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WO2011158732A1 - Dispositif de commande de moteur linéaire - Google Patents

Dispositif de commande de moteur linéaire Download PDF

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Publication number
WO2011158732A1
WO2011158732A1 PCT/JP2011/063275 JP2011063275W WO2011158732A1 WO 2011158732 A1 WO2011158732 A1 WO 2011158732A1 JP 2011063275 W JP2011063275 W JP 2011063275W WO 2011158732 A1 WO2011158732 A1 WO 2011158732A1
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WIPO (PCT)
Prior art keywords
speed
control
mover
command
linear motor
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.)
Ceased
Application number
PCT/JP2011/063275
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English (en)
Japanese (ja)
Inventor
祐樹 野村
修平 山中
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THK Co Ltd
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THK Co Ltd
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Filing date
Publication date
Application filed by THK Co Ltd filed Critical THK Co Ltd
Publication of WO2011158732A1 publication Critical patent/WO2011158732A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/20—Controlling the acceleration or deceleration

Definitions

  • the present invention relates to a control device for a linear motor.
  • the present invention claims priority based on Japanese Patent Application No. 2010-138419 filed in Japan on June 17, 2010, the contents of which are incorporated herein by reference.
  • the control of the linear motor is performed based on, for example, the distance between the current position of the mover and the target position to move the mover.
  • a magnetic sensor that detects a magnetic field generated by a driving magnet is used (Patent Document 1).
  • the output signal may include a periodic fluctuation component.
  • the periodic fluctuation component occurs because, for example, the level of a signal to be output differs between the case where the magnetic pole facing the magnetic sensor is the N pole and the case where the magnetic pole is the S pole.
  • the position information obtained includes a periodic fluctuation component under the influence of the periodic fluctuation component included in the signal. .
  • position detection is performed based on the signal output from the magnetic sensor and the linear motor is controlled using the signal indicating the detected position, the influence of the periodic fluctuation component included in the signal indicating the position As a result, the control of the linear motor is disturbed.
  • FIG. 9 is a schematic diagram showing an example of the moving speed of the mover when the linear motor is driven and the current value of the current applied to the linear motor.
  • the horizontal axis indicates time
  • the vertical axis indicates the speed at which the mover moves and the current value flowing through the linear motor.
  • the period from time T1 to time T2 is a period in which the mover is accelerated and driven. From time T2 to time T3 is a period in which the mover is driven at a constant speed. The period from time T3 to time T4 is a period in which the mover is driven at a reduced speed, and the mover is stopped at a desired position at time T4.
  • a waveform represented by a broken line indicates a current value when a periodic fluctuation component is not included in the output of the magnetic sensor, and a waveform represented by a solid line is The current value in the case where a periodic fluctuation component is included in the output of the magnetic sensor is shown.
  • the device for controlling the linear motor repeatedly controls acceleration and deceleration in an attempt to keep the detected speed constant. For this reason, as shown in FIG. 9, the electric current which flows into a linear motor will change periodically, and control will be disturbed, without being stabilized.
  • the linear motor when the linear motor is controlled based on the signal output from the magnetic sensor for detecting the position of the mover, if the output of the magnetic sensor includes a periodic fluctuation component, the periodic fluctuation Due to the influence of the components, the control of the linear motor is unstable and disturbed.
  • the present invention has been made to solve the above problems, and an object of the present invention is to control a linear motor that can stably control the linear motor even when the signal output from the magnetic sensor includes a periodic fluctuation component. Providing equipment.
  • One aspect of the present invention includes a driving magnet unit including a plurality of driving magnets in which N poles and S poles are alternately arranged at equal intervals, and an armature including a plurality of coils.
  • any one of the driving magnet portions is a mover, and the driving magnet is generated by a magnetic field generated by passing a current through a plurality of coils provided in the armature and a magnetic field generated by the driving magnet.
  • a control device for a linear motor that linearly moves the mover in the array direction; and a magnetic sensor provided in the armature according to the direction of the magnetic field generated by the drive magnet.
  • a magnetic sensor that outputs a detected signal; a speed detector that detects a moving speed of the mover based on a signal output from the magnetic sensor; an average speed of the mover detected by the speed detector; More unit time A first current command indicating a current value to be passed through the plurality of coils based on a difference from a speed command calculated from a position command indicating a distance to move the mover per unit time.
  • a linear motor control device comprising: a speed control unit that calculates; and a power conversion unit that applies a current to the plurality of coils based on a first current command calculated by the speed control unit.
  • the linear motor can be stably controlled even when the signal output from the magnetic sensor includes a periodic fluctuation component.
