Control method of planar drive system and planar drive system

Abstract

The invention relates to a method (100) for controlling a planar drive system (200), comprising: in a preferred direction identification step (101), identifying a stator module preferred direction (315) of a stator module (300) by means of the magnetic field preferred direction (319) or the sensor preferred direction (443) and identifying a rotor preferred direction (441) of a rotor (400) by means of the respective other one of the magnetic field preferred direction (319) or the sensor preferred direction (443); in a magnetic field setting step (103), setting the directed magnetic field by means of the magnetic means (419); in a magnetic field measuring step (105), recording at least one measurement value of the directed magnetic field by means of the magnetic field sensor means; in an orientation measuring step (107), measuring an orientation of the rotor preferred direction (441) relative to the stator module preferred direction (315) based on the measured value of the component of the directed magnetic field parallel to the sensor preferred direction (443); in a direction measuring step (109), measuring a first direction of the rotor (400) on the stator module (300) based on the orientation of the rotor preferred direction (441) relative to the stator module preferred direction (315). The invention also relates to a planar drive system (200).

Description

Technical Field

[0001] The present invention relates to a method for controlling a planar drive system and a planar drive system adapted to implement the method for controlling the planar drive system.

[0002] This patent application claims priority to European patent application EP 20 170 127.3, the disclosure of which is incorporated herein by reference retrospectively.

[0003] Furthermore, planar drive systems can be used in automation technologies, particularly in manufacturing, material handling, and process technologies. A planar drive system can be used to move or position movable elements of equipment or machines in at least two linearly independent directions. A planar drive system may include a permanently excited electromagnetic planar motor having a planar stator and a rotor that can move along the stator in at least two directions.

[0004] In a permanently excited planar electromagnetic motor, a driving force is applied to the rotor, specifically through the magnetic interaction between the current-carrying conductors and the driving magnets of the magnet assembly. This invention particularly relates to the design of a planar drive system in which the driving magnets of the planar motor are arranged on the rotor, and the current-carrying conductors of this planar motor are arranged in a fixedly arranged planar stator. Background Technology

[0005] In this drive system, the rotor includes at least one first magnet unit for driving the rotor along a first direction and a second magnet unit for driving the rotor along a second direction linearly independent of the first direction, such as perpendicular to the first direction. The planar stator includes at least one set of first energized conductors that magnetically interact with the magnets of the first magnet units to drive the rotor along the first direction, and at least one set of second energized conductors that magnetically interact with the magnets of the second magnet units to drive the rotor along the second direction. The first and second sets of conductors can typically be energized independently of each other so that the rotors can move independently of each other along the first and second directions. If the first and second sets of conductors are at least partially energized independently of each other, multiple rotors can move independently of each other on a single stator simultaneously.

[0006] For controlling the rotor of a planar drive system, it is crucial to be able to determine the rotor's position relative to the stator module or the stator module of the planar drive system. To this end, each stator module has at least one sensor module comprising multiple magnetic field sensors adapted to detect the rotor's magnetic field, thereby enabling the determination of the rotor's position relative to the corresponding sensor module or the corresponding stator module. The more accurately the rotor's position can be determined, the more accurately the planar drive system can be controlled.

[0007] In addition to determining the position of the rotor's translational motion, which is the primary function, determining the rotor's orientation relative to the stator module is advantageous for precise rotor control. In this case, orientation determination primarily detects the rotor's rotation about a rotation axis that is perpendicular to the stator surface of the stator module and extends through the rotor's geometric center.

[0008] In applications based on planar drive systems where a preferred rotor orientation exists, for example, when a workpiece to be conveyed by the stator should be conveyed in a preferred orientation, determining the rotor orientation relative to the stator module is particularly advantageous.

[0009] Furthermore, determining the rotor's orientation relative to the stator module can improve the accuracy of determining the rotor's position on the stator module. This is particularly advantageous when position determination is based on an accurate understanding of the rotor's magnetic field for each individual rotor. By accurately determining the rotor's orientation relative to the stator module, the values ​​of the rotor magnetic field recorded by the magnetic field sensor for determining the rotor's position can be better elucidated, thereby improving the accuracy of position determination.

