator field generated by the stator module.
  • an additional energy source for supplying energy to the magnetic field sensor device can thus also be dispensed with.
  • the magnetic field sensor device of the rotor comprises a plurality of 2D Hall sensors or a plurality of 3D Hall sensors, measuring channels of the 2D or 3D Hall sensors being arranged parallel or antiparallel to one another.
  • a plurality of 2D or 3D Hall sensors By using a plurality of 2D or 3D Hall sensors, a plurality of independent measured values of the orientation magnetic field can be recorded and thus a more precise determination of the orientation magnetic field and, associated with this, a determination of the orientation of the rotor relative to the stator module can be increased.
  • the alignment of the individual measuring channels of the multiple 2D or 3D Hall sensors in parallel or anti-parallel orientation enables all measured values of the individual 2D or 3D Hall sensors to be taken into account to determine the orientation magnetic field and thus enables a further increase in precision and measurement accuracy.
  • the magnetic field sensor device of the rotor comprises two 2D Hall sensors or 3D Hall sensors, the two 2D Hall sensors or 3D Hall sensors are arranged at a distance from one another on the runner, and a connecting line between the two 2D, 3D Hall sensors runs through a geometric center of the running surface of the runner.
  • the magnetic field sensor device of the runner comprises three 2D Hall sensors or 3D Hall sensors, the three 2D Hall sensors or 3D Hall sensors being arranged at a distance from one another on the runner and forming a triangular arrangement, and with a geometric center of the running surface of the runner an area of the triangular arrangement formed by the three 2D Hall sensors or 3D Hall sensors or on a connecting line between two of the three 2D, 3D Hall sensors.
  • the orientation magnetic field is designed as a static magnetic field. This has the technical advantage that a further specification of the orientation magnetic field and, associated therewith, a further specification of the determination of the orientation of the rotor relative to the stator can be achieved.
  • the magnetic device is formed on the rotor and the magnetic field sensor device is formed on the stator module, the preferred direction of the stator module being identified with the preferred direction of the sensor and the preferred direction of the rotor being identified with the preferred direction of the magnetic field, the magnetic field sensor device comprising at least one magnetic field sensor of the sensor module of the stator module, the at least one mag netfeldsensor is designed as a 2D Hall sensor or 3D Hall sensor, the sensor's preferred direction of the magnetic field sensor device being defined by one of the measuring channels of the Hall sensor, the magnetic device being designed as at least one permanent magnet, and the preferred magnetic field direction being defined by a north pole and a south pole of the permanent magnet is formed.
  • the magnetic field device is formed on the rotor, while the magnetic field sensor device is formed by the magnetic field sensors of the sensor module of the stator module.
  • the magnetic field device on the rotor can be designed as a permanent magnet, so that the simplest possible orientation magnetic field can be generated.
  • a planar drive system is provided with at least one control unit, a stator module with a stator surface and a rotor which can be positioned on the stator surface, the stator module being set up to generate stator magnetic fields for electrically controlling the rotor along the stator surface, the Runner has a magnet arrangement for generating a runner magnetic field, wherein a magnetic coupling between the runner and the stator module can be achieved via the stator magnetic fields and the runner magnetic field, where the stator module for determining a position of the runner comprises a sensor module with a plurality of magnetic field sensors, wherein the stator module or the rotor has a magnetic device for generating an orientation magnetic field, the orientation magnetic field being rotationally asymmetrical with respect to a rotation around an axis of rotation perpendicular to the stator surface and having a preferred magnetic field direction, and the respective other of the stator module and the rotor having a magnetic field sensor device with a preferred sensor direction for
  • planar drive system which has a precise and improved control and is set up to carry out the method according to the invention with the advantages mentioned.
  • FIG. 1 shows a schematic representation of a planar drive system with a stator module and a rotor according to an embodiment
  • FIG. 2 shows a schematic perspective view of a sensor module of the stator module according to an embodiment
  • FIG. 3 shows a schematic illustration of an underside of a runner according to an embodiment
  • FIG. 4 shows a flow diagram of a method for controlling a planar drive system according to an embodiment
  • FIG. 5 shows a further flow diagram of the method for controlling a planar drive system according to a further embodiment
  • FIG. 6 shows a schematic illustration of a rotor and a sensor module according to an embodiment
  • FIG. 7 shows a further flow diagram of the method for controlling a planar drive system according to a further embodiment
  • 8a shows a further schematic illustration of a rotor and a stator module according to a further embodiment
  • FIG. 8b shows a further schematic illustration of a rotor and a stator module according to a further embodiment
  • FIG. 8c shows a further schematic illustration of a rotor and a stator module according to a further embodiment
  • FIG. 9 shows a further schematic illustration of a rotor and a stator module according to a further embodiment
  • FIG. 10 shows a further schematic illustration of a rotor according to a further embodiment
  • FIG. 11 shows a further schematic illustration of an underside of a rotor according to a further embodiment.
  • FIG. 1 shows a schematic view of a planar drive system 200 with a stator module 300 and a rotor 400.
  • the planar drive system comprises a control unit 201, a stator module 300 and a rotor 400.
  • the control unit 201 is connected to the stator module 300 via a data connection 203.
  • the control unit 201 is directed to carrying out a method 100 according to the invention for controlling a planar drive system 200.
  • the stator module 300 has a flat stator surface 303.
  • the flat stator surface 303 is arranged on an upper side of a stator module housing 305.
  • a rotor 400 is arranged above the stator surface 303.
  • the stator surface 303 is part of a stator unit 307 for an electrical drive of the rotor 400.
  • the stator unit 307 with the stator surface 303 can be designed as a printed circuit board.
  • the stator surface 303 is square.
  • the stator unit 307 has four stator segments 308 which are connected to electronic modules (not shown) in the interior of the stator module housing 305 via a contact structure 310.
  • the rotor 400 can be driven above the stator surface 303 at least in a first direction 507 and in a second direction 509.
  • the stator surface 303 has a plurality of stator conductors 309 which, in the embodiment in FIG. 1, are designed as stator conductors 309, and which are essentially aligned along the first direction 507.
  • the stator conductors 309 are designed to conduct current and can be energized in such a way that the rotor 400 is driven.
