JP3165566B2 - Current controller for vertical linear motor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a current controller for a vertical linear motor applied to current control of a driver of a vertical linear motor.

[0002]

2. Description of the Related Art A conventional vertical linear motor system includes:
As shown in FIG. 2, the controller 1 includes a controller 1, a driver 3, energization switching devices 5 and 6, and a position detector 13. The vertical linear motor 12 has armature coil groups 7 to 10
And the transport capsule 11 is transported in the axial direction. The position detector 13 detects the position of the transport capsule 11 in a non-contact manner, and outputs a detection result as a position feedback signal 14. The controller 1 receives the position feedback signal 14 and outputs a thrust command 2 for operating the transport capsule 11.

A driver 3 inputs a thrust command 2 and a position feedback signal 14, and uses a current waveform generated by a current waveform generator 4 provided in the driver 3 to respond to the thrust command 2 and the feedback signal 14. The drive current of each phase of U, V, and W is output to the energization switching devices 5 and 6. The energization switching devices 5 and 6 supply drive current of each phase of U, V and W to the armature coil groups 7 to 10 of the vertical linear motor 12 according to the position of the transport capsule 11.

[0004]

In the conventional vertical linear motor system described above, each armature coil group 7
Since the armature coil pitches of the armature coil Nos. To 10 are all the same, the electrical angle of the current waveform output from the current waveform generator 4 in the driver 3 is always constant. However, even when the armature coil pitches of the armature coil groups 7 to 10 are different, if the current waveform generator 4 is configured to output a current waveform having a constant electrical angle regardless of the position of the transfer capsule 11,
There is a problem that the vertical linear motor 12 which is a synchronous motor loses synchronism.

The present invention has been made in order to solve such a problem, and a current waveform for generating a current waveform having a constant electrical angle when the armature coil pitch of each armature coil group is different. It is an object of the present invention to provide a current controller for a vertical linear motor that can operate a transfer capsule without using a generator without stepping out of the vertical linear motor.

[0006]

According to the present invention, there is provided a current control device for controlling a drive current of a vertical linear motor having a plurality of armature coil groups having different armature coil pitches. A position feedback signal, which is a position signal of a transport capsule driven by a vertical linear motor, is input, and the value of the position feedback signal and the armature coil pitch indicating a position between armature coil groups having different armature coil pitches. a comparator for comparing the value of the changed position, a subtracter for subtracting the value before Symbol the armature coil pitch change position from the value of the position feedback signal outputted from the comparator, the output value of the subtracter A multiplier for multiplying an armature coil pitch ratio between armature coil groups having different armature coil pitches, an output value of the multiplier, and the armature An adder for adding a value of the pitch change position and outputting a pseudo position feedback signal; and a pseudo position feedback signal output from the adder and a position feedback signal output from the comparator. A switch for switching these feedback signals in response to a switch switching signal output from the switch to output a current control position feedback signal for controlling the current waveform of the drive current.

[0007] The comparator is arranged so that the value of the input position feedback signal is equal to the armature coil pitch change position.
If the value of the position feedback signal is larger than the value of the armature coil pitch change position, the position feedback signal is output to the subtractor if the value of the input position feedback signal is larger than the value of the armature coil pitch change position. Further, a switch switching signal indicating which of the position feedback signal has been output to the switch and the subtractor is output to the switch.

[0008]

[Action] In current control device of the present invention configured as described above, the value of the position feedback signal input to the comparator, the position between different armature coils of a given armature coil pitch as the threshold Armature coil pick
It is smaller than the value of Ji position, that is, when the transport capsule is positioned at equal armature coils of electrical angle and an armature coil pitch of the current waveform of the drive current, the current control position feedback input position feedback signal Output as a signal.

On the other hand, when the value of the position feedback signal input to the comparator is larger than the value of the armature coil pitch position , that is, when the carrier capsule has a different armature coil pitch than the electric angle of the drive current waveform. If the armature coil is located at the position of the coil group, the value of the armature coil pitch change position is subtracted from the position feedback signal, and then multiplied by the armature coil pitch ratio between armature coil groups having different armature coil pitches. A pseudo position feedback signal obtained by adding the value of the child coil pitch change position is output as a current control position feedback signal.

