DISPLACEMENT DEVICES AND METHODS FOR FABRICATION, USE AND CONTROL OF SAME

• US 20170179805A1
• Filed: 11/30/2016
• Published: 06/22/2017
• Est. Priority Date: 05/30/2014
• Status: Active Grant

• Current Assignee: University of British Columbia
• Original Assignee: University of British Columbia
• Inventors: LU, Xiaodong
• Granted Patent: US 10,116,195 B2
• Time in Patent Office: Days
• CPC Class Codes: G05B 2219/24092 Warning display lights, lamps, leds on module
• CPC Class Codes: G05B 2219/31469 Graphical display of process as function of detected alarm signals
• CPC Class Codes: G05B 2219/45006 Valves
• CPC Class Codes: H02K 2201/18 Machines moving with multiple degrees of freedom
• CPC Class Codes: H02K 41/02 Linear motors; Sectional motors
• 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: H02N 15/00 Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for electric or magnetic devices for holding work on machine tools B23Q3/15 ; monorail vehicle propulsion or suspension B60L13/00; sliding or levitation devices for railway systems B61B13/08; material handling devices associated with conveyors incorporating devices with electrostatic or magnetic grippers B65G47/92; separating thin or filamentary articles from piles using magnetic force B65H3/16; delivering thin or filamentary articles from magnetic holders by air blast or suction B65H29/24; bearings using magnetic or electric supporting means F16C32/04; relieving bearing loads using magnetic means F16C39/06; magnets H01F7/00; dynamo-electric clutches or brakes H02K49/00 ; electric furnaces with simultaneous levitation and heating H05B6/32
• CPC Class Codes: H02P 25/066 of the stepping type
• CPC Class Codes: H02P 8/00 Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step vector control H02P21/00

Abstract

A displacement device comprise a stator having a plurality of electrically conductive coils shaped to provide: a first plurality of coil traces generally elongated in a stator-x direction and distributed over at least a first portion of a first layer; a second plurality of coil traces generally elongated in a stator-y direction and distributed over at least a second portion of a second layer. The first and second portions of the first and second layers overlapping one another in a stator-z direction. The displacement device also comprises a moveable stage having one or more magnet arrays. The moveable stage is moveable relative to the stator within a two-dimensional working region. The one or more magnet arrays include a first magnet array comprising a plurality of first magnetization segments, each having a corresponding first magnetization direction. The displacement device comprises one or more amplifiers connected to drive a plurality of currents in the plurality of electrically conductive coils; and a controller configured to control the currents driven by the one or more amplifiers and to thereby cause the moveable stage to track a desired position, (x_r,y_r), within the working region.

Claims

1. A displacement device comprising:

a stator comprising a plurality of electrically conductive coils, the plurality of electrically conductive coils shaped to provide;

a first plurality of coil traces generally elongated in a stator-x direction and distributed over at least a first portion of a first layer;

a second plurality of coil traces generally elongated in a stator-y direction and distributed over at least a second portion of a second layer, the stator-y direction non-parallel to the stator-x direction;

the first and second portions of the first and second layers overlapping one another in a stator-z direction, the stator-z direction generally orthogonal to both the stator-x direction and the stator-y direction;

a moveable stage comprising one or more magnet arrays, the moveable stage moveable relative to the stator within a two-dimensional working region, the one or more magnet arrays comprising a first magnet array, the first magnet array comprising a plurality of first magnetization segments, each first magnetization segment having a corresponding first magnetization direction;

one or more amplifiers connected to drive a plurality of currents in the plurality of electrically conductive coils;

a controller connected to deliver signals to the one or more amplifiers and configured, by using such signals, to control the currents driven by the one or more amplifiers and to thereby cause the moveable stage to track a desired position, (x_r,y_r), within the working region, where x_r is a desired position of the moveable stage in the stator-x direction in the working region and y_r is a desired position of the moveable stage in the stator-y direction in the working region;

wherein;

the controller is configured to control the currents driven by the one or more amplifiers to drive first currents, i_x, in at least some of the first plurality of coil traces and to drive second currents, i_y, in at least some of the second plurality of coil traces;

