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DE10161227A1 - Synchronous motor position/speed measurement device has primary part with drive coils, secondary part with magnets, two position measurement systems, two evaluation units and a comparator - Google Patents

Synchronous motor position/speed measurement device has primary part with drive coils, secondary part with magnets, two position measurement systems, two evaluation units and a comparator

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Publication number
DE10161227A1
DE10161227A1 DE10161227A DE10161227A DE10161227A1 DE 10161227 A1 DE10161227 A1 DE 10161227A1 DE 10161227 A DE10161227 A DE 10161227A DE 10161227 A DE10161227 A DE 10161227A DE 10161227 A1 DE10161227 A1 DE 10161227A1
Authority
DE
Germany
Prior art keywords
speed
measuring system
primary part
comparator
secondary part
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
DE10161227A
Other languages
German (de)
Inventor
Hans Lengenfelder
Alfons Baumgartner
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.)
Dr Johannes Heidenhain GmbH
Original Assignee
Dr Johannes Heidenhain GmbH
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 Dr Johannes Heidenhain GmbH filed Critical Dr Johannes Heidenhain GmbH
Priority to DE10161227A priority Critical patent/DE10161227A1/en
Priority to DE20122389U priority patent/DE20122389U1/en
Publication of DE10161227A1 publication Critical patent/DE10161227A1/en
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • 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
    • 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
    • G01D5/20—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 by varying inductance, e.g. by a movable armature
    • G01D5/2006—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 by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils
    • G01D5/2033—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 by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils controlling the saturation of a magnetic circuit by means of a movable element, e.g. a magnet
    • 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
    • G01D5/244—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 characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24419—Interpolation not coverd by groups G01D5/24404, G01D5/24409 or G01D5/24414
    • 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
    • G01D5/244—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 characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—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 characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/50—Devices characterised by the use of electric or magnetic means for measuring linear speed
    • G01P3/54—Devices characterised by the use of electric or magnetic means for measuring linear speed by measuring frequency of generated current or voltage
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
    • G01P3/66—Devices characterised by the determination of the time taken to traverse a fixed distance using electric or magnetic means
    • 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
    • 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
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/006—Controlling 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/17—Circuit arrangements for detecting position and for generating speed information
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/181—Circuit arrangements for detecting position without separate position detecting elements using different methods depending on the speed
    • 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
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/05—Determination of the rotor position by using two different methods and/or motor models

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Linear Motors (AREA)

Abstract

The device has a primary part (1) with drive coils (3), a secondary part (2) with regularly arranged magnets (4), first and second position measurement systems with associated independent evaluation units (7,8) and a comparator (11) that ensures correct detection of position/speed values by comparing the evaluation units' outputs. The output signal of the second position measurement system results from sampling the regularly arranged magnets.

Description

Die Erfindung betrifft eine Vorrichtung zur sicheren Positions- und/oder Geschwindigkeitsmessung eines Synchronmotors nach Anspruch 1. Die Erfindung läßt sich für rotatorische Antriebe und besonders vorteilhaft für Linearmotoren einsetzen. The invention relates to a device for secure position and / or Speed measurement of a synchronous motor according to claim 1. Die Invention can be used for rotary drives and particularly advantageous for Use linear motors.

