Method for controlling linear motor-based transport system and transport system

Abstract

The invention relates to a method for controlling at least one linear motor (2, 14) for a transport system (1), the at least one linear motor (2, 14) having a plurality of coils (5a, 5b, 5c, 15a, 15b, 15c), and the transport system (1) having a transport slide (4) having a plurality of magnets (7a, 7b, 7c, 7d) on at least one side (6a), the at least two magnets (7a, 7b, 7c, 7d) having different magnetic polarities from each other, the transport slide has a return element (8), in particular a back iron element, and wherein the control device (3) controls the at least one linear motor (2, 14) in such a way that a longitudinal force (12b, 13b, F1L, F2L) is applied to the transport slide (4) in the longitudinal direction of the linear motor (2, 14) in order to cause a linear movement (L) of the transport slide (4) in the longitudinal direction. The method is characterized in that the control device (3) controls the at least one linear motor (2, 14) in such a way that a transverse force (12a, 13a, F1Q, F2Q) perpendicular to the longitudinal force (12b, 13b, F1L, F2L) is applied to the transport slide (4) in order to cause a transverse movement of the transport slide (4) towards the coil (5a, 5b, 5c, 15a, 15b, 15c) or away from the coil (5a, 5b, 5c, 15a, 15b, 15c), the field change current (IQ) having a value of zero when the transverse movement of the transport slide (4) is caused.

Description

Technical Field

[0001] The present invention relates to a transport system, comprising:

[0002] - at least one linear motor having a plurality of coils,

[0003] - a control device designed to control the at least one linear motor,

[0004] - a transport slider having a plurality of magnets on at least one side, wherein at least two magnets have different magnetic polarities from each other, and the transport slider has a return element, in particular an armature element,

[0005] wherein the control device is designed to control the at least one linear motor so as to apply a longitudinal force in the longitudinal direction of the linear motor to the transport slider to cause a linear movement of the transport slider in the longitudinal direction.

[0006] Furthermore, the present invention also relates to a method for controlling at least one linear motor for a transport system,

[0007] wherein the at least one linear motor has a plurality of coils, and wherein the transport system has a transport slider having a plurality of magnets on at least one side, wherein at least two magnets have different magnetic polarities from each other, and the transport slider has a return element, in particular an armature element,

[0008] wherein the control device controls the at least one linear motor so as to apply a longitudinal force in the longitudinal direction of the linear motor to the transport slider to cause a linear movement of the transport slider in the longitudinal direction. Background Art

[0009] Modern production machines require a flexible machine layout, in which the material flow can be separated and combined. For maximum productivity, high process speeds are additionally required. In AT 517219B1, it is disclosed that a workpiece carrier moves through a switch in three steps. Two linear motors are located opposite each other at a small distance before the switch and at a larger distance after the switch. The attractive forces F1 and F2 acting on the workpiece carrier are increased and relatively weakened by changing the field I D current such that the workpiece carrier continues to move on the linear motor section located on the left in the moving direction. In the reverse control, the workpiece carrier continues to travel on the linear motor section located on the right in the moving direction.

[0010] Additional devices and actuators are provided in AT 520088 B1 and EP 3661033 A1, whereby the cost of such a transport system is relatively high. In DE 10 2019 117 351 Al, the magnetic attraction force is overcome by an additional motor-driven actuator, whereby additional costs are likewise incurred. Summary of the Invention

[0011] The object of the present invention is to provide a transport system or a method for controlling a linear motor for a transport system, which enables a switching function with a minimum possible consumption of energy and materials.

[0012] According to the present invention, the transport system at the beginning is characterized in that the control device is designed to control the at least one linear motor such that a lateral force perpendicular to the longitudinal force is applied to the transport slider to cause a lateral movement of the transport slider towards or away from the coil, wherein the field-variable current has a value of zero when the lateral movement of the transport slider is caused.

[0013] The control device can for example be a SIMATIC S7 controller from Siemens AG. The lateral movement of the transport slider can preferably be used to implement a switching function. Here, the transport slider turns from a first direction to another direction in order to drive, for example, an alternative travel route which is a main route.