the first currents, i_x, comprise a plurality of first current phases, i_kx, each first current phase, i_kx, driven into a corresponding one of the at least some of the first plurality of coil traces and phase-adjacent first current phases driven into spatially adjacent ones of the at least some of the first plurality of coil traces, where;

k is an integer from 0 to n_p−

1 representing a first phase index; and

n_p is a number greater than or equal to two of different effective phases in the first currents, i_x;

each first current phase, i_kx, is determined based on a function F(y_r), where F(y_r) is a spatially periodic function of y_r in the stator-y direction over the working region, with a first spatial period, λ

₁;

each first current phase, i_kx, in a particular one of the at least some of the first plurality of coil traces is out of phase, as a function of y_r, with one or more phase-adjacent first current phases in one or more spatially adjacent ones of the at least some of the first plurality of coil traces by a first spatial phase difference

2. A displacement device according to claim 1 wherein F(y_r) and G(x_r) are each sinusoidal functions.

3. A displacement device according to claim 1 wherein the controller is configured to determine each first current phase, i_kx, according to

4. A displacement device according to claim 3 wherein the amplitude A_kx=A_x and the amplitude A_x is the same for each of the first current phases and wherein the amplitude A_yj=A_y and the amplitude A_y is the same for each of the second current phases.

6. A displacement device according to claim 1 wherein:

F(y_r) varies periodically with y_r over at least a first portion of the working region such that F(y_r=y_o) is equal to F(y_r=y_o+λ

₁) where y_o is an arbitrary position of the moveable stage in the stator-y direction inside the first portion of the working region; and

G(x_r) varies periodically with x_r over at least a second portion of the working region such that G(x_r=x_o) is equal to G(x_r=x_o+λ

₂) where x_o is an arbitrary position of the moveable stage in the stator-x direction inside the second portion of the working region.

10. A displacement device according to claim 1 wherein each of the plurality of first magnetization segments is linearly elongated in a stage-x direction, each first magnetization direction of each first magnetization segment is generally orthogonal to the stage-x direction and at least two of the first magnetization segments have first magnetization directions that are different from one another and wherein the first magnetization directions of the first magnetization segments exhibit the first spatial period λ

₁ over a stage-y direction width of the first magnet array, the stage-y direction non-parallel to the stage-x direction.

11. A displacement device according to claim 10 wherein the one or more magnet arrays comprise:

a second magnet array, the second magnet array comprising a plurality of second magnetization segments linearly elongated in the stage-y direction, each second magnetization direction of each second magnetization segment is generally orthogonal to the stage-y direction and at least two of the second magnetization segments have second magnetization directions that are different from one another and wherein the second magnetization directions of the second magnetization segments exhibit the second spatial period λ

₂ over a stage-x direction width of the second magnet array

a third magnet array, the third magnet array comprising a plurality of third magnetization segments linearly elongated in the stage-x direction, each third magnetization direction of each third magnetization segment is generally orthogonal to the stage-x direction and at least two of the third magnetization segments have third magnetization directions that are different from one another and wherein the third magnetization directions of the third magnetization segments exhibit the first spatial period λ

₁ over a stage-y direction width of the third magnet array; and

a fourth magnet array, the fourth magnet array comprising a plurality of fourth magnetization segments linearly elongated in the stage-y direction, each fourth magnetization direction of each fourth magnetization segment is generally orthogonal to the stage-y direction and at least two of the fourth magnetization segments have fourth magnetization directions that are different from one another and wherein the fourth magnetization directions of the fourth magnetization segments exhibit the second spatial period λ

₂ over a stage-x direction width of the fourth magnet array.

13. A displacement device according to claim 11 wherein:

the stage-y direction width of the first magnet array is equal to the first spatial period λ

₁ such that the first magnetization directions of the first magnetization segments exhibit a single period over the stage-y direction width of the first magnet array; and

the stage-x direction width of the second magnet array is equal to the second spatial period λ

₂ such that the second magnetization directions of the second magnetization segments exhibit a single period over the stage-x direction width of the second magnet array.