Synchronmotoren finden dank immer weiter entwickelter Ansteuerelektroniken viele Anwendungen in den Bereichen der Technik. Oft ist die zuverlässige Positions- oder Geschwindigkeitsregelung von größter Bedeutung für die Sicherheit von Einrichtungen und Personen, die mit diesen Einrichtungen zu tun haben. Dies gilt insbesondere für die Anwendung von Linearmotoren, die inzwischen in Ausführungen zum Einsatz kommen, die Beschleunigungswerte von mehr als der dreißigfachen Erdbeschleunigung erlauben. Um dennoch die Sicherheit einer solchen Anwendung zu gewährleisten, wird gefordert, alle sicherheitsrelevanten Elemente einer Steuerung eines Synchronmotors zweikanalig auszulegen. Als wichtiges Element einer solchen Steuerung kann dabei die Vorrichtung zum Erfassen der aktuellen Position oder der aus der Positionsänderung abgeleiteten aktuellen Geschwindigkeit eines Synchronmotors gesehen werden. Diese Größen dienen einerseits dazu, den Synchronmotor mittels einer Servo - Regelung anzusteuern, andererseits wird anhand dieser Größen auch die Einhaltung bestimmter sicherer Bereiche überwacht. Dies kann ein Bereich sein, in dem sich das Werkzeug einer Werkzeugmaschine bewegen darf, oder auch eine Maximalgeschwindigkeit, etwa beim Einrichten einer Werkzeugmaschine, wenn mit einer sicher reduzierten Geschwindigkeit das Werkzeug bei geöffneter Abdeckung bewegt werden muß. Synchronous motors are finding thanks to more and more developed Control electronics many applications in the fields of technology. Often it is Reliable position or speed control of paramount importance for the security of facilities and people using these facilities have to do. This applies in particular to the use of linear motors, which are now used in versions that Allow acceleration values of more than thirty times the acceleration due to gravity. In order to nevertheless guarantee the security of such an application, required all safety-relevant elements of a control system To design a synchronous motor with two channels. As an important element of such The device for detecting the current position can be controlled or the current speed derived from the change in position of a synchronous motor can be seen. On the one hand, these sizes serve to control the synchronous motor by means of a servo control, on the other hand, these parameters are also used to determine compliance monitored safe areas. This can be an area in which the Tool of a machine tool may move, or one Maximum speed, for example when setting up a machine tool, if with at a safely reduced speed when the tool is open Cover must be moved.

Um eine sichere Erfassung der erwähnten Größen zu ermöglichen, schlägt die EP 658 832 B1 vor, ein Lageerfassungssystem zu verwenden, das einen Absolut- und einen Inkrementalgeber aufweist, sowie zwei unabhängige Prozessorsysteme zur Bildung von Positionswerten aus den beiden Gebersignalen. Ein Vergleich der beiden Positionswerte erlaubt dann ein Eingreifen, falls die Positionswerte voneinander abweichen. So wird die sichere Erfassung der Positionswerte sichergestellt. Nachteilig ist jedoch, daß zwei separate Positionsgeber verwendet werden müssen, bzw. der in einem Ausführensbeispiel beschriebene EQN-Geber nur an rotatorischen Antrieben verwendet werden kann. In order to enable a reliable recording of the sizes mentioned, beats EP 658 832 B1 propose to use a position detection system that has a Has absolute and one incremental encoder, as well as two independent Processor systems for forming position values from the two Encoder signals. A comparison of the two position values then allows one Intervene if the position values differ from each other. So the safe one Capture of position values ensured. The disadvantage, however, is that two separate position sensors must be used, or the one in one EQN encoders described in the exemplary embodiment only on rotary Drives can be used.

Für lineare Synchronmotoren ist es bekannt, die durch die regelmäßige Anordnung der Magnete im Sekundärteil gegebene Teilung zur Positionsbestimmung zu verwenden. So beschreibt die JP 56166762 A das Primärteil eines Linearmotors, in dem Sensoren innerhalb der Antriebsspulen des Primärteils angeordnet sind, die durch die Abtastung der Magnete des Sekundärteils eine Erkennung der Position des Linearmotors erlauben. Eine solche Positionsmessung erlaubt aber nicht die zweikanalige Überwachung der Position, die für sicherheitsrelevante Anwendungen dringend erforderlich ist. For linear synchronous motors it is known to be due to the regular Arrangement of the magnets in the secondary part given division Use position determination. JP 56166762 A describes the primary part a linear motor in which sensors inside the drive coils of the Primary part are arranged by the scanning of the magnets of the Allow secondary part to recognize the position of the linear motor. Such Position measurement does not allow two-channel monitoring of the Position that is urgently required for security-relevant applications.