  • a stator conductor space 311 is provided, through which the stator conductors 309 are electrically isolated from one another.
  • a further arrangement of stator conductors can be provided, in which the stator conductors are oriented essentially along the second direction 509.
  • the electronic modules for the drive and for the control of the rotor 400 are arranged in the stator module housing 305.
  • the electronic modules can include, for example, power modules for generating the drive currents and control modules for controlling the power modules and the drive currents.
  • connections are arranged for connecting the stator module 300 to a plurality of connection lines.
  • the connection lines can include, for example, a control line for transmitting control signals for the control modules and an energy supply line for supplying the power and / or control modules with electrical energy.
  • electrical energy for generating the drive currents can be fed to the power module via the energy supply line.
  • the stator module housing 305, the stator unit 307 and the stator surface 303 are rectangular, in particular square, formed out in the plan view of the stator surface 303.
  • the stator module housing 305 has a cutting plane 313. At the level of the cutting plane 313, a sensor module can be arranged inside the stator module housing 305.
  • the rotor 400 is provided with a preferred rotor device 441. This can be selected as desired and is used exclusively to determine an orientation of the rotor 400 relative to the stator module 300.
  • the stator module 300 is provided with a preferred stator module direction 315 that can also be selected. In Fig. 1, both preferred directions are arranged in parallel. However, this is not necessary and can be changed as required.
  • a rotation axis 317 is shown, which is oriented perpendicular to the stator surface 303 and runs through a geometric center 445 of the rotor 400.
  • the sensor module 500 is arranged in a rectangular manner and has a two-dimensional arrangement of magnetic field sensors 501 on a carrier 301 of the stator module 300.
  • the magnetic field sensors 501 are arranged on the carrier 301.
  • the two-dimensional arrangement of the magnetic field sensors 501 has a first periodic grid 503 of magnetic field sensors 501 and a second periodic grid 505 of magnetic field sensors 501.
  • the magnetic field sensors 501 of the first grid 503 are indicated by round symbols, while the Magnetfeldsenso ren 501 of the second grid 505 are indicated by square symbols.
  • the first magnetic field sensors 511 are connected with solid lines to illustrate the lattice structure of the first lattice 503.
  • the second magnetic field sensors 513 are connected with dashed lines to illustrate the lattice structure of the second lattice 505.
  • the first magnetic field sensors 511 and the second magnetic field sensors 513 can be identical, the round or square symbols are only intended to symbolize the positions of the magnetic field sensors 501 associated with the respective partial arrangements.
  • the first grid 503 and the second grid 505 are constructed identically and displaced with respect to one another. As a result, the second magnetic field sensors 513 of the second grid 505 and the first magnetic field sensors 511 of the first grid 503 are each shifted relative to one another.
  • the arrangement of the magnetic field sensors 501 shown in FIG. 2 is used exclusively for illustration and can deviate from the arrangement shown in FIG. 2.
  • the magnetic field sensors 501 are each set up to determine magnetic fields for a spatial area (not shown). Measurements of a magnetic field sensor 501 are thus limited to the respective spatial area of the respective magnetic field sensor 501.
  • the spatial areas of the magnetic field sensors 501 can have spatial dimensions of any geometric shape and can be designed, for example, circular.
  • the spatial areas can be configured point-like, so that point measurements of the respective magnetic fields can be carried out by the magnetic field sensors 501, in which individual magnetic field sensors 501 only measure field contributions of the respective magnetic fields that are arranged directly at the positions of the respective magnetic field sensors 501.
  • the carrier 301 is flat, so that the magnetic field sensors 501 are arranged in one plane, that is to say in a two-dimensional arrangement.
  • the magnetic field sensors 501 can be designed as Hall sensors.
  • the magnetic field sensors 501 can be designed as 2D or 3D Hall sensors, where in the case of 3D Hall sensors the magnetic field components measure in three linearly independent spatial directions. These spatial directions can in particular include the first direction 507 and the second direction 509 as well as a third direction perpendicular to the first direction 507 and to the second direction 509.
  • the carrier 301 can be designed as a printed circuit board and / or a circuit board. As a result, the carrier 301 can be provided in a simple manner.
  • the arrangement of magnetic field sensors 501 can include exactly two sub-arrangements of the two grids 503, 505.
  • FIG. 3 shows the rotor 400 of the planar drive system 200 in a view from below of an underside of the rotor 400.
  • the rotor 400 has a magnet arrangement 401 on the underside.
  • the Magnetan order 401 is rectangular, in particular square, and comprises a plurality of magnets.
  • the underside of the rotor 400 is designed to be flat or planar, in particular in the area of the magnets of the magnet arrangement 401.
  • the underside of the rotor 400 with the magnet arrangement 401 is oriented essentially parallel to the stator surface 303 and is arranged facing the stator surface 303.
  • the magnet arrangement 401 comprises a first magnet unit 411, a second magnet unit 413, a third magnet unit 415 and a fourth magnet unit 417 first rotor direction 407 perpendicularly oriented second rotor direction 409 extended elongated drive magnets.
  • the second magnet unit 413 and the fourth magnet unit 417 each have elongated drive magnets arranged next to one another in the second rotor direction 409 and extending along the first rotor direction 407.
  • the first and third magnet units 411, 415 are used to drive the rotor 400 in the first rotor direction 407 during operation, and the second and fourth magnet units 413, 417 are used to drive the rotor 400 in the second rotor direction 409 during operation Magnet units 413, 417 a drive in a direction perpendicular to the stator surface 303.
  • the rotor 400 In the middle of the magnet arrangement 401, the rotor 400 has a free surface 403 which is not covered by magnets of the magnet arrangement 401. In the area of the open area 403, the rotor 400 has a fastening structure 405.
  • FIG. 4 shows a flow diagram of the method 100 for controlling a planar drive system 200 according to an embodiment.
  • the method 100 shown in FIGS. 4, 5 and 7 is carried out taking into account the description of FIGS. 1 to 3, 6 and 7 to 11.
  • the method 100 for controlling a planar drive system 200 can be applied to a planar drive system 200, which comprises a control unit 201, a stator module 300 with a stator surface 303 and a rotor 400 that can be positioned on the stator surface 303.
  • the stator module 300 is set up to generate stator magnetic fields for the electrical control of the rotor 400 along the stator surface 303, the rotor 400 having a magnet arrangement 401 for generating a rotor magnetic field.
