Conveyance system
A conveyance system includes: a plurality of conveyance path units constituting a conveyance path on which a conveyance body moves, each of the conveyance path units including a plurality of drive units that each generate a thrust for moving the conveyance body by a current flowing therethrough; and a controller including a current command generator that generates a current command for controlling a current flowing through the plurality of drive units. Each of the plurality of conveyance path units controls the current flowing through each of the plurality of drive units in accordance with the current command. The current command generator generates a current command for performing current control of all of the plurality of drive units of each of the conveyance path units at each control cycle when the current command is generated.
1. A conveyance system comprising:
a plurality of conveyors constituting a conveyance path on which a conveyance body moves, each of the conveyors including a plurality of drivers that each generate a thrust for moving the conveyance body by a current flowing therethrough; and
a controller including a current command generator that generates a current command for controlling a current flowing through the plurality of drivers, wherein
each of the plurality of conveyors controls the current flowing through each of the plurality of drivers in accordance with the current command, and
the current command generator generates a current command for performing current control of all of the plurality of drivers of each of the conveyors at each control cycle when the current command is generated, wherein
the plurality of conveyors move each of the plurality of conveyance bodies by applying the thrust to each of the plurality of conveyance bodies, and
the current command generator obtains a current command for each of the conveyance bodies for each of the drivers, and adds up current commands for the conveyance bodies for each of the drivers to generate a current command for each of the drivers.
2. The conveyance system according to claim 1 , wherein a disposition interval of the plurality of drivers in a traveling direction of the conveyance body is shorter than a length of the conveyance body in the traveling direction.
3. The conveyance system according to claim 2 , wherein the controller generates a thrust command for the conveyance body on a basis of a position command indicating a position to which the conveyance body is moved and position information indicating a result of detection of the position of the conveyance body, and generates the current command on a basis of the thrust command and the position information.
4. The conveyance system according to claim 3 , comprising:
a data acquisition circuitry to acquire learning data including a correction value used to correct the thrust command and the position information; and
a model generation circuitry to generate a learned model used for inference of the correction value from the position information on a basis of the learning data, wherein
the controller corrects the thrust command on a basis of the correction value inferred by using the learned model, and
the current command generator generates the current command on a basis of the thrust command that has been corrected and the position information.
5. The conveyance system according to claim 1 , comprising:
the conveyance body that is plural in number, wherein
the conveyance body is provided with a permanent magnet, and
the driver includes a coil that generates an electromagnetic force that is the thrust by an interaction between a current and a magnetic field generated by the permanent magnet.
6. The conveyance system according to claim 5 , wherein a length of the permanent magnet in a traveling direction of the conveyance body is shorter than a length of the conveyance body in the traveling direction.
7. The conveyance system according to claim 6 , wherein the controller generates a thrust command for the conveyance body on a basis of a position command indicating a position to which the conveyance body is moved and position information indicating a result of detection of the position of the conveyance body, and generates the current command on a basis of the thrust command and the position information.
8. The conveyance system according to claim 7 , comprising:
a data acquisition circuitry to acquire learning data including a correction value used to correct the thrust command and the position information; and
a model generation circuitry to generate a learned model used for inference of the correction value from the position information on a basis of the learning data, wherein
the controller corrects the thrust command on a basis of the correction value inferred by using the learned model, and
the current command generator generates the current command on a basis of the thrust command that has been corrected and the position information.
9. The conveyance system according to claim 5 , wherein the controller generates a thrust command for the conveyance body on a basis of a position command indicating a position to which the conveyance body is moved and position information indicating a result of detection of the position of the conveyance body, and generates the current command on a basis of the thrust command and the position information.
10. The conveyance system according to claim 9 , comprising:
a data acquisition circuitry to acquire learning data including a correction value used to correct the thrust command and the position information; and
a model generation circuitry to generate a learned model used for inference of the correction value from the position information on a basis of the learning data, wherein
the controller corrects the thrust command on a basis of the correction value inferred by using the learned model, and
the current command generator generates the current command on a basis of the thrust command that has been corrected and the position information.
11. The conveyance system according to claim 1 , wherein the controller generates a thrust command for the conveyance body on a basis of a position command indicating a position to which the conveyance body is moved and position information indicating a result of detection of the position of the conveyance body, and generates the current command on a basis of the thrust command and the position information.
12. The conveyance system according to claim 11 , comprising:
a data acquisition circuitry to acquire learning data including a correction value used to correct the thrust command and the position information; and
a model generation circuitry to generate a learned model used for inference of the correction value from the position information on a basis of the learning data, wherein
the controller corrects the thrust command on a basis of the correction value inferred by using the learned model, and
the current command generator generates the current command on a basis of the thrust command that has been corrected and the position information.
13. The conveyance system according to claim 1 , wherein the current command generator sets a current command value for at least one of the plurality of drivers to zero.