  • FIG. 1 is a schematic diagram showing a linear motor device 1 according to an embodiment of the present invention.
  • the linear motor device 1 includes a control device 10 and a linear motor 20.
  • the control device 10 is a device that performs control to drive the linear motor 20.
  • the linear motor 20 includes a long stator 21, a mover 25 that moves on the stator 21, and a pair of guide devices 22 and 22 for assembling the stator 21 and the mover 25.
  • the guide device 22 includes, for example, a track rail 23 and a slide block 26 that are attached via balls.
  • the track rail 23 of the guide device 22 is fixed to the base 54 of the stator 21, and the slide block 26 of the guide device 22 is fixed to the mover 25. Thereby, the mover 25 is freely guided along the track rail 23 on the stator 21.
  • the stator 21 includes a plurality of drive magnets 24 arranged between a pair of track rails 23 and 23.
  • the plurality of drive magnets 24 are arranged so that the N-pole and S-pole magnetic poles alternate in the direction in which the mover 25 moves (hereinafter referred to as the movement direction). Further, each drive magnet 24 has the same length in the moving direction, and a constant thrust can be obtained regardless of the position of the mover 25.
  • the mover 25 includes an armature 60 having a plurality of coils, a table 53 to which a moving object is attached, and an MR (Magnetoresitive Elements) sensor 27.
  • the MR sensor 27 is a kind of magnetic sensor, and outputs a signal corresponding to the direction of the magnetic flux line of the magnetic field generated by the driving magnet 24 arranged in the stator 21 to the control device 10.
  • FIG. 2 is a perspective view showing the principle of the MR sensor 27 in the present embodiment. As shown in the figure, it is formed of a ferromagnetic thin film metal of an alloy mainly composed of a silicon (Si) or glass substrate 271 and a ferromagnetic metal such as nickel (Ni) or iron (Fe) formed thereon. Magnetoresistive element 272. The resistance value of the magnetoresistive element 272 changes with respect to the current flow direction (Y-axis direction) according to the angle between the direction of the magnetic flux passing through the magnetoresistive element 272 and the substrate 271.
  • the MR sensor 27 is configured such that a plurality of magnetoresistive elements 272 are combined to form two full bridge circuits, and the two full bridge circuits output a signal having a phase difference of 45 °.
  • an element whose resistance value changes in a specific magnetic field direction is referred to as an AMR (Anisotropic-Magneto-Resistance) sensor (reference document: "Vertical type MR sensor technical data", [online], October 1, 2005, Hamamatsu Photoelectric Co., Ltd., “May 6, 2010 search”, Internet ⁇ URL; http://www.hkd.co.jp/technique/img/amr-note1.pdf>).
  • the control device 10 calculates the position of the mover 25 on the stator 21 and the moving speed based on the signal output from the MR sensor 27. Moreover, the control apparatus 10 sends an electric current through the some coil which the armature 60 has according to the calculated position and speed of the needle
  • FIG. 3 is a perspective view of the linear motor 20 in this embodiment (including the cross section of the table 53).
  • FIG. 4 is a front view of the linear motor 20 in the present embodiment.
  • the linear motor 20 includes a plurality of plate-like drive magnets 24 in which the stator 21 is arranged with the N-pole or S-pole magnetized surface facing the mover 25.
  • the mover 25 is a flat type linear motor that linearly moves relative to the stator 21.
  • the armature 60 provided in the mover 25 is opposed to the driving magnet 24 via the gap g.
  • the plurality of drive magnets 24 described above are arranged in a row in the moving direction on the elongated base 54 of the stator 21.
  • the base 54 includes a bottom wall portion 54a and a pair of side wall portions 54b provided on both sides in the width direction of the bottom wall portion 54a.
  • the plurality of driving magnets 24 described above are attached to the bottom wall portion 54a.
  • Each drive magnet 24 has an N pole and an S pole formed on both end faces in a direction (vertical direction in FIG. 4) perpendicular to the moving direction.
  • the plurality of drive magnets 24 are arranged in a state where the magnetic poles are reversed with respect to a pair of adjacent drive magnets 24. Thereby, when the mover 25 moves with respect to the MR sensor 27 attached to the mover 25, the magnetic poles of the N pole and the S pole of the drive magnet 24 alternately oppose each other.
  • the track rail 23 of the guide device 22 is attached to the upper surface of the side wall 54b of the base 54.
  • the slide block 26 is slidably attached to the track rail 23.
  • a plurality of balls are interposed between the track rail 23 and the slide block 26 so as to allow rolling motion (not shown).
  • the slide block 26 is provided with a track-shaped ball circulation path for circulating a plurality of balls.
  • a plurality of balls roll and move between them, and the plurality of balls circulate in the ball circulation path. Thereby, the smooth linear motion of the slide block 26 is attained.
  • the table 53 of the mover 25 is attached to the upper surface of the slide block 26 of the guide device 22.
  • the table 53 is made of, for example, a nonmagnetic material such as aluminum, and a moving object is attached to the table 53.
  • An armature 60 is suspended from the lower surface of the table 53. As shown in the front view of FIG. 4, a gap g is provided between the driving magnet 24 and the armature 60.
  • the guide device 22 maintains the clearance g constant even when the armature 60 moves relative to the drive magnet 24.
  • FIG. 5 is a cross-sectional view taken along the moving direction of the mover 25 in the present embodiment.
  • An armature 60 is attached to the lower surface of the table 53 via a heat insulating material 63.