[0014] The transport system according to the present invention is designed in a particularly advantageous manner and method to apply a lateral force to the transport slider, without the need for a field-variable current to cause the lateral force. Compared to known transport systems, in particular compared to the transport system known from AT517219B1, it is not necessary to inject a field-variable current in order to cause a lateral movement of the transport slider. Thereby, the control of the linear motor is simplified and can be accomplished with high energy efficiency. In the transport system according to the present invention, no additional actuators or similar devices required in the prior art part are needed.

[0015] Particularly preferably, the control device of the transport system is designed to control the at least one linear motor such that a lateral movement of the transport slider towards or away from the coils is caused by an acceleration of the transport slider along the longitudinal direction of the linear motor. The control device can achieve this by appropriately energizing the linear motor. Depending on the required deflection of the transport slider, the acceleration can be selected to be different. Further details thereof can be referred to the description of the embodiments.

[0016] Particularly preferably, the control device is designed to implement the acceleration of the transport slide as a high-frequency modulation with alternating signs, wherein the frequency of this modulation is preferably greater than 100 Hertz. Here, the high-frequency modulation of the acceleration of the transport slide can be caused by a corresponding high-frequency modulation of the coil current of the linear motor. By the alternating acceleration, the transport slide is alternately pulled forward and backward in the direction of movement. In addition, by the current flowing through the coil of the linear motor, an attractive force (magnetic drag) acting on the return element of the transport slide is generated, and more precisely regardless of whether the transport slide is positively or negatively accelerated. Due to the alternating acceleration, the force in the direction of movement averages to zero, so that the transport slide is not undesirably braked or (positively) accelerated.

[0017] Within the scope of a preferred refinement of the invention, the linear motor of the transport system does not have a return element, in particular a yoke element. This can mean that no yoke, no return sheet, no return plate, no iron teeth or the like is constructed in the stator of the linear motor, that is to say a hollow coil is used. Thereby, no permanent magnetic attractive force acting on the linear motor is generated by the permanent magnet of the transport slide. By omitting the permanent magnetic attractive force, smaller lateral forces must be caused in order to cause a change in the direction of the transport slide for implementing the switching function. Thereby, the transport system can operate with high energy efficiency. In AT 517219B1, the force of the permanent magnet of the transport slide had to be balanced by a field current regulator. The opposing force has a non-linear force variation curve and thus requires a very precise mechanical orientation of the switching element. The refinement of the invention without a backhaul in the linear motor eliminates disturbing permanent forces and allows greater mechanical tolerances in the switching implemented with the transport system.

[0018] Particularly preferably, the transport system has at least one first linear motor and a second linear motor, which is arranged at a distance essentially parallel to the first linear motor. Here, the transport slide has a plurality of magnets on other sides, wherein at least two magnets have different magnetic polarities from each other, and wherein the return element is arranged between the two sides of the magnets. The control device is hereby designed to control the first linear motor and the second linear motor such that a longitudinal force is applied to the transport slide arranged between the first linear motor and the second linear motor in the common longitudinal direction of the first linear motor and the second linear motor to cause a linear movement of the transport slide in the longitudinal direction, and wherein the control device is designed to control the first linear motor and / or the second linear motor such that a lateral force perpendicular to the longitudinal force is applied to the transport slide to cause a lateral movement of the transport slide towards the coil of the first linear motor or towards the coil of the second linear motor, wherein the field-changing current has a value of zero when the lateral movement of the transport slide is caused.

[0019] Here, attracting the transport slider towards the first linear motor can cause the transport slider to move along the first guiding track, while attracting it towards the second linear motor can cause the transport slider to move along the second guiding track. Thus, the switching function can be realized in a particularly simple manner and method.

[0020] Particularly preferably, neither the first linear motor nor the second linear motor has a return element, in particular a back iron. The advantages associated therewith have been described above.

