Granted Patent B2

US 12,212,191 · App. 17/886,750 · Granted Jan 28, 2025

Inventors: Lukas Bentfeld (Delbrück, DE); Rolf Brinkmann (Bad Salzuflen, DE); Patrick Jebramcik (Gütersloh, DE); Tim Kaulmann (Paderborn, DE)

Assignee: Beckhoff Automation GmbH

H02K11/27H02K1/223H02K1/272H02K21/042

Abstract

Claims (61)

1. A planar drive system comprising:

a stator, and

a rotor;

wherein the stator comprises a plurality of stator conductors,

wherein the rotor comprises a magnet device comprising at least one rotor magnet,

wherein the stator is configured for energizing the stator conductors,

wherein a magnetic interaction is producible between energized stator conductors of the stator and the magnet device of the rotor in order to drive the rotor via the magnetic interaction,

wherein the stator is configured to carry out the energizing of the stator conductors by a current control based on a pulse-width modulation (PWM), so that the energized stator conductors are supplied with an electrical voltage clocked via the pulse-width modulation, and thus with pulse-width-modulated periodic voltage pulses,

wherein, due to the current control based on the pulse-width modulation, a ripple current is generated in the energized stator conductors of the stator and an alternating magnetic field is generated thereby, and

wherein the rotor comprises at least one rotor coil in which an alternating voltage is induced due to the alternating magnetic field.

2. The planar drive system according to claim 1 , wherein the rotor comprises a rectifier for converting the induced alternating voltage into a direct voltage.

3. The planar drive system according to claim 1 , wherein the magnet device of the rotor comprises a plurality of rotor magnets surrounding a region, and wherein the at least one rotor coil of the rotor is arranged in the region surrounded by the rotor magnets.

4. The planar drive system according to claim 1 , wherein the at least one rotor coil comprises a plurality of rotor coils arranged in a region below the magnet device of the rotor.

5. The planar drive system according to claim 1 , wherein the at least one rotor coil comprises a plurality of rotor coils arranged in a region of lateral outer sides of the rotor.

6. The planar drive system according to claim 1 , wherein the at least one rotor coil of the rotor is configured as a wound wire and encloses the magnet device of the rotor.

7. The planar drive system according to claim 1 ,

wherein the stator conductors of the stator are connected to form multi-phase systems which are energizable independently of one another,

wherein the stator is configured to carry out the current control based on the pulse-width modulation as a separate current control for each of the multi-phase systems,

wherein the stator comprises a plurality of current measuring devices for carrying out the separate current control for each of the multi-phase systems,

wherein the current measuring devices are each connected to an associated group comprising a plurality of the multi-phase systems, and

wherein the current measuring devices are configured for sampling currents flowing in the multi-phase systems of the respectively associated groups, and to carry out the sampling of the currents simultaneously with respect to only one of the multi-phase systems in each associated group.

8. The planar drive system according to claim 7 ,

wherein the stator is configured to carry out the sampling of the currents flowing in the multi-phase systems of a group of the associated groups via the associated current measuring device in a time-coordinated manner with pulse-width-modulated energizing of the multi-phase systems of the group,

wherein the stator is further configured to carry out the pulse-width-modulated energizing of the multi-phase systems of the group and the sampling of the currents flowing in the multi-phase systems of the group with a time offset, the time offset being present in each case between the pulse-width modulated energizing of one multi-phase system of the group and the pulse-width modulated energizing of another multi-phase system of the group, and between the sampling of the currents flowing in the one multi-phase system of the group and the sampling of the currents flowing in the other multi-phase system of the group, and

wherein the time offset corresponds to a sampling time period of the current measuring devices.

9. The planar drive system according to claim 7 , wherein:

the stator is configured, in a first operating mode, to carry out the sampling of the currents of the multi-phase systems of a group of the associated groups via the associated current measuring device in a time-coordinated manner with pulse-width-modulated energizing of the multi-phase systems of the group, and to carry out the pulse-width-modulated energizing of the multi-phase systems of the group and the sampling of the currents flowing in the multi-phase systems of the group with a time offset, the time offset being present in each case between the pulse-width modulated energizing of one multi-phase system of the group and the pulse-width modulated energizing of another multi-phase system of the group, and between the sampling of the currents flowing in the one multi-phase system of the group and the sampling of the currents flowing in the other multi-phase system of the group, and

wherein the stator is further configured, in a second operating mode, to carry out the pulse-width-modulated energizing of the multi-phase systems of the group without a time offset, and thus synchronously in time, and to carry out the sampling of the currents flowing in the multi-phase systems of the group via the associated current measuring device with a time offset being present in each case between the sampling of the currents flowing in one multi-phase system of the group and the sampling of the currents flowing in another multi-phase system of the group.