  • the armature 60 includes a core 64 made of a magnetic material such as silicon steel, and the above-described plurality of coils, and coils 28u, 28v, and 28w wound around the salient poles 64u, 64v, and 64w of the core 64. .
  • a three-phase alternating current having a phase difference is supplied from the control device 10 to each of the coils 28u, 28v, 28w. After winding the three coils 28u, 28v, 28w around the salient poles 64u, 64v, 64w, the three coils 28u, 28v, 28w are sealed with resin.
  • a pair of auxiliary cores 67 are attached to the lower surface of the table 53 with the armature 60 interposed therebetween. The auxiliary core 67 is provided to reduce cogging generated in the linear motor 20.
  • FIG. 6 is a schematic diagram showing the relative positions of the MR sensor 27 and the coils 28u, 28v, 28w and the driving magnet 24 in the present embodiment.
  • the driving magnet 24 is arranged on the stator 21 on the bottom wall portion 54 a of the base 54. More specifically, the driving magnet 24N arranged with the north pole facing the MR sensor 27 and the driving magnet 24S arranged with the south pole facing the MR sensor 27 are alternately arranged in the moving direction. Is arranged.
  • the coils 28u, 28v, and 28w are arranged so as to pass through the center of the drive magnet 24 disposed in the stator 21 and pass through a straight line parallel to the moving direction.
  • the MR sensor 27 is attached at a position that passes through the center of each driving magnet 24 and passes on a straight line parallel to the moving direction. As a result, the MR sensor 27 can pass through the position where the magnetic field generated by the drive magnet 24 is strongest.
  • FIG. 7 is a schematic block diagram showing the configuration of the control device 10 in the present embodiment.
  • the control device 10 includes a position controller 101, differentiators 102 and 105, switches 103, 107 and 113, a speed controller 104, an acceleration controller 106, a current controller 108, a power converter 109, A current transformer 110, a pulse generator 111, a velocity detector 112, an averager 114, a position detector 115, and a control mode selector 116 are provided.
  • the position controller 101 is based on a signal indicating the position of the mover 25 of the linear motor 20 input from the position detector 115 and a position command input from the host controller.
  • a first speed command for moving to a position indicated by the position command is calculated.
  • the host control device generates a signal sequence indicating the distance to move the mover 25 per unit time according to the distance to the target position to move the mover 25.
  • the higher-level control device uses a drive pattern according to the distance to the target position for moving the mover 25 (the length of the period in each of the acceleration region, the constant velocity region, and the deceleration region shown in FIG. A combination of speed) is generated, a distance for moving the mover 25 in each unit time is calculated from the generated drive pattern as a position command, and the calculated position command is input to the position controller 101 every unit time. .
  • the first speed command is a characteristic of the linear motor 20 such as a frictional resistance when the mover 25 is moved to a deviation (difference) in the distance that the mover 25 has moved within a unit time with respect to the distance indicated by the position command. Is a value calculated by multiplying a preset coefficient in consideration of.
  • the coefficient for calculating the first speed command is a value determined based on the result of simulation or measurement.
  • the first speed command may be calculated by a PI calculation or a PID calculation using a deviation of the position of the mover 25 with respect to the distance indicated by the position command.
  • the differentiator 102 calculates the second speed command based on the distance change amount indicated by the position command input from the outside. Specifically, the differentiator 102 calculates a difference between position commands input every unit time as a second speed command.
  • One of the speed commands selected by the switch 103 among the first speed command calculated by the position controller 101 and the second speed command calculated by the differentiator 102 is input to the speed controller 104. Further, the speed controller 104 receives either the speed at which the mover 25 detected by the speed detector 112 moves or the average value (average speed) of the speed selected by the switch 113.
  • the speed controller 104 performs the first or second PID calculation by using either the deviation of the moving speed of the mover 25 with respect to the input speed command or the average deviation of the speed with respect to the input speed command. 1 current command is calculated.
  • the first current command is a signal indicating a current value to be applied to the coils 28u, 28v, 28w in order to obtain a speed at which the mover 25 indicated by the speed command moves.
  • the differentiator 105 calculates an acceleration command based on the change amount of the second speed command calculated by the differentiator 102.
  • the acceleration command is a signal indicating the acceleration given to the mover 25.
  • the differentiator 105 calculates the difference between the second speed commands input every unit time as the acceleration command.
  • the acceleration controller 106 calculates a second current command that is a current value for obtaining the acceleration indicated by the acceleration command calculated by the differentiator 105.
  • the second current command is obtained by multiplying the acceleration indicated by the acceleration command by a coefficient set in advance in consideration of characteristics of the linear motor 20 such as frictional resistance when the mover 25 is moved, or PI. It is a signal which shows the electric current value computed by a calculation or a PID calculation.
