Разработки опытных образцов автоматических транспортных линий с прямым электроприводом
Ключевые слова:
автоматическая транспортная линия, линейный электропривод, линейный двигатель
Аннотация
Возрастающие требования к производительности, точности и повторяемости изделий промышленного производства требуют создания полностью автоматизированных транспортных линий, на которых заготовка монтируется однажды и проходит все стадии технологического процесса. Для решения этих задач вместо конвейерных систем с ременным или роликовым приводом ведущие производители машиностроительного оборудования предлагают модульные автоматические транспортные линии на базе прямых электроприводов с синхронными линейными машинами с постоянными магнитами. Особенностью использования линейной машины в транспортной линии стало обращенное взаимное расположение первичной части (якоря) и вторичной части (магнитного пути), при котором сегмент магнитного пути движется над распределенными вдоль линии модулями с набором якорей и датчиков, управляемых от индивидуальных сервоусилителей, связанных по цифровой шине. При таком решении заготовка крепится к пассивной подвижной части, не требующей подвода электрических кабелей – для обеспечения возможности ее свободного и независимого перемещения в рамках всей технологической линии. Модульность конструкции обеспечивает гибкость в построении транспортных систем. В статье приведен обзор решений различных производителей, показаны особенности применения линейных синхронных машин и датчиков в таких системах, предложены результаты собственных разработок опытных образцов транспортных линий.
Литература
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2. Rexroth Bosch Group. Linear Motion System: Transport and Positioning for Demanding Applications. R999000039 (2014-11).
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7. Pat. US20220229123A1. Position Measuring Mechanism and Measuring Method of Linear Motion System / M. Tiapkin et al., 2022.
8. Sugimoto T., Suzuki K., Dohmeki H. A Position Detecting Method Using Hall Element for Discontinuous Stator Permanent Magnet Linear Synchronous Motor. – XIX International Conference on Electrical Machines (ICEM), 2010, DOI: 10.1109/ICELMACH.2010.5608276.
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14. Rassudov L. et al. Digital Twin Implementation for Accelerating the Development of Flexible Transportation System Control Software. – IEEE 62nd International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON), 2021, DOI: 10.1109/RTUCON53541.2021.9711704.
15. Pat. US20190193942A1. Linear Motor Control Apparatus and Linear Motor Control System / Y. Hayashi, S. Urata, 2019.
16. Wang M. et al. A Driver and Control Method for Primary Stator Discontinuous Segmented-PMLSM. – Symmetry, 2021, 13(11), 2216, DOI:10.3390/sym13112216.
17. Nevaranta N. et al. Cogging Force Compensation of a Discontinuous Permanent Magnet Track Linear Motor Drive. – 19th European Conference on Power Electronics and Applications, 2017, DOI: 10.23919/EPE17ECCEEurope.2017.8099188.
18. Pat. US20210139251A1. Method and Apparatus for Identifying a Mover on a Track / P.E. Ozimek et al., 2021.
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20. Рассудов Л.Н. Учет аппаратных ограничений при построении систем управления сервопривода. – Электричество, 2020, № 7, с. 57–64.
21. Bitko A. et al. Comparison of Modular Permanent Magnet Linear Synchronous Motors with Different Winding Layouts of Segmented Stator. – 28th International Workshop on Electric Drives: Improving Reliability of Electric Drives (IWED), 2021, DOI: 10.1109/IWED52055.2021.9376376.
22. Zhang T., Mei X., Du X. A New Winding Segmented Permanent Magnet Linear Synchronous Motor for Multiple Passive Carriers. – IEEE Transactions on Magnetics, 2022, vol. 58, No. 7, DOI: 10.1109/TMAG.2022.3171213.
23. Rovers J.M.M., Jansen J.W., Lomonova E.A. Novel Force Ripple Reduction Method for a Moving-Magnet Linear Synchronous Motor with a Segmented Stator. – International Conference on Electrical Machines and Systems, Wuhan, 2008, pp. 2942–2947.
#
1. ATS. SuperTrak. Modular Transport System. Operation and Maintenance Manual. Version V1.1 (06.02.2018).
2. Rexroth Bosch Group. Linear Motion System: Transport and Positioning for Demanding Applications. R999000039 (2014-11).
3. Justek. Loop Type Conveying System [Electron. resource], URL: http://www.justek.com/english/product/p_detail.php?no=48&Code_1 =6&Code_2=11 (Date of appeal 12.12.2022).
4. Yamaha. Linear Conveyor Modular System LCMR200. Release 2020 [Electron. resource], URL: https://global.yamaha-motor.com/business/robot/lineup/lcm/lcmr200/feature02.html (Date of appeal 12.12.2022).