  • a magnetic coupling between the rotor 400 and the stator module 300 can be achieved via the stator magnetic fields and the rotor magnetic field.
  • the stator module 300 comprises a sensor module 500 with a plurality of magnetic field sensors 501.
  • stator module 300 or the rotor 400 comprises a magnetic device 419 for generating an orientation magnetic field
  • the orientation magnetic field is rotationally asymmetrical with respect to a rotation about an axis of rotation 317 which is perpendicular to the stator surface 303 and has a preferred magnetic field direction 319.
  • the respective other component of the stator module 300 and the rotor 400 has a magnetic field sensor device 424 with a preferred sensor direction 443 for detecting the orientation magnetic field along the preferred sensor direction 443.
  • a preferred stator module direction 315 of the stator module 300 is identified with the preferred magnetic field direction 319 or the preferred sensor direction 443, and a preferred rotor direction 441 of the rotor 400 is identified with the other of the preferred magnetic field direction 319 or the preferred sensor direction 443.
  • the preferred direction of the stator module 315 is any direction parallel to the stator surface 303, which is used to orient the rotor 400 relative to the stator module 300.
  • the preferred rotor device 441 is a freely selectable direction that runs parallel to a running surface 402, which is arranged on the underside of the rotor 400, and for an orientation of the rotor 400 relative to the stator module 300 by determining an orientation of the preferred rotor device 441 relative to the preferred stator module direction 315 serves.
  • the preferred magnetic field direction 319 is given by an axis of symmetry of the orientation magnetic field and, depending on whether the magnetic device 419 is arranged on the rotor 400 or on the stator module 300, is oriented parallel to the running surface 402 of the rotor 400 or parallel to the stator surface 303 of the stator module 300.
  • the magnetic field sensor device 424 can be formed by one or a plurality of 2D / 3D Hall sensors.
  • the preferred sensor direction 443 of the magnetic field sensor device 424 is thus defined by the alignment of the measuring channels of the 2D / 3D Hall sensors, in particular by the X, Y or Z measuring channels.
  • the orientation magnetic field is set in a magnetic field setting step 103 by the magnetic device 419.
  • At least one measured value of the orientation magnetic field is determined by the magnetic field sensor device 424 in a magnetic field determination step 105.
  • the at least one measured value of the orientation magnetic field here comprises at least one Value of a component of the orientation magnetic field in a direction parallel to the sensor preferred direction 443. If the magnetic field sensor device 424 is formed by at least one 2D / 3D Hall sensor, the measured value recorded by the 2D / 3D Hall sensor includes at least one component of the X, Y or Z measuring channel of the 2D / 3D Hall sensor.
  • an alignment of the preferred direction of the rotor 441 relative to the preferred direction of the stator module 315 is determined on the basis of the measured value of the component of the orientation magnetic field parallel to the preferred direction of the sensor 443.
  • the alignment of the preferred direction of the rotor 441 relative to the preferred direction of the stator module 315 can be indicated, for example, by an angle between the two preferred directions.
  • the preferred rotor direction 441 or the preferred stator module direction 315 corresponds to the preferred sensor direction 443 or the preferred magnetic field direction 319, depending on whether the magnetic device 419 is formed on the rotor 400 or on the stator module 300 and the magnetic field sensor device 424 is correspondingly formed on the other component, a determination From the direction of the preferred magnetic field direction 319 relative to the preferred sensor direction 443, an alignment between the preferred rotor direction 441 and the preferred stator module direction 315 can be determined.
  • the preferred sensor direction 443 of the magnetic field sensor device 424 is oriented parallel or antiparallel to the preferred magnetic field direction 319, a parallel or antiparallel orientation of the preferred rotor direction 441 relative to the preferred stator module direction 315 can be deduced from this the.
  • the determination of the orientation of the preferred rotor direction 441 relative to the preferred stator module direction 315 described here is based on the idea that measured values of a component of the magnetic orientation field for different orientations of the preferred sensor direction 443 relative to the preferred magnetic field direction 319 result in different values of the component of the magnetic orientation field.
  • a parallel alignment of the preferred sensor direction 443 which is given for example by an X channel of a 3D Hall sensor
  • a maximum value of the x component of the is given to the preferred magnetic field direction 319, which is given for example by the x component of the orientation magnetic field Orientation magnetic field measured.
  • a measured value of the orientation magnetic field recorded by the X channel of the 3D Hall sensor has a value that deviates substantially from the maximum value of the x component of the orientation magnetic field.
  • orientations of the preferred sensor direction 443 relative to the preferred magnetic field direction 319 and the associated orientations of the rotor 400 can be made relative can be determined for the stator module 300.
  • a first orientation of the rotor 400 relative to the stator module 300 is determined on the basis of the orientation of the preferred rotor direction 441 relative to the preferred stator module direction 315.
  • An orientation of the rotor 400 relative to the stator module 300 includes, in the sense of the notification, a rotation of the rotor 400 about an axis of rotation 317 oriented perpendicular to the stator surface 303 and running through a geometric center of the rotor 400.
  • An orientation of the rotor 400 relative to the stator module 300 includes on the other hand, no translational movement of the geometric center of the rotor 400 relative to the stator module 300.
  • FIG. 5 shows a further flow diagram of the method 100 for controlling a planar drive system 200 according to a further embodiment.
  • the embodiment in FIG. 5 is based on the embodiment in FIG. 4 and comprises all method steps from FIG. 4, which are not described again in the following in order to avoid unnecessary repetition.
  • a position of the rotor 400 relative to the stator module 300 is determined in a position determination step 111.
  • a position of the rotor 400 relative to the stator module 300 does not include any orientation of the rotor 400 relative to the stator module 300.
  • Two different positions of the rotor 400 relative to the stator module 300 can be achieved by any number of translational movements of the rotor 400 relative to the stator module 300 convict.
  • the position of the rotor 400 relative to the stator module 300 is determined by recording a plurality of measured values of the rotor magnetic field of the rotor 400 by the magnetic field sensors 501 of the sensor module 500.
  • a locking magnetic field is then set in a locking step 113, by means of which the rotor 400 is locked in the position relative to the stator module 300 previously determined in the position determination step 111.
