METHOD AND LONG STATOR LINEAR MOTOR FOR TRANSFERRING A TRANSPORT UNIT AT A TRANSFER POSITION

• US 20160380562A1
• Filed: 06/22/2016
• Published: 12/29/2016
• Est. Priority Date: 06/23/2015
• Status: Active Grant

• Current Assignee: B&R Industrial Automation GmbH (ABB Limited)
• Original Assignee: Bernecker + Rainer Industrie-Elektronik GmbH (ABB Limited)
• Inventors: WEBER, Andreas, FORTHUBER, Friedrich
• Granted Patent: US 10,622,921 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60L 13/003 Crossings; Points
• CPC Class Codes: B60L 13/03 Electric propulsion by linear motors
• CPC Class Codes: B65G 54/02 electrostatic, electric, or magnetic
• CPC Class Codes: E01B 25/12 Switches; Crossings
• CPC Class Codes: E01B 25/34 Switches; Frogs; Crossings
• CPC Class Codes: H02K 41/03 Synchronous motors; Motors moving step by step; Reluctance motors H02K41/035 takes precedence
• CPC Class Codes: H02K 41/031 of the permanent magnet type
• CPC Class Codes: H02P 21/06 Rotor flux based control involving the use of rotor position or rotor speed sensors
• CPC Class Codes: H02P 21/12 Stator flux based control involving the use of rotor position or rotor speed sensors
• CPC Class Codes: H02P 25/062 of the induction type
• CPC Class Codes: H02P 25/064 of the synchronous type
• CPC Class Codes: H02P 6/006 Controlling linear motors
• CPC Class Codes: Y02P 70/10 Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility

Abstract

In a long stator linear motor, in order to implement a transfer position in which a transport unit (Tn) is magnetically steered in order to be redirected from a first transport section (Am) to a second transport section (An) and in order that the forward movement of the transport unit (Tn) remains as unaffected as possible by the transfer, it is provided that at the transfer position (U) on at least one side of the transport unit (Tn), the stator current (i_A) of at least one driving coil (7, 8) interacting with an excitation magnet (4, 5) of the transport unit (Tn) is supplied as a current vector with a propulsive force-forming current component (i_Aq) and a lateral force-forming current component (i_Ad), and the stator current (i_A) generates a propulsive force-forming electromagnetic force (F_EMV) and/or lateral force-forming electromagnetic force component (F_EMS) which is superimposed on the propulsive force (F_V) acting on the transport unit (Tn) for production of a steering effect (L).

Claims

1. A method for transferring a transport unit (Tn) of a long stator linear motor at a transfer position (U) from a first transport section (Am), having a number of driving coils (7, 8) arranged one behind the other in the direction of movement of the transport unit (Tn) in the region of the transfer position (U), to a second transport section (An), having a number of driving coils (7, 8) arranged one behind the other in the direction of movement of the transport unit (Tn) in the region of the transfer position (U), wherein on each side of the transport unit (Tn) excitation magnets (4, 5) are arranged which interact with driving coils (7, 8) in the region of the transport unit (Tn), and for movement of the transport unit (Tn) driving coils (7, 8) in the region of the transport unit (Tn) are in each case supplied with a stator current (iA) for generation of a magnetic flux (ψ

) which generates a propulsive force (FV) acting on the transport unit (Tn), characterized in that, for transfer of the transport unit (Tn) at the transfer position, on at least one side of the transport unit (Tn) the stator current (iA) of at least one driving coil (7, 8) interacting with an excitation magnet (4, 5) of the transport unit (Tn) is supplied as a current vector with a propulsive force-forming current component (i_Aq) and a lateral force-forming current component (i_Ad), and the stator current (iA) generates a propulsive force-forming electromagnetic force (F_EMV) and/or lateral force-forming electromagnetic force component (F_EMS) which is superimposed on the propulsive force (FV) acting on the transport unit (Tn) for production of a steering effect (L).

2. The method according to claim 1, characterized in that a propulsive force-forming electromagnetic force component (F_EMV) and/or lateral force-forming electromagnetic force component (F_EMS) which is superimposed on the propulsive force (F_V) is generated on both sides of the transport unit (Tn).