5. Mihalachi M., Leidhold R., Mutschler P. Linear Drive System for Combined Transportation and Processing of Materials. – 35th Annual Conference of IEEE Industrial Electronics, 2009, pp. 1185–1190, DOI: 10.1109/IECON.2009.5414660.
6. Balkovoy A.P., Tsatsenkin V.К. Pretsizionnyy elektroprivod s ventil'nym dvigatelem (Precision Electric Drive with Valve Motor). М.: Izdatel'skiy dom MEI, 2010, 328 p.
7. Pat. US20220229123A1. Position Measuring Mechanism and Measuring Method of Linear Motion System / M. Tiapkin et al., 2022.
8. Sugimoto T., Suzuki K., Dohmeki H. A Position Detecting Method Using Hall Element for Discontinuous Stator Permanent Magnet Linear Synchronous Motor. – XIX International Conference on Electrical Machines (ICEM), 2010, DOI: 10.1109/ICELMACH. 2010.5608276.
9. Zhang T., Mei X., Du X. Absolute Position Acquisition for Linear Synchronous Motor With Passive Mover. – IEEE Access, 2021, vol. 9, pp. 100757–100768, DOI: 10.1109/ACCESS.2021.3096957.
10. Pat. US20150303841A1. Linear Motor Control Apparatus and Linear Motor Control System / N. Suzuki et al., 2015.
11. Bosch Rexroth. Meet the All-Rounder in Conveyor Technology – Transfer System TS2 Plus [Electron. resource], URL: https://www.boschrexroth.com/en/th/products/product-groups/assembly-technology/topics/conveyor-systems/ts-2plus-transfer-system (Date of appeal 12.02.2022).
12. SuperTrak. Conveyance. The Foundation of World Leading Automation [Electron. resource], URL: https://supertrakconveyance.com (Date of appeal 12.12.2022).
13. Beckhoff. XTS: Linear Product Transport [Electron. resource], URL: https://www.beckhoff.com/en-en/products/motion/xts-linear-pro-duct-transport (Date of appeal 12.12.2022).
14. Rassudov L. et al. Digital Twin Implementation for Accelerating the Development of Flexible Transportation System Control Software. – IEEE 62nd International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON), 2021, DOI: 10.1109/RTUCON53541.2021.9711704.
15. Pat. US20190193942A1. Linear Motor Control Apparatus and Linear Motor Control System / Y. Hayashi, S. Urata, 2019.
16. Wang M. et al. A Driver and Control Method for Primary Stator Discontinuous Segmented-PMLSM. – Symmetry, 2021, 13(11), 2216, DOI:10.3390/sym13112216.
17. Nevaranta N. et al. Cogging Force Compensation of a Discontinuous Permanent Magnet Track Linear Motor Drive. – 19th European Conference on Power Electronics and Applications, 2017, DOI: 10.23919/EPE17ECCEEurope.2017.8099188.
18. Pat. US20210139251A1. Method and Apparatus for Identifying a Mover on a Track / P.E. Ozimek et al., 2021.
19. Rassudov L.N. et al. Elektrotekhnika – in Russ. (Electrical Engineering), 2015, vol. 2, No. 2, pp. 3–6.
20. Rassudov L.N. Elektrichestvo – in Russ. (Electricity), 2020, No. 7, pp. 57–64.
21. Bitko A. et al. Comparison of Modular Permanent Magnet Linear Synchronous Motors with Different Winding Layouts of Segmented Stator. – 28th International Workshop on Electric Drives: Improving Reliability of Electric Drives (IWED), 2021, DOI: 10.1109/IWED52055.2021.9376376.
22. Zhang T., Mei X., Du X. A New Winding Segmented Permanent Magnet Linear Synchronous Motor for Multiple Passive Carriers. – IEEE Transactions on Magnetics, 2022, vol. 58, No. 7, DOI: 10.1109/TMAG.2022.3171213.
23. Rovers J.M.M., Jansen J.W., Lomonova E.A. Novel Force Ripple Reduction Method for a Moving-Magnet Linear Synchronous Motor with a Segmented Stator. – International Conference on Electrical Machines and Systems, Wuhan, 2008, pp. 2942–2947.
2. Rexroth Bosch Group. Linear Motion System: Transport and Positioning for Demanding Applications. R999000039 (2014-11).
3. Justek. Loop Type Conveying System [Электрон. ресурс], URL: http://www.justek.com/english/product/p_detail.php?no=48&Code_1= 6&Code_2=11 (дата обращения 12.12.2022).