[0021] Furthermore, the above-mentioned task is solved by a method for controlling at least one linear motor for a transport system, wherein the at least one linear motor has a plurality of coils, and wherein the transport system has a transport slider which has a plurality of magnets on at least one side, wherein at least two magnets have different magnetic polarities from each other, and the transport slider has a return element, in particular a back iron element, and wherein the control device controls the at least one linear motor so as to apply a longitudinal force in the longitudinal direction of the linear motor to the transport slider to cause a linear movement of the transport slider in the longitudinal direction. The method is characterized in that the control device controls the at least one linear motor so as to apply a lateral force perpendicular to the longitudinal force to the transport slider to cause a lateral movement of the transport slider towards or away from the coil, wherein, when causing the lateral movement of the transport slider, the field-varying current has a value of zero.

[0022] The control device preferably controls the at least one linear motor to cause a lateral movement of the transport slider towards or away from the coils by means of an acceleration of the transport slider in the longitudinal direction of the linear motor.

[0023] The control device can implement the acceleration of the transport slider as a high-frequency modulation with an alternating sign, wherein the frequency of the modulation is preferably greater than 100 Hz. Here, the control device can cause a high-frequency modulation of the acceleration of the transport slider by means of a corresponding high-frequency modulation of the coil current of the linear motor.

[0024] As already mentioned before, the linear motor preferably does not have a return element, in particular a back iron element, here.

[0025] Within the scope of a preferred refinement of the method, the transport system has at least one first linear motor and a second linear motor, which is arranged at a distance substantially parallel to the first linear motor, wherein the transport slide has a plurality of magnets on a further side, wherein at least two magnets have different magnetic polarities from one another, and wherein a return element is arranged between two sides of the magnets, wherein the control device controls the first linear motor and the second linear motor such that a longitudinal force is applied in the common longitudinal direction of the first linear motor and the second linear motor to the transport slide arranged between the first linear motor and the second linear motor to cause a linear movement of the transport slide in the longitudinal direction, and wherein the control device controls the first linear motor and / or the second linear motor such that a lateral force perpendicular to the longitudinal force is applied to the transport slide to cause a lateral movement of the transport slide towards the coil of the first linear motor or towards the coil of the second linear motor, wherein, when the lateral movement of the transport slide is caused, the field-variable current has a value of zero.

[0026] Furthermore, the task expressed as above is solved by a computer program which, when executed on the control device, causes the control device to carry out the method described above. Description of the Drawings

[0027] The above-mentioned features, characteristics and advantages of the invention and the manner of achieving them will become clearer and more clearly understandable in connection with the following description of embodiments, which are explained in more detail in conjunction with the drawings. Shown are:

[0028] Figure 1 A linear-motor-based transport system according to a first aspect is shown,

[0029] Figure 2 A linear-motor-based transport system according to a second aspect is shown,

[0030] Figure 3 A linear-motor-based transport system according to a third aspect is shown,

[0031] Figure 4 A linear-motor-based transport system according to a fourth aspect is shown, and

[0032] Figure 5 A linear-motor-based transport system according to a fifth aspect is shown. Detailed Description of the Invention

[0033] Figure 1 A transport system 1 is shown, which comprises a linear motor 2, a control device 3 and a transport slide 4. The linear motor 2 has a plurality of electromagnetic coils 5a, 5b, 5c and a back iron element 9.

[0034] The transport slider 4 has a plurality of magnets 7a, 7b, 7c, 7d on a first side 6a opposite to the linear motor 2. The magnets 7a, 7b, 7c, 7d have different polarities (S represents the south magnetic pole and N represents the north magnetic pole). On the second side 6b, the transport slider 4 also has a plurality of magnets 7e, 7f, 7g, 7h each with a different polarity. Between the two sides 6a, 6b containing the magnets 7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h, the transport slider 4 has a yoke element 8. The magnets 7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h are designed as permanent magnets in this embodiment. However, they can also be constructed as electromagnets that cause a magnetic attraction force only when an electric current flows through the electromagnet.

[0035] The control device 3 is connected to the coils 5a, 5b, 5c of the linear motor 2 and supplies an electric current to the coils 5a, 5b, 5c. Here, each coil 5a, 5b, 5c can be supplied with current individually and independently of the other coils 5a, 5b, 5c.