3. The method according to claim 2, characterized in that lateral force-forming electromagnetic force components (F_EMS) in the same direction are generated on both sides of the transport unit (Tn).

4. The method according to claim 1, characterized in that the propulsive force (FV) of the transport unit (Tn) is controlled by position presetting, and the position presetting is modified on at least one side of the transport unit (Tn) by a modification factor (Δ

s).

5. The method according to claim 4, characterized in that the modification factor (Δ

s) is set on both sides of the transport unit (Tn) with the same value and different algebraic sign.

6. The method according to claim 1, characterized in that a steering controller (RL) and a position controller (RP) are implemented in a segment control unit (11), wherein the steering controller (RL) compensates for a flux error (e_ψ

) as the difference between a desired flux (ψ

_soll) and an actual flux (ψ

_ist), and for this purpose determines the lateral force-forming current component (i_Ad) of the stator current (i_A) and that the position controller (RP) compensates for a position error (e_s) as the difference between a desired position (s_soll) and an actual position (s_ist), and for this purpose determines the propulsive force-forming current component (i_Aq) of the stator current (i_A).

7. The method according to claim 1, characterized in that a steering controller (RL) and a position controller (RP) are implemented in a segment control unit (11), wherein the steering controller (RL) compensates for a flux error (e_ψ

) as the difference between a desired flux (ψ

_soll) and an actual flux (ψ

_ist), and for this purpose determines the modification factor (Δ

s) and that the position controller (RP) compensates for a position error (e_s) as the difference between a desired position (s_soll) and an actual position (s_ist) and which includes the modification factor (Δ

s), and for this purpose determines the propulsive force-forming current component (i_Aq) of the stator current (i_A).

8. A long stator linear motor with a transfer position (U) from a first transport section (Am), having a number of driving coils (7, 8) arranged one behind the other in the direction of movement of the transport unit (Tn) in the region of the transfer position (U), to a second transport section (An), having a number of driving coils (7, 8) arranged one behind the other in the direction of movement of the transport unit (Tn) in the region of the transfer position (U), wherein on each side of the transport unit (Tn) excitation magnets (4, 5) are arranged which interact with driving coils (7, 8) in the region of the transport unit (Tn), wherein for movement of the transport unit (Tn) driving coils (7, 8) in the region of the transport unit (Tn) are in each case supplied with a stator current (i_A) for generation of a magnetic flux (ψ

) which generates a propulsive force (F_V) acting on the transport unit (Tn), characterized in that a segment control unit (11) is provided, in which a control system is implemented which, on at least one side of the transport unit (Tn) supplies a stator current (i_A) as a current vector to a driving coil (7, 8) which interacts with an excitation magnet (4, 5) of the transport unit (Tn), wherein the stator current contains a propulsive force-forming current component (i_Aq) and a lateral force-forming current component (i_Ad), and the stator current (i_A) generates a propulsive force-forming electromagnetic force (F_EMV) and/or lateral force-forming electromagnetic force component (F_EMS) which is superimposed on the propulsive force (F_V) acting on the transport unit (Tn) for production of a steering effect (L).

9. The long stator linear motor according to claim 8, characterized in that a steering controller (RL) and a position controller (RP) are implemented in the segment control unit (11), that the steering controller (RL) compensates for a flux error (e_ψ

) as the difference between a desired flux (ψ

_soll) and an actual flux (ψ

_ist), and for this purpose determines the lateral force-forming current component (i_Ad) of the stator current (i_A) and that the position controller (RP) compensates for a position error (e_s) as the difference between a desired position (s_soll) and an actual position (s_ist), and for this purpose determines the propulsive force-forming current component (i_Aq) of the stator current (i_A).

10. The long stator linear motor according to claim 8, characterized in that a steering controller (RL) and a position controller (RP) are implemented in a segment control unit (11), that the steering controller (RL) compensates for a flux error (e_ψ

) as the difference between a desired flux (ψ

_soll) and an actual flux (ψ

_soll), and for this purpose determines a modification factor (Δ

s) and that the position controller (RP) compensates for a position error (e_s) as the difference between a desired position (s_soll) and an actual position (s_ist) and which includes the modification factor (Δ

s), and for this purpose determines the propulsive force-forming current component (i_Aq) of the stator current (i_A).