Aufgabe der Erfindung ist es, eine Vorrichtung zur sicheren Positions- und/oder Geschwindigkeitsmessung eines Synchronmotors anzugeben, die mit einfachen Mitteln realisierbar ist und dennoch eine zweikanalige Überwachung der Meßwerte erlaubt. The object of the invention is to provide a device for secure position and / or to specify speed measurement of a synchronous motor, the can be realized with simple means and is still a two-channel one Monitoring of the measured values allowed.

Diese Aufgabe wird gelöst durch eine Vorrichtung mit den Merkmalen des Anspruches 1. Vorteilhafte Ausführungsformen ergeben sich aus den Merkmalen, die in den von Anspruch 1 abhängigen Ansprüchen aufgeführt sind. This object is achieved by a device with the features of Claim 1. Advantageous embodiments result from the Features set out in the claims dependent on claim 1.

Es wird nun vorgeschlagen, in einem Synchronmotor mit einem ersten und einem zweiten Positionsmeßsystem, deren Ausgangssignale in jeweils unabhängigen Auswerteeinheiten verarbeitet werden und deren Positions- und/oder Geschwindigkeitswerte miteinander verglichen werden, das zweite Positionsmeßsystem so auszubilden, daß durch die Abtastung der regelmäßig angeordneten Magnete des Sekundärteils das Ausgangssignal des zweiten Positionsmeßsystems entsteht. It is now proposed in a synchronous motor with a first and a second position measuring system, the output signals in each independent evaluation units are processed and their position and / or speed values are compared, the second Position measuring system so that by scanning the Regularly arranged magnets of the secondary part, the output signal of the second position measuring system.

Eine besonders einfache und kostengünstige Realisierung der Erfindung liegt vor, wenn die Ausgangssignale des zweiten Positionsmeßsystems aus der in wenigstens einer Antriebsspule des Primärteils induzierten Spannung besteht. Das zweite Positionsmeßsystem benötigt dann keine eigenen Bauteile, es wird lediglich ein bereits vorhandenes Signal zur Positionsmessung verwendet. A particularly simple and inexpensive implementation of the invention is present when the output signals of the second position measuring system the voltage induced in at least one drive coil of the primary part consists. The second position measuring system then does not need its own Components, it just becomes an existing signal for position measurement used.

Weitere Vorteile sowie Einzelheiten der vorliegenden Erfindung ergeben sich aus der nachfolgenden Beschreibung einer bevorzugten Ausführungsform anhand der Fig. 1, die eine schematische Darstellung eines Linearmotors zusammen mit einem Blockschaltbild der Vorrichtung zur sicheren Positions- und/oder Geschwindigkeitsmessung zeigt. Further advantages and details of the present invention result from the following description of a preferred embodiment with reference to FIG. 1, which shows a schematic representation of a linear motor together with a block diagram of the device for safe position and / or speed measurement.