[0010] For the purposes of this invention, determining the orientation of the rotor relative to the stator module is particularly challenging when the rotor, especially the rotor's magnet assembly, is rotationally symmetric about a rotational axis oriented perpendicular to the stator module's surface. According to the invention, the rotor, especially the rotor's magnet assembly, and the resulting rotor magnetic field are rotationally symmetric about rotations of 90°, 180°, and 270° about a rotational axis oriented perpendicular to the stator surface, such that the rotor and rotor magnetic field can be interconverted by rotations of 90°, 180°, or 270°, as well as the obvious 0° and 360°. Based on the design of the rotor, magnet assembly, and the resulting rotor magnetic field, orientations of 90°, 180°, or 270° are difficult to distinguish from an orientation of 0°. Summary of the Invention

[0011] Therefore, one object of the present invention is to provide a method for controlling a planar drive system based on an improved determination of rotor orientation, the method enabling improved and more precise control of the rotor. Another object of the present invention is to provide a planar drive system suitable for implementing the method according to the invention.

[0012] The solution of the present invention to achieve the above-mentioned objective lies in a method for controlling a planar drive system and a planar drive system according to the independent claim. Preferred embodiments are described in the dependent claims.

[0013] According to one aspect of the present invention, a method for controlling a planar drive system is provided, wherein the planar drive system includes at least one control unit, a stator module having a stator surface, and a rotor positionable on the stator surface, wherein the stator module is adapted to generate a stator magnetic field along the stator surface to electrically control the rotor, wherein the rotor has a magnet assembly for generating a rotor magnetic field, wherein magnetic coupling between the rotor and the stator module can be achieved by the stator magnetic field and the rotor magnetic field, wherein, for determining the position of the rotor, the stator module includes a sensor module having a plurality of magnetic field sensors, wherein the stator module or the rotor has a magnetic means for generating a directional magnetic field, wherein the directional magnetic field is non-rotationally symmetric with respect to rotation about a rotation axis perpendicular to the stator surface and has a preferred magnetic field direction, and wherein a corresponding other of the stator module and the rotor has a magnetic field sensor means including a preferred sensor direction for detecting the directional magnetic field along the preferred sensor direction, the method comprising:

[0014] In the preferred orientation identification step, the preferred orientation of the stator module is identified by means of the preferred orientation of the magnetic field or the preferred orientation of the sensor, and the preferred orientation of the rotor is identified by means of the other of the preferred orientation of the magnetic field or the preferred orientation of the sensor, wherein the preferred orientation of the stator module is oriented parallel to the stator surface of the stator module, and wherein the preferred orientation of the rotor is oriented parallel to the working surface of the rotor.

[0015] In the magnetic field setting step, the magnetic device is used to set a directional magnetic field;

[0016] In the magnetic field measurement step, at least one measurement value of the directional magnetic field is recorded by the magnetic field sensor device, wherein the at least one measurement value of the directional magnetic field includes at least one value of the component of the directional magnetic field in a direction parallel to the preferred direction of the sensor.

[0017] In the orientation determination step, the orientation of the rotor preferred direction relative to the preferred direction of the stator module is determined based on the measured value of the component of the directional magnetic field parallel to the preferred direction of the sensor.

[0018] In the orientation determination step, a first orientation of the rotor on the stator module is determined based on the orientation of the rotor's preferred orientation relative to the stator module's preferred orientation. The first orientation of the rotor relative to the stator module can be transformed into a second orientation of the rotor relative to the stator module by rotating the rotor relative to the stator module about a rotation axis, the rotation axis being perpendicular to the stator surface and extending through the geometric center of the rotor.

[0019] This achieves the following technical advantages: a method for controlling a planar drive system can be provided, the method being adapted to determine the orientation of the rotor of the planar drive system relative to the stator module of the planar drive system.

[0020] In this application, the orientation of the rotor relative to the stator module is given by the orientation of the rotor's preferred direction relative to the stator module's preferred direction. The first orientation of the rotor relative to the stator module can be transformed into a second orientation by rotating the rotor about a rotation axis that extends perpendicular to the stator surface of the stator module and through the geometric center of the rotor.

[0021] For example, the orientation of the rotor preferred direction relative to the stator module preferred direction can be represented by the angle between the rotor preferred direction and the stator module preferred direction.