[0036] The magnetic forces acting in the transport system 1 are described below: The magnets 7a, 7b, 7c, 7d on the first side 6a exert permanent magnetic attraction forces 10a, 10b, 10c, 10d on the yoke element 9 of the linear motor 2 and pull the transport slider 4 towards the linear motor 2. The attraction force acting on the yoke element 9 through the magnets 7e, 7f, 7g, 7h is negligible.

[0037] The respective electric currents flowing through the coils 5a, 5b, 5c of the linear motor 2 cause a magnetic field that exerts magnetic attraction forces 11a, 11b, 11c on the yoke element 8 of the transport slider 4 and pulls the transport slider in the lateral direction towards the linear motor 2. At the same time, the magnetic field induced by the coils 5a, 5b, 5c interacts with the magnets 7a, 7b, 7c, 7d on the first side 6a of the transport slider 4 according to the embodiment of the coils 5a, 5b, 5c or according to the direction of the electric current through the coils 5a, 5b, 5c (the second side 6b can be neglected again).

[0038] In the embodiment according to Figure 1 , at a specific point in time, a repulsive magnetic force 12 is applied from the left between the left coil 5a in the drawing and the second magnet 7b configured as the north magnetic pole. The force 12 includes a lateral component 12a and a longitudinal component 12b. The lateral component 12a repels the transport slider 4 away from the linear motor 2, while the longitudinal component 12b causes a linear movement of the transport slider 4 in the longitudinal direction L.

[0039] The second coil 5b is without current at this point in time and thus does not cause a magnetic force between the linear motor 2 and the transport slider 4.

[0040] At this specific point in time, a repulsive magnetic force 13 is applied from the left between the coil 5c on the right side in the drawing and the third magnet 7c configured as a magnetic south pole. The force 13 includes a transverse component 13a and a longitudinal component 13b. The transverse component 13a pulls the transport slider 4 towards the linear motor 2, and the longitudinal component 13b causes a linear movement of the transport slider 4 in the longitudinal direction L.

[0041] The control device 3 is able to supply current to the coils 5a, 5c at a specific point in time such that the transport slider 4 maintains a constant spacing from the linear motor 2 and simultaneously moves forward in the longitudinal direction L. However, if a lateral movement of the transport slider 4 is desired, for example to implement a switching function, the control device 3 is able to adjust the ratio between the magnetic force 12 of the first coil 5a and the magnetic force 13 of the third coil 5c such that the lateral force 13a attracting the transport slider 4 (in combination with the static forces 10a, 10b, 10c, 10d, 11a, 11c) is greater than the lateral force 12a repelling the transport slider 4. Thus, the transport slider 4 is generally subject to an attraction in the direction towards the linear motor 2, whereby the transport slider 4 performs a lateral movement.

[0042] Importantly, the lateral movement of the transport slider 4 is not caused by a reduction in the repulsive force between the first coil 5a and the first magnet 7a or between the third coil 5c and the fourth magnet 7d. In other words, when the lateral movement of the transport slider 4 is caused, the field-varying current through the coils 5a, 5b, 5c (also designed as I in the case of the linear motor) D ) has a value of zero. Contrary to, for example, the attraction weakening of the transport slider 4 caused by the repulsion due to the field-weakening current of the transport slider 4 known from AT 0517219 B1, the lateral movement of the transport slider 4 is caused via an adjustment of the (longitudinal) acceleration of the transport slider 4. In this case, with reference to I Q current, which causes the longitudinal movement of the transport slider 4.

[0043] In Figure 1 only three coils 5a, 5b, 5c are shown. However, it is obvious that the linear motor 2 can have a large number of additional coils 5a, 5b, 5c in order to be able to implement longer transport sections.

[0044] The linear motor 2 can be implemented without a back iron element 9, as shown in Figure 2 . In other words, the linear motor 2 in this example only includes air-core coils 5a, 5b, 5c. Thus, the linear motor 2 is designed without iron teeth and without a return plate and in particular without a back iron, without a return tab and also without other return elements. Thereby, the (constant) attractive forces 10a, 10b, 10c, 10d between the magnets 7a, 7b, 7c, 7d of the transport slider 4 and the linear motor 2 are eliminated. Therefore, it is necessary to pass current through the coils 5a, 5c (via I QThe (electric) current generates relatively small transverse forces 12a, 13a, for example for route switching.