  • the current controller 108 includes a current command selected by the switch 107, one of the first current command calculated by the speed controller 104 and the second current command calculated by the acceleration controller 106, and a variable current command.
  • the value of the current flowing through the linear motor 20 detected by the flow device 110 is input. Further, the current controller 108 calculates a voltage command for controlling the power converter 109 so that the value of the current flowing through the linear motor 20 becomes a value indicated by the current command by PI control or PID control.
  • the power converter 109 is an inverter circuit provided according to the number of coils of the linear motor 20 and having an upper arm and a lower arm having switching elements.
  • the power converter 109 is configured such that the coil 28u provided in the armature 60 via the switching element by PWM control for switching on / off of the switching element in accordance with a voltage command input from the current controller 108. Power is supplied to 28v and 28w, and the mover 25 is driven.
  • the switching element for example, a semiconductor element such as IGBT (Insulated Gate Bipolar Transistor) is used.
  • the current transformer 110 is provided between the power converter 109 and the linear motor 20, detects a current value of a current flowing from the power converter 109 to the linear motor 20, and a signal indicating the detected current value. Is output to the current controller 108.
  • the pulse generator 111 outputs a pulse signal indicating the distance and direction in which the mover 25 moves from the signal output from the MR sensor 27.
  • the mover 25 moves with respect to the stator 21 based on the pulse signal input from the pulse generator 111 and the magnetic pole pitch of the drive magnet 24 arranged in the stator 21.
  • the speed is calculated and a signal indicating the calculated speed is output.
  • the averager 114 calculates an average value of the speed of the mover 25 from a pulse signal indicating the speed of the mover 25 input from the speed detector 112 via the switch 113, and outputs a signal indicating the calculated average value as a speed. Output to the controller 104.
  • the position detector 115 drives from the predetermined reference position to the mover 25 based on the pulse signal input from the pulse generator 111 and the magnetic pole pitch of the drive magnet 24 arranged on the stator 21. The distance in the arrangement direction in which the magnets 24 are arranged is calculated. In other words, the position detector 115 calculates the position of the mover 25 on the track rail 23 provided in the stator 21 and outputs a signal indicating the calculated position to the position controller 101.
  • the position detector 115 counts the number of pulses of the input pulse signal and calculates the position of the mover 25. Further, as the reference position, for example, any one point in the movable range on the track rail 23 of the mover 25 is selected. As described above, the MR sensor 27, the pulse generator 111, and the position detector 115 implement a linear encoder that detects the position of the mover 25. Note that the position detector 115 detects an origin serving as a reference position of the position to be detected when the linear motor device 1 is activated.
  • the position command from the outside and the acceleration command from the differentiator 105 are input to the control mode selector 116.
  • the control mode selector 116 selects one of stop control, acceleration control, and speed control by switching each of the switches 103, 107, and 113 based on the input position command and acceleration command. Then, a current is applied to the linear motor 20.
  • the stop control is performed when the switch 103 selects the terminal S1, the switch 107 selects the terminal S5, and the switch 113 selects the terminal S3.
  • the control loop by the position controller 101, the speed controller 104, the current controller 108, the power converter 109, the pulse generator 111, and the position detector 115, the speed controller 104, the current controller 108, the power A loop of control by the converter 109, the pulse generator 111, and the speed detector 112 is formed.
  • a current is applied so that the mover 25 does not move based on a signal indicating the position of the mover 25 detected by the position detector 115.
  • the acceleration control is performed by the switch 107 selecting the terminal S6.
  • open loop control based on the position command is performed.
  • the speed control is performed by the switch 103 selecting the terminal S2, the switch 107 selecting the terminal S5, and the switch 113 selecting the terminal S4.
  • the position controller 101, the speed controller 104, the current controller 108, the power converter 109, the pulse generator 111, the loop of control by the position detector 115, the speed controller 104, the current controller 108, the power A loop of control by the converter 109, the pulse generator 111, the speed detector 112, and the averager 114 is formed.
  • FIG. 8 is a flowchart showing the operation of the control mode selector 116 in the present embodiment.
  • the control mode selector 116 determines whether or not the distance indicated by the input position command is 0 (step S101).
  • step S101: YES When the distance indicated by the input position command is 0 (step S101: YES), the control mode selector 116 selects the stop control by switching the switches 103, 107, 113 (step S102), and proceeds to step S101. Return. On the other hand, when the distance indicated by the input position command is not 0 (step S101: NO), the control mode selector 116 determines whether the value indicated by the input acceleration command is 0 (step). S103).
  • step S103: NO When the value indicated by the acceleration command is not 0 (step S103: NO), the control mode selector 116 switches between the switches 103, 107, and 113 to select acceleration control (step S104), and returns to step S101. On the other hand, when the value indicated by the acceleration command is 0 (step S103: YES), the control mode selector 116 switches the switches 103, 107, and 113 to select speed control (step S105), and returns to step S101. .
