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公开(公告)号：US20230006517A1
公开(公告)日：2023-01-05
申请号：US17903429
申请日：2022-09-06
Applicant: Beckhoff Automation GmbH
Inventor： Lukas Bentfeld , Klaus Neumann , Keir Maguire , Dominik Sensen , Tim Kaulmann
Abstract: A method for controlling a planar drive system includes determining values of magnetic stator fields for different energizing currents and spatial regions in a two-dimensional array of magnetic field sensors, generating at least one magnetic stator field by applying energizing currents to stator conductors to electrically control a rotor, determining measured values of a total magnetic field via the magnetic field sensors for a plurality of the spatial regions to determine a position of the rotor, compensating contributions of the magnetic stator fields to the measured values of the total magnetic field determined by the magnetic field sensors, generating measured values of the magnetic field determined by the respective magnetic field sensors for the respective space regions, and determining a position of the rotor based on the generated measured values of the magnetic fields. The planar drive system includes at least a controller, a stator module, and a rotor.
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Patent Agency Ranking
12.发明申请公开(公告)号：US20210278863A1
公开(公告)日：2021-09-09
申请号：US17328162
申请日：2021-05-24
Applicant: Beckhoff Automation GmbH
Inventor： Thomas Luthe , Hubertus Pennekamp , Eva Wiedner , Tobias Weber , Klaus Neumann , Alexander Weddemann
Abstract: A device and method for preventing a collision when determining travel paths for at least two movers on a drive surface, each mover comprising at least a second magnetic field generator, the device comprising a plurality of sectors, the sectors comprising magnetic field generators for generating magnetic fields, the sectors forming the drive surface. A path planning for at least two movers is carried out, at least the two movers being assigned a priority, the priorities of the movers being taken into account in the path planning such that a path of a mover is assigned a priority in the path planning of the travel paths of the movers, and a travel path of a mover with a higher priority takes precedence over a travel path of a mover with a lower priority, so that a collision of the movers is prevented.
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公开(公告)号：US20230006530A1
公开(公告)日：2023-01-05
申请号：US17900339
申请日：2022-08-31
Applicant: Beckhoff Automation GmbH
Inventor： Klaus Neumann , Lukas Bentfeld , Keir Maguire , Tim Kaulmann , Benjamin Jurke
IPC: H02K41/03 , H02K11/215 , H02P23/00
Abstract: A method for controlling a planar drive system includes generating a position allocating function, in an allocation generating step; measuring a plurality of measuring values of the magnetic rotor field by magnetic field sensors for a position of the rotor relative to the stator module, in a magnetic rotor field determining step; applying the position determination function to the plurality of measuring values of the magnetic rotor field of the plurality of magnetic field sensors, in a measuring value analysis step; and determining the position of the rotor relative to the stator module on the basis of the measurements of the magnetic rotor field measured by the plurality of magnetic field sensors and based on the allocations of the position allocating function, in a position determining step. The application further relates to such a planar drive system.
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公开(公告)号：US20210328493A1
公开(公告)日：2021-10-21
申请号：US17328259
申请日：2021-05-24
Applicant: Beckhoff Automation GmbH
Inventor： Thomas Luthe , Hubertus Pennekamp , Eva Wiedner , Tobias Weber , Klaus Neumann , Alexander Weddemann
IPC: H02K41/03
Abstract: A method for driving at least one rotor in a planar drive system. The rotor has a device for generating a magnetic field. The rotor can be moved on a drive surface formed by stator modules comprising a magnetic field generator. A virtual two-dimensional potential curve is determined for the rotor, with a target point having an attractive potential. A virtual force vector is determined with a vector direction and a vector length at a first position of the rotor, which is determined from the virtual two-dimensional potential curve. A magnetic drive field interacting with the magnetic field of the rotor is generated by the magnetic field generator such that a resulting force is applied to the rotor by interaction of the magnetic drive field with the magnetic field. The direction of the resulting force is based on the vector direction, and the strength is based on the vector length.
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公开(公告)号：US20210311439A1
公开(公告)日：2021-10-07
申请号：US17350783
申请日：2021-06-17
Applicant: Beckhoff Automation GmbH
Inventor： Klaus Neumann
IPC: G05B13/02
Abstract: A method for controlling an automation process in real time based on a change profile of at least one process variable, comprises determining a first change profile by a real-time-capable recognition method based on a non-linear optimization process taking into consideration at least one boundary condition of the process variable, determining a second change profile by a numerical algorithm based on the first change profile, including adapting a selected profile function to the first change profile by a numerical adaptation process and identifying the adapted profile function as a second change profile, checking whether the second change profile satisfies at least one secondary condition of the process variable, controlling the automation process based on the second change profile if the second change profile satisfies the secondary condition, and controlling the automation process based on a predetermined fallback profile if the second change profile does not satisfy the secondary condition.
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16.发明申请公开(公告)号：US20210273592A1
公开(公告)日：2021-09-02
申请号：US17324911
申请日：2021-05-19
Applicant: Beckhoff Automation GmbH
Inventor： Thomas Luthe , Hubertus Pennekamp , Eva Wiedner , Tobias Weber , Klaus Neumann , Alexander Weddemann
IPC: H02P25/064 , H02K41/03
Abstract: A method for preventing collisions when driving at least two movers on a drive surface, each mover comprising at least one magnetic field generator, with a device comprising a plurality of plate-shaped sectors, the sectors each comprising at least one electric magnetic field generator. The sectors form the drive surface, generating magnetic fields via control of a power supply of the electric magnetic field generators such that the movers are movable over the drive surface in at least one direction. A first path planning for the first mover is carried out, an estimated second travel path of the second mover is determined or received, and the estimated second travel path of the second mover is taken into account in the first path planning of the first mover to determine a first travel path for the first mover such that collision of the first mover with the second mover is prevented.
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