[0045] It is advantageous if the return element 9 of the linear motor 2 is omitted especially in the switching area of the transport system 1, because the linear motor 2 has a lower efficiency without the return element 9. Therefore, generally omitting the return element 9 is not advantageous.

[0046] In Figure 3 Another possible embodiment of the transport system 1 according to the invention is shown. In addition to the (first) linear motor 2, the transport system 1 also has a second linear motor 14, which can be implemented in the same way as the first linear motor 2 in terms of structure. The second linear motor 14 has (at least) three electromagnetic coils 15a, 15b, 15c. The two linear motors 2, 14 do not have return elements in the shown area (see Figure 2 ). The transport slider 4 is shown simplifiedly (without showing the individual magnets, but the magnets are present similarly to Figure 1 and Figure 2 ) and the transport slider moves in the longitudinal direction L between the two linear motors 2, 14. As previously described with reference to Figure 1 and Figure 2 , when the coils 5a, 5b, 5c, 15a, 15b, 15c are energized with appropriate currents, both linear motors 2, 14 generate magnetic forces F1 R , F2 R , which magnetic force has a longitudinal component F1 L , F2 L and a transverse component F1 Q , F2 Q .

[0047] In this example, the transport slider 4 is guided closer to the first linear motor 2 than to the second linear motor 14. This is achieved by the correspondingly larger transverse component F1 Q caused by the first linear motor 2. The field weakening current I D is also zero here. The transverse component F2 Q caused by the second linear motor 14 is negative here and thus non-zero in order to achieve a smooth transition of the transport slider from the track extending closer to the second linear motor 14 towards the first linear motor 2 (for example in the case of a switch). However, the transverse component F2 Q can also be greater than zero, which transverse component is only required to be less than the first transverse component F1 Q in order to generally cause an attraction towards the first linear motor 2.

[0048] Possible realizations of the invention are in Figure 4is shown here. Here, the first linear motor 2 does not cause magnetic attraction caused by the coils 5a, 5b, 5c (coil current is zero). Similar to Figure 3 , the second linear motor 14 generates a force component F2 in the direction of the second linear motor 14 Q , to guide the transport slider 4 closer to the second linear motor 14. Here, the force component F2 Q (and also the force component F2 L and F2 R ) is generated by the coils 15a, 15b, 15c of the second linear motor 14 during the acceleration operation (I Q > 0) and the braking operation (I Q < 0).

[0049] Shown in Figure 5 is the opposite situation to Figure 4 . Here, the second linear motor 14 does not cause magnetic attraction caused by the coils 15a, 15b, 15c (coil current is zero). Similar to Figure 3 , the first linear motor 2 generates a force component F1 in the direction of the first linear motor 2 Q , to guide the transport slider 4 closer to the first linear motor 2. Here, the force component F1 Q (and also the force component F1 L and F1 R ) is generated by the coils 5a, 5b, 5c of the first linear motor 2 during the acceleration operation (I Q > 0) and the braking operation (I Q < 0).

[0050] To achieve the lateral movement of the transport slider 4 without the field-variable current I D , which represents the core idea of the present invention, for Figure 3 and Figure 5 each of the linear motors 2, 14 (in the case of only one linear motor 2, similarly only for one motor), the current controller and the speed controller can be part of the control device 3. The I Q current corresponding to the speed setpoint specification is obtained from the speed control operation. For example, at a constant speed, this I Q current is almost constant and relatively small because no accelerating force acts. The specified attractive force is converted into an auxiliary I Q current. The auxiliary I Q current is frequency-modulated (e.g., > 100 Hz) and superimposed. The two current ratings are supplied to the current controller.