  • the locking magnetic field is provided by the stator conductor 309 of the stator units 307 of the stator module 300.
  • the locking magnetic field is set by the stator module 300 in such a way that an attractive magnetic coupling between the rotor magnetic field of the rotor 400 and the locking magnetic field of the stator module 300 is generated in a z-direction perpendicular to the stator surface 303 of the stator module 300, which the rotor 400 to the stator surface 303 of the stator module 300 attracts and holds it in the locked position.
  • an orientation of the rotor 400 relative to the stator module 300 in the locked position is determined.
  • the first orientation of the rotor 400 relative to the stator module 300 determined in the orientation determination step 109 is changed to a second orientation of the rotor 400 relative to the stator module 300.
  • the locking of the rotor 400 in the specific position relative to the stator module 300 can also be released by setting the locking magnetic field in the locking step 113, so that the rotor 400 can move relative to the stator module 300.
  • FIG. 6 shows a schematic illustration of a rotor 400 and a stator module 300 according to an embodiment.
  • FIG. 6 shows a stator module 300 and a rotor 400 from FIG. 1. The details of the two components described there are not described again in detail below.
  • the magnetic field sensor device 424 is embodied on the rotor 400 in the form of a 2D / 3D Hall sensor 427, which is arranged on a rotor circuit board 425.
  • the magnet device 419 which in the embodiment in FIG. 6 is in the form of the stator conductors 309 of the stator segments 308 of the stator unit 307 of the stator module 300, is accordingly formed on the stator module 300.
  • the opening shown in FIG. 6 on the rotor 400 serves only to illustrate the magnetic field sensor device 424, which is formed on the underside of the rotor 400.
  • the 2D / 3D Hall sensor 427 is designed as a 3D Hall sensor and has a first measuring channel 435, a second measuring channel 437 and a third measuring channel 439.
  • the three measuring channels are each arranged at right angles to one another and enable the orientation magnetic field to be measured in a direction parallel or in a tip-parallel direction to the respective measuring channel.
  • Various components of the orientation magnetic field can be determined by the plurality of measuring channels of the 2D / 3D Hall sensors.
  • the stator magnetic field or orientation magnetic field generated by the stator conductor 309 of the stator module 300 has, depending on the orientation, an x component Bx, a y component By oriented perpendicular thereto and a z component Bz oriented perpendicular thereto.
  • the 3D Hall sensor of the magnetic field sensor device 424 is oriented such that the first measuring channel 435 is oriented parallel to the x component Bx of the stator magnetic field or the orientation magnetic field, while the second measuring channel 437 is oriented parallel to the y component By and the third measuring channel 439 are oriented parallel to the z component Bz.
  • the first measuring channel 435 is also identified as the preferred sensor direction 443.
  • the identification of the first measuring channel 435 with the preferred sensor direction 443 is purely by way of example and an identification of the preferred sensor direction 443 with the second measuring channel 437 is also possible.
  • the preferred direction of the rotor 441 is also identified with the preferred direction of the sensor 443, while the preferred direction of the stator module 315 is identified with the x component Bx of the orientation magnetic field is identified.
  • the preferred directions of the stator module 300 and the rotor 400 can be selected as desired and are only used to determine the orientation of the rotor 400, which is designed to be rotationally symmetrical, relative to the stator module 300.
  • the magnetic field sensor device 424 can have a plurality of 2D / 3D Hall sensors 427.
  • FIG. 7 shows a further flow diagram of the method 100 for controlling a planar drive system 200 according to a further embodiment.
  • the embodiment of the method 100 shown in FIG. 7 relates to the embodiment shown in FIG. 6, in which the magnetic field sensor device 424 is formed on the rotor 400, while the magnetic device 419 is formed by the stator conductor 309 of the stator unit 307 of the stator module 300.
  • the embodiment in FIG. 7 is based on the embodiment in FIG. 5 and includes all the method steps described there that are not described again in detail below.
  • the method 100 further comprises a determination step 117 in which a plurality of values of the orientation magnetic field for a plurality of different orientations of the preferred rotor device 441 relative to the preferred stator module 315 are determined.
  • determination step 117 values of the orientation magnetic field to be expected for the respective orientation can thus be recorded for different orientations of the rotor 400 relative to the stator module 300, which, as described above, result in different orientations of the preferred rotor device 441 relative to the preferred stator module direction 315.
  • measured values of the orientation magnetic field parallel to the preferred sensor direction 443 of the at least one 2D / 3D Hall sensor 427 of the magnetic field sensor device 424 can be measured in a measuring step 123 for different orientations of the rotor 400 relative to the stator module 300 and, associated therewith, for different orientations of the preferred rotor direction 441 relative to the preferred stator module direction 315 be included.
  • the rotor 400 can be positioned in different orientations on the stator module 300 and corresponding orientation fields are set in order to record corresponding measured values of the orientation magnetic field for the individual orientations of the rotor 400 relative to the stator module 300.
  • the measuring step 123 can preferably be carried out before the control of the rotor 400 is carried out on the stator module 300 as a calibration or setting of the control.
  • a corresponding data record of measured values of the orientation magnetic field for any orientations of the rotor 400 relative to the stator module 300 can be recorded.
  • a data record for a reference runner can be recorded, which is used as a reference data record for controlling all runners 400 of the planar drive system 200.
  • the expected values of the orientation magnetic field can be simulated in a simulation step 125 in a corresponding simulation for different orientations of the rotor 400 relative to the stator module 300. This can be carried out on the basis of a model description of the spatial configuration of the orientation magnetic field by calculating corresponding values of the orientation magnetic field, in particular components of the orientation magnetic field, parallel or antiparallel to the preferred sensor direction 443 for any orientation of the rotor 400 relative to the stator module 300.
  • the embodiment in Fig. 7 includes that to determine the alignment of the preferred rotor device 441 relative to the preferred stator module direction 315 in the alignment determination step 107, a relation between expected measured values of the magnetic orientation field and a corresponding alignment of the preferred rotor device 441 relative to the preferred stator module direction 315 and associated with a Orientation of the rotor 400 relative to the stator module 300 in a relation determination step 119 on the basis of the values of the orientation magnetic field determined in the determination step 117.