[0022] Within this application, the preferred rotor orientation is any optional orientation of the rotor, by which the rotor's rotation about the axis of rotation can be determined by correspondingly reorienting the defined preferred rotor orientation. This preferred rotor orientation is arbitrarily selectable and is used only to distinguish different orientations of the rotor relative to the stator module, particularly when the rotor is designed with a rotationally symmetric shape. However, this preferred rotor orientation is independent of the rotor design and can be freely chosen independently of the design.

[0023] In this regard, within this application, the preferred orientation of the stator module is any optional direction parallel to the stator surface of the stator module. This direction can be used to orient the rotor's preferred orientation, thereby defining the rotor's orientation relative to the stator module.

[0024] To determine the orientation of the rotor relative to the stator module of a planar drive system, the planar drive system includes a magnetic device for generating a directional magnetic field and a magnetic field sensor device for detecting the directional magnetic field. The directional magnetic field is non-rotationally symmetric with respect to a rotational axis perpendicular to the stator surface and has a preferred magnetic field direction. The magnetic field sensor device has a preferred magnetic field sensor direction and is adapted to detect components of the directional magnetic field that are parallel to or antiparallel to the preferred sensor direction.

[0025] To determine the orientation of the rotor relative to the stator module, the magnetic field device is either built on the rotor or on the stator module. In this case, the magnetic field sensor device is built on a corresponding other component of the planar drive system, i.e., on the stator module or the rotor.

[0026] The preferred orientation of the sensor is identified by means of the preferred orientation of the rotor or the preferred orientation of the stator module, depending on whether the magnetic field sensor device is built on the rotor or the stator module. After identifying the preferred orientation of the magnetic field, depending on whether the magnetic field device is built on the rotor or the stator module, the orientation of the preferred orientation of the sensor relative to the preferred orientation of the magnetic field is determined by recording the measured values ​​of the components of the directional magnetic field that are parallel or antiparallel to the preferred orientation of the sensor. Correspondingly, the orientation of the corresponding preferred orientation of the rotor relative to the preferred orientation of the stator module is then determined. The orientation of the rotor relative to the stator module can be determined based on the determined orientation of the rotor relative to the preferred orientation of the stator module.

[0027] This allows for the following advantages: for rotors designed in a rotationally symmetrical manner, particularly those that can be transformed into each other by rotation of 90°, 180°, or 270°, the orientation of the corresponding rotation relative to the stator module, including 90°, 180°, or 270°, can be determined. This enables precise determination of the rotor's orientation relative to the stator module, thereby achieving effective rotor control.

[0028] According to one embodiment, the method further includes:

[0029] In the position determination step, the position of the rotor relative to the stator module is determined by recording multiple measurements of the rotor magnetic field of the rotor using the magnetic field sensor of the sensor module of the stator module. The first position of the rotor relative to the stator module can be converted into a second position of the rotor relative to the stator module by translation of the geometric center of the rotor relative to the stator module in a translation direction perpendicular to the axis of rotation.

[0030] This enables the realization of the technical advantages of providing effective control over a planar drive system. Determining the rotor's position on the stator module allows for direct rotor control via the corresponding stator conductors of the stator module. Furthermore, position determination enables the selection of magnetic field sensors—essential for further rotor control and position determination—located close to the rotor in the sensor module.

[0031] According to one embodiment, the method further includes:

[0032] In the locking step, a locking magnetic field is set by the stator module to lock the rotor in a position, wherein the locking magnetic field is oriented in a manner opposite to the rotor magnetic field, thereby generating an attractive magnetic coupling between the locking magnetic field and the rotor magnetic field.

[0033] This achieves the technical advantage of accurately determining the rotor's orientation relative to the stator module. By locking the rotor in a specific position relative to the stator module, further movement of the rotor relative to the stator module during orientation determination is prevented. This allows for more accurate determination of the rotor's orientation relative to the stator module. Furthermore, magnetic coupling between the orientation magnetic field required for orientation determination and the rotor's magnetic field or the stator module's magnetic field can be avoided, which would cause movement of the rotor relative to the stator module.

[0034] According to one embodiment, the method further includes:

[0035] In the orientation step, the rotor is oriented from the first orientation to the second orientation based on the orientation of the rotor preferred orientation relative to the stator module preferred orientation.