4. Yamaha. Linear Conveyor Modular System LCMR200. Release 2020 [Электрон. ресурс], URL: https://global.yamaha-motor.com/business/robot/lineup/lcm/lcmr200/feature02.html (дата обращения 12.12.2022).
5. Mihalachi M., Leidhold R., Mutschler P. Linear Drive System for Combined Transportation and Processing of Materials. – 35th Annual Conference of IEEE Industrial Electronics, 2009, pp. 1185–1190, DOI: 10.1109/IECON.2009.5414660.
6. Балковой А.П., Цаценкин В.К. Прецизионный электропривод с вентильным двигателем. М.: Издательский дом МЭИ, 2010, 328 с.
7. Pat. US20220229123A1. Position Measuring Mechanism and Measuring Method of Linear Motion System / M. Tiapkin et al., 2022.
8. Sugimoto T., Suzuki K., Dohmeki H. A Position Detecting Method Using Hall Element for Discontinuous Stator Permanent Magnet Linear Synchronous Motor. – XIX International Conference on Electrical Machines (ICEM), 2010, DOI: 10.1109/ICELMACH.2010.5608276.
9. Zhang T., Mei X., Du X. Absolute Position Acquisition for Linear Synchronous Motor With Passive Mover. – IEEE Access, 2021, vol. 9, pp. 100757–100768, DOI: 10.1109/ACCESS.2021.3096957.
10. Pat. US20150303841A1. Linear Motor Control Apparatus and Linear Motor Control System / N. Suzuki et al., 2015.
11. Bosch Rexroth. Meet the All-Rounder in Conveyor Technology – Transfer System TS2 Plus [Электрон. ресурс], URL: https://www.boschrexroth.com/en/th/products/product-groups/assembly-technology/topics/conveyor-systems/ts-2plus-transfer-system (дата обращения 12.02.2022).
12. SuperTrak. Conveyance. The Foundation of World Leading Automation [Электрон. ресурс], URL: https://supertrakconveyance.com (дата обращения 12.12.2022).
13. Beckhoff. XTS: Linear Product Transport [Электрон. ресурс], URL: https://www.beckhoff.com/en-en/products/motion/xts-linear-pro-duct-transport (дата обращения 12.12.2022).
14. Rassudov L. et al. Digital Twin Implementation for Accelerating the Development of Flexible Transportation System Control Software. – IEEE 62nd International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON), 2021, DOI: 10.1109/RTUCON53541.2021.9711704.
15. Pat. US20190193942A1. Linear Motor Control Apparatus and Linear Motor Control System / Y. Hayashi, S. Urata, 2019.
16. Wang M. et al. A Driver and Control Method for Primary Stator Discontinuous Segmented-PMLSM. – Symmetry, 2021, 13(11), 2216, DOI:10.3390/sym13112216.
17. Nevaranta N. et al. Cogging Force Compensation of a Discontinuous Permanent Magnet Track Linear Motor Drive. – 19th European Conference on Power Electronics and Applications, 2017, DOI: 10.23919/EPE17ECCEEurope.2017.8099188.
18. Pat. US20210139251A1. Method and Apparatus for Identifying a Mover on a Track / P.E. Ozimek et al., 2021.
19. Рассудов Л.Н. и др. Калиброванное управление силой вентильного двигателя. – Электротехника, 2015, т. 2, № 2, с. 3–6.
20. Рассудов Л.Н. Учет аппаратных ограничений при построении систем управления сервопривода. – Электричество, 2020, № 7, с. 57–64.
21. Bitko A. et al. Comparison of Modular Permanent Magnet Linear Synchronous Motors with Different Winding Layouts of Segmented Stator. – 28th International Workshop on Electric Drives: Improving Reliability of Electric Drives (IWED), 2021, DOI: 10.1109/IWED52055.2021.9376376.
22. Zhang T., Mei X., Du X. A New Winding Segmented Permanent Magnet Linear Synchronous Motor for Multiple Passive Carriers. – IEEE Transactions on Magnetics, 2022, vol. 58, No. 7, DOI: 10.1109/TMAG.2022.3171213.
23. Rovers J.M.M., Jansen J.W., Lomonova E.A. Novel Force Ripple Reduction Method for a Moving-Magnet Linear Synchronous Motor with a Segmented Stator. – International Conference on Electrical Machines and Systems, Wuhan, 2008, pp. 2942–2947.
#
1. ATS. SuperTrak. Modular Transport System. Operation and Maintenance Manual. Version V1.1 (06.02.2018).
2. Rexroth Bosch Group. Linear Motion System: Transport and Positioning for Demanding Applications. R999000039 (2014-11).