In Fig. 1 erkennt man einen linearen Synchronmotor, hier vereinfachend Linearmotor genannt. Der Linearmotor besteht aus einem Primärteil 1, in dessen Gehäuse Antriebsspulen 3 auf einen Eisenkern 14 gewickelt sind. Das Primärteil 1 ist gegenüber dem Sekundärteil 2 in Richtung X beweglich geführt. Das Sekundärteil 2 trägt regelmäßig angeordnete Magnete 4. Durch geeignete (und hier nicht dargestellte) Ansteuerung der Antriebsspulen 3 wird eine Kraft erzeugt, die das Primärteil 1 in die gewünschte Richtung bewegt, oder auch das Primärteil 1 in einer gewünschten Position festhält. Letzteres ist etwa bei einer hängenden Achse an einer Werkzeugmaschine wichtig. Um nun eine zweikanalige Positions- und/oder Geschwindigkeitsmessung zu erhalten, ist am Sekundärteil 2 ein Maßstab 12 befestigt. Der Maßstab 12 kann eine Teilung verschiedenster Art aufweisen, es seien hier nur optische und magnetische Teilungen erwähnt. Zusammen mit einem entsprechenden Abtastkopf 13, der sich am oder im Primärteil 2 befindet, bildet der Maßstab 12 ein erstes Positionsmeßsystem. Je nach Bedarf kann hierbei ein absolutes Positionsmeßsystem zum Einsatz kommen (wenn nach dem Einschalten die Position des Primärteils 1 sofort bekannt sein muß) oder ein inkrementelles Positionsmeßsystem (wenn das Anfahren einer Referenzmarke zur Initialisierung einer absoluten Positionsmessung akzeptabel ist). Vorzugsweise weist dieses erste Positionsmeßsystem eine Auflösung auf, wie sie zur Lageregelung notwenig ist. Die Ausgangssignale 5 des Abtastkopfes 13 werden einer ersten Auswerteeinheit 7 zugeführt, in der ein Positionswert oder auch ein aus den Positionswerten abgeleiteter Geschwindigkeitswert gebildet wird. In Fig. 1 one recognizes a linear synchronous motor, here called simplistic linear motor. The linear motor consists of a primary part 1 , in the housing of which drive coils 3 are wound on an iron core 14 . The primary part 1 is movably guided in the direction X relative to the secondary part 2 . The secondary part 2 carries magnets 4 arranged regularly. By suitable (and not shown here) actuation of the drive coils 3 , a force is generated which moves the primary part 1 in the desired direction or also holds the primary part 1 in a desired position. The latter is important for a hanging axis on a machine tool, for example. In order to obtain a two-channel position and / or speed measurement, a scale 12 is attached to the secondary part 2 . The scale 12 can have a division of various kinds, only optical and magnetic divisions should be mentioned here. Together with a corresponding scanning head 13 , which is located on or in the primary part 2 , the scale 12 forms a first position measuring system. Depending on requirements, an absolute position measuring system can be used (if the position of primary part 1 must be known immediately after switching on) or an incremental position measuring system (if approaching a reference mark to initialize an absolute position measurement is acceptable). This first position measuring system preferably has a resolution which is necessary for position control. The output signals 5 of the scanning head 13 are fed to a first evaluation unit 7 , in which a position value or also a speed value derived from the position values is formed.

Bewegt sich das Primärteil 1 gegenüber dem Sekundärteil 2, so wird in den Antriebsspulen 3 durch das wechselnde Feld der Magneten 4 eine Spannung induziert. Diese Spannung dient als Ausgangssignal 6 eines zweiten Positionsmeßsystems. In Analogie zum ersten Positionsmeßsystem wird hier die Anordnung der Magnete 4 als Teilung verwendet, die Antriebsspulen 3 dienen als Abtastkopf. Das Ausgangssignal 6 wird einer zweiten, von der ersten unabhängigen Auswerteinheit 8 zugeführt, die aus diesem Ausgangssignal wiederum einen Positions- und/oder Geschwindigkeitswert 10 bildet. Durch eine Interpolation des Ausgangssignals 6 kann dabei der kleinste Meßschritt des zweiten Positionsmeßsystems erheblich unter die Teilungsperiode der Anordnung der Magnete 4 (typisch etwa 32 mm) verringert werden. Berücksichtigt man die Signale zweier Antriebsspulen 3, die phasenverschobene Signale liefern, kann das zweite Positionsmeßsystem auch eine Richtungsinformation liefern. If the primary part 1 moves relative to the secondary part 2 , a voltage is induced in the drive coils 3 by the changing field of the magnets 4 . This voltage serves as output signal 6 of a second position measuring system. Analogous to the first position measuring system, the arrangement of the magnets 4 is used here as a division, the drive coils 3 serve as a scanning head. The output signal 6 is fed to a second, independent of the first evaluation unit 8 , which in turn forms a position and / or speed value 10 from this output signal. By interpolating the output signal 6 , the smallest measuring step of the second position measuring system can be reduced considerably below the division period of the arrangement of the magnets 4 (typically about 32 mm). If one takes into account the signals of two drive coils 3 , which supply phase-shifted signals, the second position measuring system can also provide directional information.