[0051] The auxiliary I Q current is always greater than or equal to zero and is corresponding to the amplitude of the high-frequency signal. The modulated auxiliary I QThe current alternately pulls the transport slider 4 back and forth. At the same time, an attractive force is generated between the magnets 7a, 7b, 7c, 7d, 7e, 7f in the transport slider 4 and the coils 5a, 5b, 5c, 15a, 15b, 15c. On average, the alternating forward and backward movements cancel each other out and the attractive force is maintained. Thus, on average, there is no change in the speed result from the drive function.

[0052] The effective attractive force depends on the frequency and amplitude and must be modulated by the drive function corresponding to the attractive force rating, at least in terms of the amplitude and, if necessary, also in terms of the frequency. The magnets 7a, 7b, 7c, 7d, 7e, 7f can be mounted in a damped manner and / or the frequency can be adapted to the machine.

Claims

1. A transport system (1), comprising: - at least one linear motor (2, 14), the linear motor having a plurality of coils (5a, 5b, 5c, 15a, 15b, 15c), - a control device (3), the control device being designed to control the at least one linear motor (2, 14), - a transport slider (4), the transport slider having a plurality of magnets (7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h) on at least one side (6a, 6b), wherein at least two magnets (7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h) have different magnetic polarities from each other, and the transport slider has a return element (8), in particular a back iron element, wherein the control device (3) is designed to control the at least one linear motor (2, 14) such that a longitudinal force (12b, 13b) is applied to the transport slider (4) along the longitudinal direction (L) of the linear motor (2, 14) to cause a linear movement of the transport slider (4) along the longitudinal direction (L), characterized in that The control device (3) is designed to control the at least one linear motor (2) such that a lateral force (12a, 13a) perpendicular to the longitudinal force (12b, 13b) is applied to the transport slide (4) to cause a lateral movement of the transport slide (4) towards or away from the coils (5a, 5b, 5c, 15a, 15b, 15c) in order to achieve in particular a switching function, wherein when the lateral movement of the transport slide (4) is caused, the field-variable current (I D ) has a value of zero.

2. The transportation system (1) according to claim 1, wherein, the control device (3) is designed to control the at least one linear motor (2, 14) such that the acceleration of the transport slider (4) along the longitudinal direction (L) of the linear motor (2, 14) causes a lateral movement of the transport slider (4) towards or away from the coils (5a, 5b, 5c, 15a, 15b, 15c).

3. The transportation system (1) according to claim 2, wherein, The control device (3) is designed to implement the acceleration of the transport slider (4) as a modulation with an alternating sign, wherein the frequency of the modulation exceeds 100 Hz.

4. The transportation system (1) according to claim 3, wherein, The control device (3) is designed to cause the modulation of the acceleration of the transport slider (4) by a corresponding modulation of the coil current of the linear motor (2, 14).

5. The transportation system (1) according to any one of the preceding claims, wherein, The linear motor (2, 14) does not have a return element (9), in particular a back iron element.

6. The transportation system (1) according to any one of the preceding claims, said transportation system having at least one first linear motor (2) and a second linear motor (14), said second linear motor being arranged at a distance and substantially parallel to said first linear motor (2), and wherein, The transport slider (4) has a plurality of magnets (7e, 7f, 7g, 7h) on another side (6b), wherein at least two magnets (7e, 7f, 7g, 7h) have different magnetic polarities from each other, and wherein the return element (8) is arranged between two sides (6a, 6b) containing the magnets (7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h), And wherein the control device (3) is designed to control the first linear motor (2) and the second linear motor (14) such that longitudinal forces (12b, 13b, F1 L , F2 L ) are applied to the transport slide (4) arranged between the first linear motor (2) and the second linear motor (14) in a common longitudinal direction of the first linear motor (2) and the second linear motor (14) to cause a linear movement (L) of the transport slide (4) in the longitudinal direction, and wherein the control device (3) is designed to control the first linear motor (2) and / or the second linear motor (14) such that transverse forces (12a, 13a, F1 L , F2 L ) perpendicular to the longitudinal forces (12b, 13b, F1 Q , F2 Q ) are applied to the transport slide (4) to cause a transverse movement of the transport slide (4) towards the coils (5a, 5b, 5c) of the first linear motor (2) or towards the coils (15a, 15b, 15c) of the second linear motor (14), wherein when the transverse movement of the transport slide (4) is caused, the field-varying current (I D ) has a value of zero.