  • This relationship between the values of the orientation magnetic field and various orientations of the rotor 400 relative to the stator module 300 can be stored, for example, in a corresponding look-up table in which different orientations of the rotor 400 relative to the stator module 300 are assigned corresponding values of the orientation magnetic field .
  • the relation can be stored in a mathematical relation or a mathematical function.
  • the at least one measured value of the magnetic field orientation recorded in magnetic field determination step 105 is compared with the values of the relation determined in relation determination step 119.
  • This comparison process carried out in comparison step 121 can be carried out on the basis of an approximation method in which the most suitable value of the orientation magnetic field of the relation is identified for the measured value of the orientation magnetic field.
  • the approximation method can be based, for example, on a least square method in which a difference between a measured value of the component of the orientation magnetic field parallel to the preferred sensor direction 443 and a value of the orientation magnetic field for a specific orientation of the preferred rotor device 441 relative to the preferred stator module direction 315 is minimized according to the relation , and thus the corresponding value of the orientation magnetic field of the relation, i.e. the value that deviates the least from the measured value of the orientation magnetic field.
  • an orientation of the rotor 400 relative to the stator module 300 that corresponds to the measured value of the orientation magnetic field can be determined.
  • the relation includes a look-up table in which the values of the orientation magnetic field are assigned orientations of the rotor 400
  • the measured values of the orientation magnetic field can be used to determine the corresponding values of the orientation magnetic field of the look-up table using the least-square method
  • the corresponding orientations of the rotor 400 relative to the stator module 300 can then be determined based on the assignment of the look-up table.
  • the comparison step 121 thus first selects the most suitable value of the orientation magnetic field of the relation for the recorded measured value of the orientation magnetic field and, associated with this, assigns the corresponding alignment of the preferred rotor device 441 relative to the preferred stator module direction 315 of the relation to the measured value of the magnetic orientation field.
  • a corresponding orientation of the rotor 400 to the stator module 300 or, associated therewith, a corresponding alignment of the preferred rotor device 441 relative to the preferred stator module device 315 can be determined.
  • the magnetic field sensor device 424 can have a plurality of 2D / 3D Hall sensors 427.
  • a plurality of measured values of the orientation magnetic field can be recorded.
  • the measurement values of the orientation magnetic field mentioned here can in particular include several components of the orientation magnetic field in that the magnetic field sensors are designed as 2D / 3D Hall sensors and thus have at least two different measurement channels via which at least two components of the orientation magnetic field can be measured.
  • the measured values of the orientation magnetic field recorded by the magnetic field sensor device 424 can be transmitted via a transmission device to the control unit 201 of the planar drive system 200 and evaluated by the control unit 201 according to the orientation determination step 107 and the orientation determination step 109.
  • the orientation determination steps 107 and the orientation determination steps 109 can be carried out by a processor unit which is embodied on the rotor 400.
  • the magnetic field sensor device 424 can be supplied with energy by means of a wireless energy supply, in which an inductive energy supply of the magnetic field sensor device 424 is achieved via a corresponding modulation of the stator magnetic field or orientation magnetic field generated by the stator module 300.
  • Figures 8a to 8c show three different configurations of the magnetic field sensor device 424, each with a 2D / 3D Hall sensor, two 2D / 3D Hall sensors or three 2D / 3D Hall sensors.
  • Fig. 8a shows a further schematic representation of a rotor 400 and a stator module 300 according to a further embodiment.
  • FIG. 8a A stator module 300 and a rotor 400 placed thereon are shown in FIG. 8a.
  • the rotor 400 comprises the magnetic field sensor device 424 which, in the embodiment in FIG. 8a, has the rotor circuit board 425 and a 2D / 3D Hall sensor 427 placed thereon.
  • the rotor 400 is reduced to the rotor circuit board 425 and the Hall sensors placed thereon, since only the effect of the placement of the individual Hall sensors on the effects of the orientation magnetic field of the stator module 300 is to be shown.
  • the one 2D / 3D Hall sensor 427 is arranged in the geometric center 445 of the rotor 400.
  • stator module 300 Only one stator module 300 is shown in FIGS. 8a to 8c.
  • a plurality of stator modules 300 are usually arranged together to form a large-area drive surface of the planar drive system 200.
  • the rotor 400 on the multiple stator modules 300 in the embodiment of FIG Contact structures 310 or the edges of the individual stator modules 300 of the individual 2D / 3D Hall sensor 427 in the areas marked with the dashed ellipses, in which no clear determination of the orientation magnetic field is possible due to the prevailing edge effects, so that, if necessary, no clear determinations of the Orientation magnetic field and, related thereto, no clear determinations of the orientation of the rotor 400 relative to the stator module 300 can be provided.
  • FIG. 8b shows a further schematic illustration of a rotor 400 and a stator module according to a further embodiment.
  • the magnetic field sensor device 424 comprises, unlike the embodiment in FIG .
  • a connecting line between the 2D / 3D Hall sensors runs through the geometric center 445 of the rotor 400.
  • Such an arrangement of the two first and second 2D / 3D Hall sensors leads to the edge effects on the two lateral edges of the stator module 300 shown for a determination of the orientation magnetic field by the first 2D / 3D Hall sensor 429 and the second 2D / 3D Hall sensor 431 or by the magnetic field sensor device 424 do not lead to any negative effects.
  • This effect is shown in Fig. 8b by omitting the vertically arranged dashed line ellipses, which demonstrates that the edge effects of the vertically oriented edges or contact structures 310 can be compensated for by the arrangements of the 2D / 3D Hall sensors shown in Fig. 8b.
  • Fig. 8c shows a further schematic representation of a rotor 400 and a stator module 300 according to a further embodiment.
  • the magnetic field sensor device 424 has a first 2D / 3D Hall sensor 429, a second 2D / 3D Hall sensor 431 and a third 2D / 3D Hall sensor 433, which are arranged in a triangular arrangement.
  • the arrangement of the three 2D / 3D Hall sensors shown in FIG. 8c ensures that for any positioning of the rotor 400 relative to the stator module 300, at least one of the three 2D / 3D Hall sensors of the magnetic field sensor device 424 is deleted outside of that shown in FIG. 8a Areas shown in a line, in which, due to the edge effects, a clear determination of the orientation magnetic field for magnetic field sensors 501 arranged in these areas is not possible, is arranged.