Es ist auch möglich, statt der Antriebsspulen 3 andere Sensoren zu benutzen, die eine Abtastung der Magnete 4 erlauben. So können separate Spulen vorgesehen werden, aber auch Hall-Sensoren oder MR-Sensoren. Besonders vorteilhaft in der beschriebenen Ausführungsform ist aber, daß ein zweites Meßsystem realisiert wird, ohne einen zusätzlichen Maßstab 12 und ohne einen zusätzlichen Abtastkopf 13 zu benötigen. It is also possible to use other sensors instead of the drive coils 3 , which allow the magnets 4 to be scanned. So separate coils can be provided, but also Hall sensors or MR sensors. However, it is particularly advantageous in the embodiment described that a second measuring system is implemented without the need for an additional scale 12 and without an additional scanning head 13 .

Die Positions- und/oder Geschwindigkeitswerte 9, 10 der Auswerteeinheiten 7, 8 werden einem Vergleicher 11 zugeführt, der bei einer Abweichung der entsprechenden Werte erkennt, daß ein Positionsmeßsystem fehlerhaft arbeitet und darauf eine Aktion zur Sicherung der Anwendung auslösen kann, etwa durch eine Notabschaltung. Da Position und Geschwindigkeit zweikanalig erfaßt und überprüft werden können, ist es mit einer solchen Anordnung möglich, etwa auf mechanische Endschalter zu verzichten und statt dessen, etwa im Vergleicher 11, die aktuelle Position auf Einhaltung bestimmter Vorgaben zu überprüfen. Auch kann durch die sichere Erfassung der Geschwindigkeit die Einhaltung einer vorgegebenen Maximalgeschwindigkeit überwacht werden, beispielsweise bei sicher reduzierter Geschwindigkeit im Einrichtbetrieb einer Werkzeugmaschine. The position and / or speed values 9 , 10 of the evaluation units 7 , 8 are fed to a comparator 11 which , in the event of a deviation in the corresponding values, recognizes that a position measuring system is malfunctioning and can then trigger an action to secure the application, for example by an emergency shutdown , Since position and speed can be recorded and checked over two channels, it is possible with such an arrangement to dispense with mechanical limit switches, for example, and instead to check, for example in comparator 11 , the current position for compliance with certain specifications. Compliance with a predetermined maximum speed can also be monitored by the reliable detection of the speed, for example at a safely reduced speed in the set-up mode of a machine tool.

Es wurde im Ausführungsbeispiel ein Linearmotor mit beweglichem Primärteil 1 beschrieben. Die Erfindung läßt sich aber auch für Linearmotoren mit beweglichem Sekundärteil einsetzen. Beide Varianten sind natürlich auch für rotatorische Synchronmotoren möglich. Ebenso ist der Einsatz in Synchronmotoren mit einem Primärteil 1 ohne Eisenkern 14 möglich. A linear motor with a movable primary part 1 was described in the exemplary embodiment. The invention can also be used for linear motors with a movable secondary part. Both variants are of course also possible for rotary synchronous motors. Use in synchronous motors with a primary part 1 without an iron core 14 is also possible.