7. The transport system (1) according to claim 6, wherein, The first linear motor (2) and the second linear motor (14) do not have a return element (9), in particular a back iron element.

8. A method for controlling at least one linear motor (2, 14) for a transport system (1), Among them, the at least one linear motor (2, 14) having a plurality of coils (5a, 5b, 5c, 15a, 15b, 15c), And wherein, the transport system (1) has a transport slider (4), the transport slider having a plurality of magnets (7a, 7b, 7c, 7d) on at least one side (6a), wherein at least two of the magnets (7a, 7b, 7c, 7d) have different magnetic polarities from each other, and the transport slider has a return element (8), in particular an armature element. Wherein, the control device (3) controls the at least one linear motor (2, 14) so as to apply longitudinal forces (12b, 13b, F1 L , F2 L ) in the longitudinal direction of the linear motor (2, 14) to the transport slide (4), so as to cause a linear movement (L) of the transport slide (4) in the longitudinal direction. It is characterized in that The control device (3) controls the at least one linear motor (2, 14) so as to apply a lateral force (12a, 13a, F1 L , F2 L ) perpendicular to the longitudinal force (12b, 13b, F1 Q , F2 Q ) to the transport slider (4), in order to in particular implement a switching function to cause a lateral movement of the transport slider (4) towards or away from the coil (5a, 5b, 5c, 15a, 15b, 15c), wherein when the lateral movement of the transport slider (4) is caused, the field-variable current (I D ) has a value of zero.

9. The method according to claim 8, wherein, the control device (3) controls the at least one linear motor (2, 14) such that the acceleration of the transport slider (4) in the longitudinal direction (L) of the linear motor (2, 14) causes the lateral movement of the transport slider (4) towards or away from the coils (5a, 5b, 5c, 15a, 15b, 15c).

10. The method according to claim 9, wherein, The control device (3) implements the acceleration of the transport slider (4) as a modulation with an alternating sign, wherein the frequency of the modulation exceeds 100 Hz.

11. The method according to claim 10, wherein, The control device (3) causes the modulation of the acceleration of the transport slider (4) by a corresponding modulation of the coil current of the linear motor (2, 14).

12. The method according to any one of claims 8 to 11, wherein, The linear motor (2, 14) does not have a return element (9), in particular an armature element.

13. The method according to any one of claims 8 to 12, wherein, The transport system (1) has at least one first linear motor (2) and a second linear motor (14), the second linear motor being arranged at a distance and substantially parallel to the first linear motor (2), and wherein the transport slider (4) has a plurality of magnets (7e, 7f, 7g, 7h) on a further side (6b), wherein at least two magnets (7e, 7f, 7g, 7h) have different magnetic polarities from each other, and wherein the return element (8) is arranged between two sides (6a, 6b) comprising the magnets (7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h), wherein the control device (3) controls the first linear motor (2) and the second linear motor (14) such that longitudinal forces (12b, 13b, F1 L , F2 L ) are applied in the common longitudinal direction of the first linear motor (2) and the second linear motor (14) to the transport slider (4) arranged between the first linear motor (2) and the second linear motor (14) to cause a linear movement (L) of the transport slider (4) in the longitudinal direction (L), and wherein the control device (3) controls the first linear motor (2) and / or the second linear motor (14) such that transverse forces (12a, 13a, F1 L , F2 L ) perpendicular to the longitudinal forces (12b, 13b, F1 Q , F2 Q ) are applied to the transport slider to cause a transverse movement of the transport slider (4) towards the coils (5a, 5b, 5c) of the first linear motor (2) or towards the coils (15a, 15b, 15c) of the second linear motor (14) in order to achieve in particular a switching function, wherein when the transverse movement of the transport slider (4) is caused, the field-changing current (I Q ) has a value of zero.

14. A computer program which, when executed on a control device (3), causes the control device (3) to implement the method according to any one of claims 8 to 13.

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