  • the arrangement of the three 2D / 3D Hall sensors shown in FIG. 8c thus enables the orientation magnetic field to be clearly determined by the magnetic field sensor device 424 for any positioning of the rotor 400 on the stator module 300. Deviating from the arrangement shown in FIG of the three 2D / 3D Hall sensors also lead to the effect described.
  • the magnetic field sensor device 424 can be equipped with any number of 2D / 3D Hall sensors.
  • Fig. 9 shows a further schematic representation of a rotor 400 and a stator module 300 according to a further embodiment.
  • 9 shows a stator module 300 with a rotor 400.
  • the rotor 400 is attached to the four magnet units 411, 413, 415, 417 and the magnetic field sensor device 424, comprising a first 2D / 3D Hall sensor 429, a second 2D / 3D Hall sensor 431 and a third 2D / 3D Hall sensor 433, reduced.
  • the first measuring channel 435 of the first 2D / 3D Hall sensor 429 is arranged antiparallel to the x component Bx of the magnetic field of the stator module 300.
  • the second measuring channel 437 of the first 2D / 3D Hall sensor 429 is also arranged antiparallel to the y component By of the magnetic field of the stator module 300.
  • corresponding components of the orientation magnetic field are determined.
  • the measuring channels 435 or the second measuring channels 437 of the first to third 2D / 3D Hall sensors 429, 431, 433 recorded values, so that an orientation of the rotor 400 relative to the stator module 300 can be determined on the basis of the changes in the individual measured values of the orientation magnetic field of the first to third 2D / 3D Hall sensors 429, 431, 433.
  • the measured values recorded for different orientations by the 2D / 3D Hall sensors 429, 431, 433 can be combined with corresponding measured values that were recorded as reference values for different orientations of the rotor 400 relative to the stator module 300 and stored in a look-up table. be compared.
  • corresponding orientations of the rotor 400 relative to the stator module 300 can be determined by determining the values of the look-up table that have the smallest deviation from the recorded measured values of thelymag netfelds have, and the corresponding orientations are determined, which are assigned to the selected values of the orientation magnetic field in the look-up table.
  • the three 2D / 3D Hall sensors are also arranged in such a way that measuring channels of the individual Hall sensors are aligned parallel or antiparallel to one another.
  • the first measuring channel 435 of the first 2D / 3D Hall sensor 429 arranged antiparallel to the first measuring channel 435 of the second 2D / 3D Hall sensor 431 and to the second measuring channel 437 of the third 2D / 3D Hall sensor 433.
  • the second measuring channel 437 of the first 2D / 3D Hall sensor 429 is arranged parallel to the first measuring channel 435 of the third 2D / 3D Hall sensor 433 and antiparallel to the second measuring channel 437 of the second 2D / 3D Hall sensor 431.
  • the 2D / 3D Hall sensors can also be arranged on the rotor 400 differently from the arrangement shown in FIG. 9, so that the measuring channels of the individual Hall sensors are aligned parallel or antiparallel to one another as desired.
  • Fig. 10 shows a further schematic representation of a rotor 400 according to a further embodiment.
  • the magnetic field sensor device 424 comprises four 2D / 3D Hall sensors 427, a first 2D / 3D Hall sensor 429, a second 2D / 3D Hall sensor 431, a third 2D / 3D Hall sensor 433 and a fourth 2D / 3D Hall sensor.
  • 3D Hall sensor 434 which are not in the center of the magnet arrangement 401, as in the embodiment in FIG. 9, but rather in an installation space of the rotor 400 that laterally surrounds the magnet arrangement 401.
  • the four 2D / 3D Hall sensors 427 are each arranged individually on a rotor circuit board 425.
  • the four 2D / 3D Hall sensors 427 are each arranged on one side of the rotor 400.
  • another arrangement would also be possible.
  • the four 2D / 3D Hall sensors 427 are connected to one another via wiring 449.
  • the alignment of the individual measuring channels of 435, 437, 439 of 2D / 3D Hall sensors 427 is not shown in FIG. 10.
  • the 2D / 3D Hall sensors 427 can be arranged such that the measuring channels 435, 437, 439 of different 2D / 3D Hall sensors 427 are each aligned parallel or antiparallel to one another.
  • a different alignment of the measuring channels 435, 437, 439 is also possible.
  • the 2D / 3D Hall sensors 427 can be arranged, for example, in a bumper (not shown) of the runner 400, which laterally surrounds the runner 400 and absorbs impacts with other runners 400 or obstacles.
  • a bumper not shown
  • the magnetic field sensor device 424 can comprise a different number of 2D / 3D Hall sensors 427, which are arranged in one or more bumpers at the edge region of the rotor 400.
  • the 2D / 3D Hall sensors 427 can be arranged on one or any number of rotor circuit boards 425.
  • the rotor 400 further comprises a coil unit 447, which can be used for energy transmission and / or for communication between the rotor 400 and the stator module 300.
  • the coil unit 447 can be placed in an installation space of the rotor 400 laterally surrounding the magnet arrangement 401, for example in the bumpers.
  • the coil unit 447 can be designed as a printed coil on the rotor circuit board 425 of the magnetic field sensor device 424 itself.
  • the 2D / 3D Hall sensors 427 can be connected to the coil unit 447 via the cabling 449.
  • the magnet arrangement 401 can also be designed in such a way that no free area is formed in the center of the magnet arrangement 401.
  • the advantages here are that without an open space in the middle of the rotor 400, the dimensions of the rotor 400 can be made smaller and thus more rotor 400 can be used on a certain stator surface 303.
  • FIG. 11 shows a further schematic representation of an underside of a rotor 400 according to a further embodiment.
  • FIG. 11 shows the rotor 400 from FIG. 3, wherein in the embodiment in FIG. 11 the magnet device 419 is designed in the form of a first permanent magnet 421 and a second permanent magnet 423 on the rotor 400.
  • the preferred magnetic field direction 319 is furthermore defined by the alignment of the second permanent magnet 423.
  • the magnetic field sensor device 424 is formed by the magnetic field sensors 501 of the sensor module 500 of the stator module 300 (not shown).
  • the magnetic device 419 can be implemented by any number of different permanent magnets. A prerequisite for this is that an arrangement of any number of permanent magnets of the magnetic device 419 is rotationally asymmetrical with respect to a rotation axis 317 perpendicular to the running surface 402 of the rotor 400.
  • the magnetic field sensors 501 of the sensor module 500 which form the magnetic field sensor device 424, can orient the rotor 400 relative to the stator module on the basis of the rotationally asymmetrical orientation magnetic field generated by the rotationally asymmetrical arrangement of the permanent magnets 300 can be clearly identified.
  • control unit 203 data link
  • first periodic grating 505 second periodic grating 507 first direction 509 second direction 511 first magnetic field sensor 513 second magnetic field sensor Bx x component of the magnetic field