3. Justek. Loop Type Conveying System [Electron. resource], URL: http://www.justek.com/english/product/p_detail.php?no=48&Code_1 =6&Code_2=11 (Date of appeal 12.12.2022).
4. Yamaha. Linear Conveyor Modular System LCMR200. Release 2020 [Electron. resource], URL: https://global.yamaha-motor.com/business/robot/lineup/lcm/lcmr200/feature02.html (Date of appeal 12.12.2022).
5. Mihalachi M., Leidhold R., Mutschler P. Linear Drive System for Combined Transportation and Processing of Materials. – 35th Annual Conference of IEEE Industrial Electronics, 2009, pp. 1185–1190, DOI: 10.1109/IECON.2009.5414660.
6. Balkovoy A.P., Tsatsenkin V.К. Pretsizionnyy elektroprivod s ventil'nym dvigatelem (Precision Electric Drive with Valve Motor). М.: Izdatel'skiy dom MEI, 2010, 328 p.
7. Pat. US20220229123A1. Position Measuring Mechanism and Measuring Method of Linear Motion System / M. Tiapkin et al., 2022.
8. Sugimoto T., Suzuki K., Dohmeki H. A Position Detecting Method Using Hall Element for Discontinuous Stator Permanent Magnet Linear Synchronous Motor. – XIX International Conference on Electrical Machines (ICEM), 2010, DOI: 10.1109/ICELMACH. 2010.5608276.
9. Zhang T., Mei X., Du X. Absolute Position Acquisition for Linear Synchronous Motor With Passive Mover. – IEEE Access, 2021, vol. 9, pp. 100757–100768, DOI: 10.1109/ACCESS.2021.3096957.
10. Pat. US20150303841A1. Linear Motor Control Apparatus and Linear Motor Control System / N. Suzuki et al., 2015.
11. Bosch Rexroth. Meet the All-Rounder in Conveyor Technology – Transfer System TS2 Plus [Electron. resource], URL: https://www.boschrexroth.com/en/th/products/product-groups/assembly-technology/topics/conveyor-systems/ts-2plus-transfer-system (Date of appeal 12.02.2022).
12. SuperTrak. Conveyance. The Foundation of World Leading Automation [Electron. resource], URL: https://supertrakconveyance.com (Date of appeal 12.12.2022).
13. Beckhoff. XTS: Linear Product Transport [Electron. resource], URL: https://www.beckhoff.com/en-en/products/motion/xts-linear-pro-duct-transport (Date of appeal 12.12.2022).
14. Rassudov L. et al. Digital Twin Implementation for Accelerating the Development of Flexible Transportation System Control Software. – IEEE 62nd International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON), 2021, DOI: 10.1109/RTUCON53541.2021.9711704.
15. Pat. US20190193942A1. Linear Motor Control Apparatus and Linear Motor Control System / Y. Hayashi, S. Urata, 2019.
16. Wang M. et al. A Driver and Control Method for Primary Stator Discontinuous Segmented-PMLSM. – Symmetry, 2021, 13(11), 2216, DOI:10.3390/sym13112216.
17. Nevaranta N. et al. Cogging Force Compensation of a Discontinuous Permanent Magnet Track Linear Motor Drive. – 19th European Conference on Power Electronics and Applications, 2017, DOI: 10.23919/EPE17ECCEEurope.2017.8099188.
18. Pat. US20210139251A1. Method and Apparatus for Identifying a Mover on a Track / P.E. Ozimek et al., 2021.
19. Rassudov L.N. et al. Elektrotekhnika – in Russ. (Electrical Engineering), 2015, vol. 2, No. 2, pp. 3–6.
20. Rassudov L.N. Elektrichestvo – in Russ. (Electricity), 2020, No. 7, pp. 57–64.
21. Bitko A. et al. Comparison of Modular Permanent Magnet Linear Synchronous Motors with Different Winding Layouts of Segmented Stator. – 28th International Workshop on Electric Drives: Improving Reliability of Electric Drives (IWED), 2021, DOI: 10.1109/IWED52055.2021.9376376.
22. Zhang T., Mei X., Du X. A New Winding Segmented Permanent Magnet Linear Synchronous Motor for Multiple Passive Carriers. – IEEE Transactions on Magnetics, 2022, vol. 58, No. 7, DOI: 10.1109/TMAG.2022.3171213.
23. Rovers J.M.M., Jansen J.W., Lomonova E.A. Novel Force Ripple Reduction Method for a Moving-Magnet Linear Synchronous Motor with a Segmented Stator. – International Conference on Electrical Machines and Systems, Wuhan, 2008, pp. 2942–2947.
