# US 2018/0323732 A1 · Method and long stator linear motor for transferring a transport unit at a transfer position

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- Number: US 2018/0323732 A1
- Document ID: US20180323732A1
- Status: Published application
- Kind: A1
- Application number: 16/036,399
- Filed: 2018-07-16
- Published: 2018-11-08
- Earliest claimed: 2015-06-23
- Assignees: B&R Industrial Automation GmbH
- Applicants: B&R Industrial Automation GmbH
- Inventors: Andreas WEBER; Friedrich FORTHUBER
- Web page: https://patentgrep.com/patent/US20180323732A1

## CPC

- H02P 6/006: {Controlling linear motors}
- B60L 13/003: {Crossings; Points}
- B60L 13/03: Electric propulsion by linear motors
- B65G 54/02: electrostatic, electric, or magnetic
- H02K 41/03: Synchronous motors; Motors moving step by step; Reluctance motors (H02K41/035 takes precedence)
- H02P 21/06: Rotor flux based control involving the use of rotor position or rotor speed sensors
- H02P 21/12: Stator flux based control involving the use of rotor position or rotor speed sensors
- H02P 25/062: of the induction type
- H02P 25/064: of the synchronous type
- E01B 25/12: Switches; Crossings
- E01B 25/34: Switches; Frogs; Crossings
- H02K 41/031: {of the permanent magnet type}
- Y02P 70/10: Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
- Y02T 10/64: Electric machine technologies in electromobility
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D)
- H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53})
- E01B: PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS (derailing or rerailing blocks on track, track brakes or retarders B61K)
- Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

Method for transferring a transport unit of a long stator linear motor at a transfer position from a first transport section to a second transport section. On each side of the transport unit, excitation magnets are arranged to interact with driving coils, and on both sides of the transport unit, excitation-magnetic lateral forces are acting on the transport unit by an interaction of the excitation magnets with ferromagnetic components of the guide structure. Method includes supplying on at least one side of the transport unit a stator current n a driving coil to generate a lateral force-forming electromagnetic force that acts on the transport unit, so that a resulting lateral force, as a sum of the acting excitation-magnetic lateral force and of the lateral force-forming electromagnetic force, on each side of the transport unit is different to produce a steering effect on the transport unit at the transfer position.

## Claims

### Claim 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 on a guide structure 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 on a guide stricture 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, wherein on both sides of the transport unit excitation-magnetic lateral forces are acting on the transport unit by an interaction of the excitation magnets with ferromagnetic components of the guide structure, comprising:
supplying on at least one side of the transport unit a stator current in at least one driving coil in the region of the transfer position that generates a lateral force-forming electromagnetic force that acts on the transport unit, so that a resulting lateral force, as a sum of the acting excitation-magnetic lateral force and of the lateral force-forming electromagnetic force, on each side of the transport unit is different to produce a steering effect on the transport unit at the transfer position

### Claim 2 (depends on 1)

The method according to claim 1, wherein a lateral force-forming electromagnetic force is produced on both sides of the transport unit.

### Claim 3 (depends on 2)

The method according to claim 2, wherein lateral force-forming electromagnetic forces in the same direction are generated on both sides of the transport unit.

### Claim 4 (depends on 2)

The method according to claim 2, wherein lateral force-forming electromagnetic forces in different directions are generated on both sides of the transport unit.

### Claim 5 (depends on 1)

The method according to claim 1, wherein several driving coils interact with excitation magnets on the transport unit at the same time and a stator current is supplied in at least one of the acting driving coils.

### Claim 6 (depends on 1)

The method according to claim 1, wherein a propulsive force acting on the transport unit is controlled with a propulsive force forming current component of the stator current and the steering effect is controlled at the transfer position with a lateral force forming current component of the stator current,

### Claim 7 (depends on 6)

The method according to claim 6, wherein the propulsive force is controlled with a position controller for controlling a position of the transport unit, said position controller determines the propulsive force forming current component from a position error that is determined with a desired position and an actual position.

### Claim 8 (depends on 6)

The method according to claim 6, wherein the steering effect is controlled with a steering controller, said steering controller determines the lateral force forming current component from a flux error as the difference between a desired flux and an actual flux.

### Claim 9 (depends on 6)

The method according to claim 6, wherein the lateral force-forming electromagnetic force is superimposed on the propulsive force.

### Claim 10 (depends on 9)

The method according to claim 9, wherein the stator current in the at least one driving coil in the region of the transfer position further generates a propulsion force-forming electromagnetic force that acts on the transport unit, which provides further steering of the transfer unit.

### Claim 11 (depends on 10)

The method according to claim 10, wherein the propulsive force-forming electromagnetic force is superimposed on the propulsive force.

### Claim 12 (depends on 5)

The method according to claim 5, wherein the several driving coils interact with excitation magnets on the transport unit at the same time and the stator current is supplied in only one of the acting driving coils.

### Claim 13 (depends on 5)

The method according to claim 5, wherein the several driving coils interact with excitation magnets on the transport unit at the same time and a stator current is supplied in all of the acting driving coils.

### Claim 14 (depends on 6)

The method according to claim 6, wherein the stator current of the at least one driving coil is supplied as a current vector with a lateral force-forming electromagnetic component.

### Claim 15 (depends on 14)

The method according to claim 14, wherein the current vector further includes a propulsive force-forming electromagnetic component.

### Claim 16 (depends on 15)

The method according to claim 15, wherein the steering effect is controlled with a steering controller that compensates for a flux error as a difference between a desired flux and an actual flux, and determines the lateral force-forming electromagnetic component of the stator current, and
wherein the propulsive force is controlled with a position controller that compensates for a position error as the difference between a desired position and an actual position, and determines the propulsive force-forming electromagnetic component of the stator current.