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Linear Motors (AREA)
  • Brushless Motors (AREA)

Abstract

L'invention concerne un procédé (100) permettant de commander un système d'entraînement planaire (200), ledit procédé comprenant les étapes consistant à : identifier une direction préférentielle de module statorique (315) du module statorique (300) et la direction préférentielle de champ magnétique (319) ou la direction préférentielle de capteur (443) et identifier une direction préférentielle d'induit (441) de l'induit (400) et respectivement l'autre direction préférentielle de champ magnétique (319) ou la direction préférentielle de capteur (443) lors d'une étape d'identification de direction préférentielle (101) ; régler le champ magnétique d'orientation par le dispositif magnétique (419) lors d'une étape de réglage de champ magnétique (103) ; relever au moins une valeur de mesure du champ magnétique d'orientation par le dispositif capteur de champ magnétique lors d'une étape de détermination de champ magnétique (105) ; déterminer une orientation de la direction préférentielle d'induit (441) par rapport à la direction préférentielle de module statorique (315) sur la base de la valeur mesurée des composantes du champ magnétique d'orientation parallèlement à la direction préférentielle de capteur (443) lors d'une étape de détermination d'orientation (107) ; déterminer une première orientation de l'induit (400) sur le module statorique (300) sur la base de l'orientation de la direction préférentielle d'induit (441) par rapport à la direction préférentielle de module statorique (315) lors d'une étape de détermination d'orientation (109). L'invention concerne en outre un système d'entraînement planaire (200).
EP21717476.2A 2020-04-17 2021-04-15 Procédé de commande d'un système d'entraînement planaire et système d'entraînement planaire Pending EP4118736A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP20170127.3A EP3896827A1 (fr) 2020-04-17 2020-04-17 Procédé de commande d'un système d'entraînement planaire et système d'entraînement planaire
PCT/EP2021/059800 WO2021209558A1 (fr) 2020-04-17 2021-04-15 Procédé de commande d'un système d'entraînement planaire et système d'entraînement planaire

