Developments of Prototype Automatic Transportation Lines with a Direct Electric Drive
Keywords:
automatic transportation line, linear electric drive, linear motor
Abstract
The increasingly demanding requirements for the production capacity, accuracy and repeatability of industrial production require the development of fully automated transportation lines in which a workpiece is mounted once and passes all stages of the technological process. To solve these problems, the leading manufacturers of machinery construction equipment offer, instead of conveying systems with belt or roller drive, modular automatic transportation lines based on direct drives with permanent-magnet linear synchronous machines. A specific feature of using a linear machine in a transportation line is an inverted mutual layout of the primary part (the armature) and the secondary part (the magnetic way) in which the magnetic way segment moves over a number of modules distributed along the line with a set of armatures and sensors controlled by individual servo amplifiers interconnected by a digital bus. With such solution, a workpiece is attached to the passive moving part that does not require the connection of electrical cables – to ensure its free and independent movement within the entire production line. The modularity of the design provides flexibility of the transportation systems. The article gives a review of solutions offered by various manufacturers, shows the specific features of using linear synchronous machines and sensors in such systems, and proposes the authors’ own developments of prototype transportation lines.
References
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#
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.
Published
2023-02-20
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