The output current control position feedback signal is supplied to the driver of the vertical linear motor,
By switching and controlling the current waveform of the drive current, the electric angle of the armature coil pitch of the armature coil pitch group where the transfer capsule is located and the electrical angle of the current waveform of the drive current can always be made apparently equal, and the vertical linear motor It is possible to smoothly operate the transport capsule without causing step-out of the transfer capsule.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a configuration of a vertical linear motor system including a current control device according to one embodiment of the present invention.

In FIG. 1, a controller 1, a driver 3, current switching devices 5 and 6, and a position detector 13 are the same as those of the conventional device shown in FIG. The vertical linear motor 12 includes armature coil groups 7 to 10, and is configured to transport the transport capsule 11 in the axial direction.
However, the armature coil pitches of the armature coil groups 7 to 10 are different as shown in the figure. The position detector 13 detects the position of the transport capsule 11 in a non-contact manner, and outputs the detection result to the controller 1 and the current controller 25 as a position feedback signal 14.

The current controller 25 receives the position feedback signal 14 output from the position detector 13 and outputs a current control position feedback signal 24 to the current waveform generator 4 in the driver 3. 15, subtractor 17, multiplier 20, adder 21, and switch 23
Consists of Each element of the current control device 25 is configured as follows.

The comparator 15 is connected to the vertical linear motor 12.
Between armature coil groups with different armature coil pitches
The value of the armature coil pitch change position 18 indicating the position is set as a threshold
As the position feedback output from the position detector 13.
Of the armature coil pitch change position 18 and the value of the
The values are compared, and a position feedback signal 14 and a switch switching signal 16 are output. The subtracter 17 subtracts the value of the armature coil pitch change position 18 from the value of the position feedback signal 14 output from the comparator 15, and outputs the result to the multiplier 20. The multiplier 20 multiplies the output of the subtractor 17 by the armature coil pitch ratio 19, and outputs the result to the adder 21. The adder 21 adds the output of the multiplier 20 and the value of the armature coil pitch change position 18 , and
The pseudo position feedback signal 22 is output to the switch 23. The switch 23 is controlled by a switch switching signal 16 output from the comparator 15, switches between the position feedback signal 14 output from the comparator 15 and the pseudo position feedback signal 22 output from the adder 21, and Current control position feedback signal 2
Output as 4.

Next, the operation of this embodiment will be described. In the vertical linear motor 12, the armature coil pitches of the armature coil groups 7 and 10 are both set to A, and the armature coil pitches of the armature coil groups 8 and 9 are set to B. . Further, if the armature coil pitch is B
X is a position at which the position changes from A to A, that is, an intermediate position between the armature coil groups 7 and 8.

Now, the transfer capsule 11 has the armature coil group 8
Is moved from the position of the armature coil group 7 to the position of the armature coil group 7, the value of the position feedback signal 14 indicating the position of the transport capsule 11 output from the position detector 13 in the current controller 25 is compared with the threshold value x by the comparator 15. I do.

[0017] Here, the comparator 15 value threshold der position feedback signal 14 outputted from the position detector 13
Is smaller than the value of the armature coil pitch change position 18 , that is, the transfer capsule 11
If there is, the position feedback signal 14 and the switch switching signal 16 are output to the switch 23. The switch 23 supplies the position feedback signal 14 to the driver 3 as a current control position feedback signal 24 according to the switch switching signal 16. The driver 3 uses the current waveform generator 4 to generate a drive current having a current waveform corresponding to an electrical angle of 3 · B from the thrust command 2 input from the controller 1 and the current control position feedback signal 24 supplied from the switch 23. Output.

In the comparator 15, the value of the position feedback signal 14 output from the position detector 13 is a threshold value .
If the value is larger than the value of the armature coil pitch change position 18 ,
That is, when the transport capsule 11 is located at the position of the armature coil group 7, the switch switching signal 16 is output to the switch 23 and the position feedback signal 14 is output to the subtractor 17.