  • the speed controller 104 calculates the difference between the first speed command calculated by the position controller 101 and the average speed value calculated by the averager 114.
  • the first current value that flows through the coils 28u, 28v, 28w provided in the armature 60 of the linear motor 20 so that the speed of the stator 25 becomes the speed indicated by the first speed command. Calculate the current command.
  • the current controller 108 controls the current to flow through the coils 28u, 28v, 28w in accordance with the first current command calculated by the speed controller 104.
  • the linear motor 20 can be controlled stably.
  • the first current command is calculated based on the average speed of the mover 25, so that the periodic variability included in the speed is averaged. Therefore, the first current command can be stabilized.
  • the current applied to the coils 28u, 28v, 28w can be stabilized, and excessive heat generation of the coils 28u, 28v, 28w due to the change in the current value can be suppressed.
  • the current value flowing through the coils 28u, 28v, 28w can be stabilized, and an increase in power consumption can be prevented. Furthermore, since excessive heat generation of the coils 28u, 28v, and 28w can be suppressed, deterioration of the linear motor 20 due to heat generation of the coils 28u, 28v, and 28w can be suppressed.
  • the switching of the control method in the control device 10 can be easily realized by changing a program such as a control microcomputer provided in the control device 10. Therefore, stable control of the linear motor 20 can be realized without increasing the manufacturing cost as compared with the case of using an expensive MR sensor in which measures are taken to prevent periodic fluctuation components from being included in the output signal. can do.
  • control device 10 selects the acceleration control when the value indicated by the acceleration command is not 0 by the control mode selector 116. That is, when driving the mover 25 by accelerating (decelerating), the power converter 109 controls the current to flow through the coils 28u, 28v, 28w based on the second current command calculated by the acceleration controller 106. Do. As a result, when the control device 10 is driven by accelerating (decelerating) the mover 25, the control device 10 performs open loop control based on the input position command, so that the periodicity included in the signal output from the MR sensor 27 Since the linear motor 20 is controlled without being affected by the fluctuation component, the linear motor 20 can be stably controlled.
  • the control mode selector 116 selects speed control when the acceleration command calculated by the differentiator 105 indicates 0 (zero), and selects acceleration control when the acceleration command does not indicate 0 (zero). did. Thereby, since the control method of the linear motor 20 is selected using the acceleration command calculated for acceleration control, the calculation performed by the control mode selector 116 can be facilitated.
  • the averager 114 calculates the average value of the speeds input after the switch 113 selects the terminal S4. That is, the averager 114 calculates the average value of the speeds detected by the speed detector 112 between the time when speed control is selected and the present time. As a result, since the average is calculated using all the information indicating the speed detected by the speed detector 112, the periodic fluctuation component included in the average value (average speed) can be sufficiently suppressed, and the mover More stable control can be performed when moving 25 at a constant speed.
  • the averager 114 calculates the average value of the speed of the mover 25 from the time when speed control is selected to the present time.
  • the control mode selector 116 controls the speed control. Is selected for each section determined by a distance obtained by multiplying the magnetic pole pitch of the drive magnet 24 by an integer, the average value of the speeds detected by the speed detector 112 is calculated, and the newest average among the calculated average values is calculated. The value may be output to the speed controller 104.
  • the amount of calculation for calculating the average value of the speed can be reduced to improve the responsiveness, and the control is stably performed even when the mover 25 is moved at a high speed. be able to. This is particularly effective when the periodic fluctuation component included in the signal output from the MR sensor 27 changes according to the magnetic pole pitch of the drive magnet 24.
  • the flat type linear motor 20 in which the mover 25 including the armature 60 moves linearly relative to the stator 21 including the driving magnet 24 is controlled.
  • the present invention is not limited to this, and a mover provided with a rod-type drive magnet may be applied to a rod-type linear motor that linearly moves relative to a stator provided with an armature (coil). Good.
  • the average speed is calculated by calculating the average of the speeds input by the averager 114.
  • the distance moved while the speed control is selected is required for the movement of the distance. It may be calculated by dividing by the determined time.
  • the control device 10 for the linear motor 20 described above may have a computer system therein.
  • the process performed by each functional unit provided in the control device 10 described above is stored in a computer-readable recording medium in the form of a program, and this program is read and executed by the computer.
  • the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like.
  • the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.
  • the linear motor can be stably controlled, so that an increase in power consumption of the linear motor 20 is prevented and deteriorated. Can be suppressed.