31. A displacement device according to claim 3 wherein the controller is configured to determine A_kx based, at least in part, on a desired acceleration of the moveable stage in the stage-y direction and to determine A_jy based, at least in part, on a desired acceleration of the moveable stage in the stage-x direction.

33. A displacement device according to claim 1, wherein the controller is configured to control the one or more amplifiers to finely adjust the moveable stage in the stator-y direction when the desired position of the moveable stage in the stator-y direction, y_r, remains static by creating a first impulse in the first currents, i_x, the first impulse comprising increasing an amplitude of each first current phase, i_kx, to a first impulse amplitude for a first temporal period, Δ

t₁, then decreasing the amplitude of each first current phase, i_kx, back to a lower level after the first temporal period, Δ

t₁.

34. A displacement device according to claim 33, wherein the controller is configured to control the one or more amplifiers to finely adjust the moveable stage in the stator-x direction when the desired position of the moveable stage in the stator-x direction, x_r, remains static by creating a second impulse in the second currents, i_y, the second impulse comprising increasing an amplitude of each second current phase, i_jy, to a second impulse amplitude for a second temporal period, Δ

t₂, then decreasing the amplitude of each second current phase, i_jy, back a lower level after the second temporal period, Δ

t₂.

35. A displacement device according to claim 34 wherein a start time of the first temporal period, Δ

t₁, is one of before and after a start time of the second temporal period, Δ

t₂ and a finish time of the first temporal period, Δ

t₁, is the one of before and after a finish time of the second temporal period, Δ

t₂.

36. A displacement device according to claim 35 wherein the controller is configured to reduce the amplitude of each second current phase, i_jy, during the first temporal period, Δ

t₁, and to reduce the amplitude of each first current phase, i_kx, during the second temporal period, Δ

t₂.

37. A displacement device according to claim 1 wherein the controller is configured to control the one or more amplifiers to finely adjust the moveable stage in the stator-y direction when the desired position of the moveable stage in the stator-y direction, y_r, remains static by creating a first phase impulse in the first currents, i_x, the first phase impulse comprising increasing the phase of each first current phase, i_kx, to a first impulse phase for a first temporal period, Δ

t₁, then decreasing the phase of each first current phase, i_kx, back to a lower level after the first temporal period, Δ

t₁.

46. A displacement device according to claim 1 wherein:

the stator comprises a stator bearing layer comprising a generally planar stator bearing surface;

the moveable stage comprises a stage bearing layer comprising a generally planar stage bearing surface;

the moveable stage is arranged atop the stator such that the stage bearing surface is generally parallel with and bears against the stator bearing surface; and

the controller is configured to control the currents driven by the one or more amplifiers to drive the first currents, i_x, in the at least some of the first plurality of coil traces and to drive the second currents, i_y, in the at least some of the second plurality of coil traces, such that the first currents, i_x, and the second currents, i_y, create a magnetic field which causes a corresponding magnetic force on the one or more magnet arrays of the moveable stage, the magnetic force attracting the moveable stage toward the stator when the controller is controlling the currents driven by the one or more amplifiers to move the moveable stage between first and second locations in the working region.

47. A displacement device according to claim 1 wherein the controller is configured to modulate an amplitude A_kx of each first current phase i_kx based on a modulation term of the form A_d sin(ω

_At+ψ

_A) where A_d is dynamic lubrication amplitude modulation amplitude, ω

_A is a temporal amplitude modulation frequency and ψ

_A is an arbitrary constant modulation phase angle.

48. A displacement device according to claim 1 wherein the controller is configured to modulate a phase φ

_kx of each current phase i_kx based on a modulation term of the form φ

_d sin(ω

_φ

t+ψ

_φ

) where φ

_d is dynamic lubrication phase modulation amplitude, ω

_φ

is a temporal phase modulation frequency and ψ

_φ

is an arbitrary constant modulation phase angle.