10. The planar drive system according to claim 1 , wherein the stator comprises a switchable influencing device which is configured to influence the current control such that an amplified ripple current is generated in the energized stator conductors of the stator and an amplified alternating magnetic field is generated thereby.

11. The planar drive system according to claim 10 , wherein the switchable influencing device is configured such that the amplified ripple current and the amplified alternating magnetic field comprise a larger oscillation width than in a state without the influence on the current control by the switchable influencing device.

12. The planar drive system according to claim 10 , wherein the switchable influencing device is configured such that a mean value of a current flowing in the energized stator conductors remains substantially unchanged as a result of the influence on the current control by the switchable influencing device.

13. The planar drive system according to claim 10 , wherein the stator comprises:

a plurality of current controllers, PWM signal generating devices, and output stage devices connected to the stator conductors and current measuring devices for carrying out the current control;

wherein the current controllers are configured to generate control signals which are transmitted to the PWM signal generating devices,

wherein the PWM signal generating devices are configured to generate pulse-width-modulated control signals which are applied to the output stage devices, and

wherein the output stage devices are configured for applying voltage pulses to the stator conductors based on the pulse-width-modulated control signals; and

wherein the switchable influencing device is configured to generate influencing signals which are added to the control signals generated by one or more of the current controllers or to the pulse-width-modulated control signals generated by one or more of the PWM signal generating devices.

14. The planar drive system according to claim 13 , wherein the switchable influencing device is configured to generate the influencing signals such that the voltage pulses comprise different pulse durations and/or polarities that are inverse with regard to one another as applied to the stator conductors.

15. A stator for a planar drive system for driving a rotor, the rotor comprising:

a magnet device comprising at least one rotor magnet, and

at least one rotor coil;

wherein the stator comprises a plurality of stator conductors,

wherein the stator is configured for energizing the stator conductors, so that a magnetic interaction is producible between energized stator conductors of the stator and the magnet device of the rotor in order to drive the rotor via the magnetic interaction,

wherein the stator is configured to carry out the energizing of the stator conductors for driving the rotor by a current control based on a pulse-width modulation (PWM), so that the energized stator conductors are supplied with an electrical voltage clocked via the pulse-width modulation, and thus with pulse-width-modulated periodic voltage pulses,

wherein, due to the current control based on the pulse-width modulation, a ripple current is generated in the energized stator conductors of the stator and an alternating magnetic field is generated thereby, via which an alternating voltage is inducible in the at least one rotor coil of the rotor,

wherein the stator comprises a switchable influencing device which is configured to influence the current control such that an amplified ripple current is generated in the energized stator conductors of the stator and an amplified alternating magnetic field is generated thereby, and

wherein the amplified ripple current and the amplified alternating magnetic field comprise a larger oscillation width than the ripple current and the alternating magnetic field in a state without influence on the current control by the switchable influencing device.

16. The stator according to claim 15 , wherein a mean value of a current flowing in the energized stator conductors remains substantially unchanged as a result of the influence on the current control by the switchable influencing device.

17. The stator according to claim 15 , wherein voltage pulses comprising different pulse durations and/or polarities that are inverse with regard to one another are applied to the energized stator conductors as a result of the influence on the current control by the switchable influencing device.

18. A planar drive system comprising:

a stator, and

a rotor;

wherein the stator comprises a plurality of stator conductors,

wherein the rotor comprises a magnet device comprising at least one rotor magnet,

wherein the stator is configured for energizing the stator conductors,

wherein a magnetic interaction is producible between energized stator conductors of the stator and the magnet device of the rotor in order to drive the rotor via the magnetic interaction,

wherein the stator is configured to carry out the energizing of the stator conductors by a current control based on a pulse-width modulation (PWM),

wherein, due to the current control based on the pulse-width modulation, a ripple current is generated in the energized stator conductors of the stator and an alternating magnetic field is generated thereby,

wherein the rotor comprises at least one rotor coil in which an alternating voltage is inducible due to the alternating magnetic field, and

wherein the at least one rotor coil of the rotor is configured as a wound wire and encloses the magnet device of the rotor.

19. The planar drive system according to claim 18 , wherein the at least one rotor coil of the rotor is integrated in a circumferential spacer structure of the rotor.

Assignments (1)

Priority Claims (1)

Continuity (2)

References Cited (18)