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

Abstract

La présente invention concerne un dispositif de commande conçu pour commander un moteur linéaire, qui, pour choisir entre, d'une part la commande de vitesse constante pour déplacer à vitesse constante un élément mobile, et d'autre part la commande d'accélération pour augmenter la vitesse de l'élément mobile, se base sur une commande de position indiquant la distance que l'élément mobile doit parcourir par unité de temps extérieurement spécifiée. Quand on a choisi la commande de vitesse constante, on se base sur la vitesse moyenne de l'élément mobile et sur une commande de vitesse pour calculer une commande de courant indiquant une valeur de courant à appliquer au moteur linéaire. Quand on a choisi la commande d'accélération, on se base sur la vitesse de l'élément mobile et sur une commande de vitesse pour calculer une commande de courant, puis on se base sur la commande de courant calculée pour appliquer un courant au moteur linéaire.
PCT/JP2011/063275 2010-06-17 2011-06-09 Dispositif de commande de moteur linéaire Ceased WO2011158732A1 (fr)

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JP2010-138419 2010-06-17
JP2010138419A JP5026559B2 (ja) 2010-06-17 2010-06-17 リニアモータの制御装置

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JP2001327189A (ja) * 2000-05-18 2001-11-22 Matsushita Electric Works Ltd ブラシレスリニアモータ
JP2003289685A (ja) * 2002-03-27 2003-10-10 Murata Mach Ltd サーボ制御装置
JP2006141140A (ja) * 2004-11-12 2006-06-01 Konica Minolta Medical & Graphic Inc 搬送装置、画像読取装置、及び画像形成装置
JP2006163533A (ja) * 2004-12-02 2006-06-22 Mitsutoyo Corp 制御装置

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JP3684785B2 (ja) * 1997-10-17 2005-08-17 三菱電機株式会社 ベクトル制御インバータ装置
JP2002044975A (ja) * 2000-07-26 2002-02-08 Fuji Electric Co Ltd 誘導電動機の制御装置

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Publication number Priority date Publication date Assignee Title
JP2001327189A (ja) * 2000-05-18 2001-11-22 Matsushita Electric Works Ltd ブラシレスリニアモータ
JP2003289685A (ja) * 2002-03-27 2003-10-10 Murata Mach Ltd サーボ制御装置
JP2006141140A (ja) * 2004-11-12 2006-06-01 Konica Minolta Medical & Graphic Inc 搬送装置、画像読取装置、及び画像形成装置
JP2006163533A (ja) * 2004-12-02 2006-06-22 Mitsutoyo Corp 制御装置

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