52. A displacement device according to claim 1 wherein the stator-x and stator-y directions are orthogonal to one another, the first and second layers located at corresponding first and second stator-z locations, and the plurality of electrically conductive coils is shaped to provide a third plurality of coil traces distributed over at least a portion of a third layer at a corresponding third stator-z location and generally elongated in a direction in a plane of the stator-x and stator-y directions and at an angle α

relative to the stator-x direction, wherein the controller is configured to control the currents driven by the one or more amplifiers to thereby cause the moveable stage to rotate about a stage-z oriented axis, and wherein;

the controller is configured to cause the one or more amplifiers, for a temporal period, to temporarily discontinue driving the first currents, i_x, or substantially reduce amplitudes of the first currents, i_x, in the at least some of the first plurality of coil traces and to temporarily discontinue driving the second currents, i_y, or substantially reduce amplitudes of the second currents, i_y, in the at least some of the second plurality of coil traces;

during the temporal period, the controller is configured to cause the one or more amplifiers to drive third currents, i_α

, in at least some of the third plurality to coil traces, to thereby effect rotation of the moveable stage about the stage-z oriented axis by an angular distance α

in a first angular direction.

53. A displacement device according to claim 52 wherein the controller is configured, after effecting rotation of the moveable stage about the stage-z oriented axis by an angular distance α

, to discontinue driving the third currents, i_α

, or substantially reduce amplitudes of the third currents, i_α

, in the at least some of the third plurality of coil traces and to drive one of;

the first currents, i_x, in the at least some of the first plurality of coil traces and the second currents, i_y, in the at least some of the second plurality of coil traces to thereby effect rotation of the moveable stage about the stage-z oriented axis by a further angular distance (90°

−

α

) in the first angular direction.

5. (canceled)

7-9. -9. (canceled)

12. (canceled)

14-30. -30. (canceled)

32. (canceled)

38-45. -45. (canceled)

49-51. -51. (canceled)

54-70. -70. (canceled)

71. A method, in a displacement device, for controlling the movement of a moveable stage relative to a stator, the method comprising:

providing a stator comprising a plurality of electrically conductive coils, the plurality of electrically conductive coils shaped to provide;

a first plurality of coil traces generally elongated in a stator-x direction and distributed over at least a first portion of a first layer;

a second plurality of coil traces generally elongated in a stator-y direction and distributed over at least a second portion of a second layer, the stator-y direction non-parallel to the stator-x direction;

the first and second portions of the first and second layers overlapping one another in a stator-z direction, the stator-z direction generally orthogonal to both the stator-x direction and the stator-y direction;

providing a moveable stage comprising one or more magnet arrays, the moveable stage moveable relative to the stator within a two-dimensional working region, the one or more magnet arrays comprising a first magnet array, the first magnet array comprising a plurality of first magnetization segments, each first magnetization segment having a corresponding first magnetization direction;

controllably driving a plurality of currents into the plurality of electrical coils to thereby cause the moveable stage to track a desired position, (x_r,y_r), within the working region, where x_r is a desired position of the moveable stage in the stator-x direction in the working region and y_r is a desired position of the moveable stage in the stator-y direction in the working region;

wherein controllably driving the plurality of currents into the plurality of electrical coils comprises;

driving first currents, i_x, in at least some of the first plurality of coil traces and driving second currents, i_y, in at least some of the second plurality of coil traces;

the first currents, i_x, comprising a plurality of first current phases, i_kx, each first current phase, i_kx, driven into a corresponding one of the at least some of the first plurality of coil traces and phase-adjacent first current phases driven into spatially adjacent ones of the at least some of the first plurality of coil traces, where;

k is an integer from 0 to n_p−

1 representing a first phase index; and

n_p is a number of different effective phases in the first currents, i_x;

each first current phase, i_kx, is determined based on a function F(y_r), where F(y_r) is a spatially periodic function of y_r in the stator-y direction over the working region, with a first spatial period, λ

₁;

each first current phase, i_kx, in a particular one of the at least some of the first plurality of coil traces is out of phase, as a function of y_r, with one or more phase-adjacent first current phases in one or more spatially adjacent ones of the at least some of the first plurality of coil traces by a first spatial phase difference

72-92. -92. (canceled)