Claims (6)

1. Vorrichtung zur sicheren Positions- und/oder Geschwindigkeitsmessung eines Synchronmotors mit einem Primärteil (1) mit Antriebsspulen (3) und einem Sekundärteil (2) mit regelmäßig angeordneten Magneten (4), mit einem ersten und einem zweiten Positionsmeßsystem, deren voneinander unabhängige Ausgangssignale (5, 6) von der Positionierung des Primärteils (1) relativ zum Sekundärteil (2) abhängen, und deren Ausgangssignale (5, 6) in unabhängigen Auswerteeinheiten (7, 8) zu Positions- und/oder Geschwindigkeitswerten (9, 10) verarbeitet werden, sowie einem Vergleicher (11), der durch Vergleich der Positions- und/oder Geschwindigkeitswerte (9, 10) die korrekte Erfassung der Position und/oder Geschwindigkeit sicherstellt, wobei das Ausgangssignal (6) des zweiten Positionsmeßsystems durch eine Abtastung der regelmäßig angeordneten Magnete (4) entsteht. 1. Device for the safe position and / or speed measurement of a synchronous motor with a primary part ( 1 ) with drive coils ( 3 ) and a secondary part ( 2 ) with regularly arranged magnets ( 4 ), with a first and a second position measuring system, their independent output signals ( 5 , 6 ) depend on the positioning of the primary part ( 1 ) relative to the secondary part ( 2 ), and their output signals ( 5 , 6 ) are processed in independent evaluation units ( 7 , 8 ) to position and / or speed values ( 9 , 10 ) and a comparator ( 11 ), which ensures the correct detection of the position and / or speed by comparing the position and / or speed values ( 9 , 10 ), the output signal ( 6 ) of the second position measuring system being sampled by the regularly arranged Magnets ( 4 ) are created. 2. Vorrichtung nach Anspruch 1, bei der das Ausgangssignal (6) des zweiten Positionsmeßsystems aus der in wenigstens einer Antriebsspule (3) induzierten Spannung gebildet ist. 2. Device according to claim 1, wherein the output signal ( 6 ) of the second position measuring system is formed from the voltage induced in at least one drive coil ( 3 ). 3. Vorrichtung nach Anspruch 1 oder 2, bei der der Synchronmotor ein Linearmotor ist. 3. Device according to claim 1 or 2, wherein the synchronous motor Is linear motor. 4. Vorrichtung nach Anspruch 3, bei der der Linearmotor ein ortsfestes Sekundärteil (2) und ein relativ dazu bewegliches Primärteil (1) aufweist. 4. The device according to claim 3, wherein the linear motor has a stationary secondary part ( 2 ) and a primary part ( 1 ) movable relative thereto. 5. Vorrichtung nach einem der Ansprüche 1-4, bei der mit dem Sekundärteil (2) ein Maßstab (12) des ersten Positionsmeßsystems verbunden ist und mit dem Primärteil (1) ein Abtastkopf (13) zur Abtastung des Maßstabes (12) verbunden ist, der das Ausgangssignal (5) des ersten Positionsmeßsystems liefert. 5. Device according to one of claims 1-4, in which a scale (12) of the first position measuring system is connected to the secondary part ( 2 ) and a scanning head ( 13 ) for scanning the scale ( 12 ) is connected to the primary part ( 1 ) , which delivers the output signal ( 5 ) of the first position measuring system. 6. Vorrichtung nach einem der vorhergehenden Ansprüche, bei der die Positionswerte und/oder Geschwindigkeitswerte (9, 10) der unabhängigen Auswerteeinheiten (7, 8) im Vergleicher (11) auf Einhaltung von Positionierungsgrenzen und/oder Geschwindigkeitsgrenzen überprüfbar sind. 6. Device according to one of the preceding claims, in which the position values and / or speed values ( 9 , 10 ) of the independent evaluation units ( 7 , 8 ) can be checked in the comparator ( 11 ) for compliance with positioning limits and / or speed limits.
DE10161227A 2001-12-13 2001-12-13 Synchronous motor position/speed measurement device has primary part with drive coils, secondary part with magnets, two position measurement systems, two evaluation units and a comparator Ceased DE10161227A1 (en)

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