Method and long stator linear motor for transferring a transport unit at a transfer position
In a long stator linear motor, in order to implement a transfer position in which a transport unit (Tn) is magnetically steered in order to be redirected from a first transport section (Am) to a second transport section (An) and in order that the forward movement of the transport unit (Tn) remains as unaffected as possible by the transfer, it is provided that at the transfer position (U) on at least one side of the transport unit (Tn), the stator current (i A ) of at least one driving coil ( 7, 8 ) interacting with an excitation magnet ( 4, 5 ) of the transport unit (Tn) is supplied as a current vector with a propulsive force-forming current component (i Aq ) and a lateral force-forming current component (i Ad ), and the stator current (i A ) generates a propulsive force-forming electromagnetic force (F EMV ) and/or lateral force-forming electromagnetic force component (F EMS ) which is superimposed on the propulsive force (F V ) acting on the transport unit (Tn) for production of a steering effect (L).
1. A method for transferring a transport unit of a long stator linear motor at a transfer position from a first transport section, having a number of driving coils arranged one behind the other in a direction of movement of the transport unit in a region of the transfer position, to a second transport section, having a number of driving coils arranged one behind the other in a direction of movement of the transport unit in a region of the transfer position, wherein, on each side of the transport unit, excitation magnets are arranged to interact with driving coils in a region of the transport unit, comprising:
supplying stator currents in the driving coils in the region of the transport unit to generate magnetic flux that generates a propulsive force that acts on the transport unit for movement of the transport unit; and
supplying a stator current of at least one driving coil interacting with an excitation magnet on at least one side of the transport unit as a current vector with at least one of a propulsive force-forming current component or a lateral force-forming current component to generate at least one of a propulsive force-forming electromagnetic force or a lateral force-forming electromagnetic force component that is superimposed on the propulsive force acting on the transport unit to produce a steering effect on the transport unit to transfer the transport unit at the transfer position.
2. The method according to claim 1 , wherein the at least one of the propulsive force-forming electromagnetic force component or the lateral force-forming electromagnetic force component that is superimposed on the propulsive force is generated on both sides of the transport unit.
3. The method according to claim 2 , wherein lateral force-forming electromagnetic force components in a same direction are generated on both sides of the transport unit.
4. The method according to claim 1 , wherein the propulsive force of the transport unit is controlled by position presetting, and the method further comprises modifying the position presetting on at least one side of the transport unit by a modification factor.
5. The method according to claim 4 , wherein the modification factor is set on both sides of the transport unit with a same value and different algebraic sign.
6. The method according to claim 1 , wherein a steering controller and a position controller are implemented in a segment control unit,
wherein the steering controller compensates for a flux error as a difference between a desired flux and an actual flux, and for this purpose determines the lateral force-forming current component of the stator current, and
wherein the position controller compensates for a position error as a difference between a desired position and an actual position, and for this purpose determines the propulsive force-forming current component of the stator current.
7. The method according to claim 1 , wherein a steering controller and a position controller are implemented in a segment control unit,
wherein the steering controller compensates for a flux error as a difference between a desired flux and an actual flux, and for this purpose determines the modification factor, and
wherein the position controller compensates for a position error as a difference between a desired position and an actual position and which includes the modification factor, and for this purpose determines the propulsive force-forming current component of the stator current.
8. A long stator linear motor with a transfer position from a first transport section, having a number of driving coils arranged one behind the other in a direction of movement of a transport unit in a region of the transfer position, to a second transport section, having a number of driving coils arranged one behind the other in a direction of movement of the transport unit in the region of the transfer position, the long stator motor comprising:
excitation magnets arranged on each side of the transport unit interact with driving coils in a region of the transport unit, wherein stator currents to be supplied to the driving coils in the region of the transport unit generate a magnetic flux which generates a propulsive force acting on the transport unit,
wherein a stator current is supplied on at least one side of the transport unit as a current vector to a driving coil that interacts with an excitation magnet of the transport unit, whereby the stator current includes at least one of a propulsive force-forming current component or a lateral force-forming current component to generate at least one of a propulsive force-forming electromagnetic force or a lateral force-forming electromagnetic force component that is superimposed on the propulsive force acting on the transport unit to produce a steering effect on the transport unit.
9. The long stator linear motor according to claim 8 ,
wherein, for steering control, a flux error is compensated as a difference between a desired flux and an actual flux to determine the lateral force-forming current component of the stator current, and
wherein, for position control, a position error is compensated as a difference between a desired position and an actual position to determine the propulsive force-forming current component of the stator current.
10. The long stator linear motor according to claim 8 ,
wherein, for steering control, a flux error is compensated as the difference between a desired flux and an actual flux to determine a modification factor, and
wherein, for position control, a position error is compensated as the difference between a desired position and an actual position and which includes the modification factor to determine the propulsive force-forming current component of the stator current.