The subtractor 17 subtracts the value of the armature coil pitch change position 18 from the value of the position feedback signal 14 output from the subtractor 17 and outputs the difference to the multiplier 20. The multiplier 20 multiplies the deviation output from the subtractor 17 by the value of the armature coil pitch ratio 19 = B / A, and outputs the result to the adder 21. The adder 21 adds the value of the armature coil pitch change position 18 and the value of the output of the multiplier 20, and outputs the addition result as a pseudo position feedback signal 22.
Is output to the switch 23. The switch 23 receives the pseudo position feedback signal 2 by the switch switching signal 16.
2 is supplied to the driver 3 as a current control position feedback signal 24. The driver 3 outputs a current waveform corresponding to an electrical angle of 3 · A by the current waveform generator 4 from the thrust command 2 input from the controller 1 and the current control position feedback signal 24 supplied from the switch 23. I do.

As described above, in the present embodiment, the transport capsule 1
1 to control the electrical angle of the current waveform of the drive current for driving the vertical linear motor 12 output from the driver 3 in accordance with the position of the armature coil of the armature coil pitch group in which the transfer capsule 11 is located. By making the pitch and the electrical angle of the current waveform of the drive current apparently equal, the transport capsule 11 can be smoothly operated without step-out of the vertical linear motor.

[0021]

As described above, according to the present invention, even if the armature coil pitch of the armature coil group of the vertical linear motor changes, the synchronous linear motor does not lose synchronism. The transport capsule can be operated smoothly. Further, the present invention has an advantage that it is economical because it is not necessary to increase the number of armature coils in order to prevent step-out.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a vertical linear motor system using a current control device according to one embodiment of the present invention.

FIG. 2 is a configuration diagram of a conventional vertical linear motor system.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Controller 2 ... Thrust command 3 ... Driver 4 ... Current waveform generator 5 ... Conduction switching device 6 ... Conduction switching device 7-10 ... Armature coil group 11 ... Conveying capsule 13 ... Position detector 14 ... Position feedback signal 15 ... Comparator 16 Switch switching signal 17 Subtractor 18 Armature coil pitch change position 19 Armature coil pitch ratio 20 Multiplier 21 Adder 22 Pseudo position feedback signal 23 Switch 24 Current control position feedback signal 25 ... Current control device

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Akihiro Maekawa 1-1-1, Wadazakicho, Hyogo-ku, Kobe-shi, Hyogo Mitsubishi Heavy Industries, Ltd. 1-1-1, Wadazakicho, Kobe Shipyard, Mitsubishi Heavy Industries, Ltd. (72) Inventor Kazuhiro Kamishiro 1-1-1, Wadasakicho, Hyogo-ku, Kobe, Hyogo Prefecture, Japan Kobe Shipyard, Mitsubishi Heavy Industries (56) Reference Document JP-A-4-285407 (JP, A) JP-A-49-72802 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) H02P 5/00 101 H02P 7/00 101 B60L 13/03-13/10

Claims (1)

(57) [Claims] 1. A current control device for controlling a drive current of a vertical linear motor having a plurality of armature coil groups having different armature coil pitches, wherein the current control device is a position signal of a transport capsule driven by the vertical linear motor. An armature coil for receiving a position feedback signal and indicating a position between armature coil groups having different armature coil pitches from the value of the position feedback signal;
A comparator for comparing the value of Irupitchi changed position, a subtracter for subtracting the value before Symbol the armature coil pitch change position from the value of the position feedback signal outputted from said comparator, said subtractor output value A multiplier that multiplies the armature coil pitch ratio between the armature coil groups having different armature coil pitches, and a pseudo position feedback by adding an output value of the multiplier and a value of the armature coil pitch change position. An adder that outputs a signal, a pseudo position feedback signal output from the adder and a position feedback signal output from the comparator, and these are input in response to a switch switching signal output from the comparator. A switch for switching the feedback signal to output a current control position feedback signal for controlling the current waveform of the drive current. And the comparator outputs the position feedback signal to the switch when the value of the input position feedback signal is smaller than the value of the armature coil pitch change position ,
The armature co the value of the position feedback signal input
If the value is greater than the value of the pitch change position, the position feedback signal is output to the subtractor, and a switch switching signal indicating to which of the switch and the subtractor the position feedback signal is output is output to the switch. A current control device for a vertical linear motor.