Publications (1)

Publication Number Publication Date
EP4118736A1 true EP4118736A1 (fr) 2023-01-18

Family

ID=70295045

Family Applications (2)

Application Number Title Priority Date Filing Date
EP20170127.3A Withdrawn EP3896827A1 (fr) 2020-04-17 2020-04-17 Procédé de commande d'un système d'entraînement planaire et système d'entraînement planaire
EP21717476.2A Pending EP4118736A1 (fr) 2020-04-17 2021-04-15 Procédé de commande d'un système d'entraînement planaire et système d'entraînement planaire

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP20170127.3A Withdrawn EP3896827A1 (fr) 2020-04-17 2020-04-17 Procédé de commande d'un système d'entraînement planaire et système d'entraînement planaire

Country Status (5)

Country Link
US (1) US12323023B2 (fr)
EP (2) EP3896827A1 (fr)
CN (1) CN115428316A (fr)
CA (1) CA3180192A1 (fr)
WO (1) WO2021209558A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024027985A (ja) 2022-08-19 2024-03-01 Ｐａｃｒａｆｔ株式会社 処理システム
DE102022129508A1 (de) * 2022-11-08 2024-05-08 Beckhoff Automation Gmbh Verfahren zum Betreiben eines Planarantriebssystems und Planarantriebssystem

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998054547A1 (fr) * 1997-05-29 1998-12-03 Laboratorium Für Physikalische Elektronik Capteur de rotation magnetique
DE10054376A1 (de) * 1999-10-27 2001-06-07 Inst Mikroelektronik Und Mecha Elektrodynamischer planarer x-y-phi-Direktantrieb sowie dessen Regelung
JP4936299B2 (ja) * 2000-08-21 2012-05-23 メレクシス・テクノロジーズ・ナムローゼフェンノートシャップ 磁場方向検出センサ
DE102012218039A1 (de) * 2012-10-02 2014-04-03 Schaeffler Technologies Gmbh & Co. Kg Planarantrieb sowie Verfahren zu dessen Kalibrierung
US10261419B2 (en) * 2014-05-22 2019-04-16 Nikon Corporation Magnet array for moving magnet planar motor
CA2988803C (fr) * 2015-07-06 2024-01-30 The University Of British Columbia Procedes et systemes de mouvement commandable d'un ou plusieurs etages mobiles dans un dispositif a deplacement
DE102017131320A1 (de) 2017-12-27 2019-06-27 Beckhoff Automation Gmbh Planarantriebssystem, Statormodul und Sensormodul

Also Published As

Publication number Publication date
US20230055324A1 (en) 2023-02-23
EP3896827A1 (fr) 2021-10-20
CA3180192A1 (fr) 2021-10-21
WO2021209558A1 (fr) 2021-10-21
US12323023B2 (en) 2025-06-03
CN115428316A (zh) 2022-12-02

Similar Documents

Publication Publication Date Title
EP3867713B1 (fr) Dispositif et procédé permettent d'éviter une collision lors de l'entraînement d'au moins deux éléments de déplacement sur une surface d'entraînement
DE3781658T2 (de) Unorientierter getriebezahnsensor unter verwendung einer hall-zelle.
DE3785955T2 (de) Verfahren und geraet zur ueberwachung elektromagnetischer strahlung elektrischer schaltungen.
EP3871325B1 (fr) Procédé d'entraînement d'un rotor d'un système d'entraînement planaire
EP3285046B1 (fr) Dispositif de mouvement permettant la détection magnétique de position et dispositif de transmission de données
EP3495781B1 (fr) Dispositif inductif de mesure de position
EP4104287B1 (fr) Procédé de commande d'un système d'entraînement planaire et système d'entraînement planaire
DE112011103381T5 (de) Berührungsloser Bewegungs- und Geschwindigkeitssensor
DE102011004348A1 (de) Verfahren und Positionserfassungsvorrichtung zum Erfassen einer Position eines beweglichen Elements einer Antriebsvorrichtung
DE102012204917A1 (de) Positionserfassungsvorrichtung und Verfahren zum Erfassen einer Position eines beweglichen Elements einer Antriebsvorrichtung
WO2021209558A1 (fr) Procédé de commande d'un système d'entraînement planaire et système d'entraînement planaire
EP4233163B1 (fr) Procédé de commande d'un système d'entraînement plan
EP3961158A1 (fr) Unité de balayage et dispositif inductif de mesure de position pourvu d'une telle unité de balayage
DE102020125879A1 (de) Elektrisches system
EP4143953B1 (fr) Procédé de commande d'un système d'entraînement plan et système d'entraînement plan
DE10314838A1 (de) Verfahren und Vorrichtung zur Messung der Position, welche ein Magnet und ein Messort zueinander haben
DE102018218666A1 (de) Bewegungsvorrichtung mit Positionsbestimmungssystem
EP2325039A2 (fr) Système de détection pour installations d'alimentation doté d'un entraînement linéaire synchrone et installation d'alimentation
WO2025219283A1 (fr) Procédé de commande d'un système d'entraînement plan et système d'entraînement plan
EP4111577B1 (fr) Procédé de commande d'un système d'entraînement planaire et système d'entraînement planaire
WO2025104033A1 (fr) Module de stator et système d'entraînement plan
DE102024107100A1 (de) Lineares Transportsystem und Verfahren zum Steuern eines linearen Transportsystems
DE3244420A1 (de) Abstandssensor fuer ein magnetschwebefahrzeug
EP4392742A1 (fr) Dispositif de mesure pour collecteurs de courant et procédé de fonctionnement du dispositif de mesure et appareil d'étalonnage
DE102006012562A1 (de) System und Verfahren

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20221014

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)