[0036] This enables the realization of the technical advantage of providing precise control over planar drive systems. After determining the rotor's orientation relative to the stator module, the rotor's orientation relative to the stator module can be changed. This is particularly advantageous for applications where a specific rotor orientation relative to the stator module is used, for example, due to the preset orientation of the workpiece to be transported by the rotor. Thus, precise and widely applicable control of the planar drive system is achieved.

[0037] According to one embodiment, the magnetic device is mounted on the stator module, and the magnetic field sensor device is mounted on the rotor, wherein the preferred orientation of the stator module is identified by means of the preferred orientation of the magnetic field, and the preferred orientation of the rotor is identified by means of the preferred orientation of the sensor, wherein the magnetic field sensor device includes at least one 2D Hall sensor or 3D Hall sensor, wherein the preferred orientation of the magnetic field sensor device is defined by the measurement channel of the Hall sensor, and wherein the magnetic device is composed of a stator unit of the stator module for generating a stator magnetic field for driving the rotor.

[0038] This achieves the technical advantage of providing an efficient method for controlling planar drive systems. By constructing a magnetic field sensor device in the form of at least one 2D or 3D Hall sensor on the rotor and a magnetic device in the form of multiple stator conductors in the form of stator units or stator modules on the stator module, it is ensured that a directional magnetic field can be generated using the stator conductors or stator units of the stator module, which is used to generate the stator magnetic field for controlling the rotor.

[0039] This allows the directional magnetic field to be generated by manipulating the stator module through the control unit of the planar drive system. Therefore, the additional components for providing the magnetic field device in the planar drive system can be avoided, and the manipulation for generating the directional magnetic field can be achieved through the already implemented control unit. Furthermore, the directional magnetic field can be reliably and accurately measured by a magnetic field sensor device using at least one 2D or 3D Hall sensor built on the rotor. Moreover, the sensor orientation is preferably clearly defined through at least one measurement channel of the Hall sensor.

[0040] In this application, the measurement channel of the Hall sensor is the X, Y, or Z measurement channel of a 2D or 3D Hall sensor.

[0041] According to one embodiment, the method further includes:

[0042] In the measurement step, multiple values ​​of the directional magnetic field are measured for multiple different orientations of the rotor's preferred orientation relative to the stator module's preferred orientation; and

[0043] In the relationship determination step, for multiple different orientations of the rotor preferred direction relative to the stator module preferred direction, based on multiple values ​​of the directional magnetic field, the relationship between the value of the directional magnetic field and the orientation of the rotor preferred direction relative to the stator module preferred direction is determined;

[0044] The orientation determination step includes:

[0045] In the comparison step, the value of the component of the directional magnetic field parallel to the preferred direction of the sensor is compared with the value of the directional magnetic field and the relationship between the orientation of the rotor's preferred direction and the preferred direction of the stator module.

[0046] This achieves the technical advantage of providing a precise and efficient method for controlling a planar drive system. To this end, a relationship is generated between the value of the directional magnetic field and the orientation of the rotor's preferred direction relative to the stator module, based on multiple values ​​recorded for various orientations of the directional magnetic field relative to the rotor's preferred direction relative to the stator module. To determine the orientation used to control the planar drive system in the step of determining the rotor's preferred direction relative to the stator module's preferred direction, the relationship between the value of the directional magnetic field and the corresponding orientation of the rotor's preferred direction relative to the stator module's preferred direction can be used. This corresponding orientation corresponds to the rotor's orientation relative to the stator module's corresponding orientation. The value of the component of the directional magnetic field measured for this purpose, oriented parallel to the sensor's preferred direction of the magnetic field sensor device, is compared with the corresponding value of the directional magnetic field based on the measured relationship between the directional magnetic field and the rotor's preferred direction. Based on the relationship between the value of the directional magnetic field and the corresponding orientation of the rotor relative to the stator module's preferred direction, the corresponding orientation of the rotor's preferred direction relative to the measured value of the directional magnetic field is determined.

[0047] The relationship between the value of the directional magnetic field and the different orientations of the rotor relative to the stator module can be stored, for example, in a corresponding lookup table. Alternatively, the relationship can be represented by a corresponding mathematical function that describes the explicit association between the value of the directional magnetic field and the different orientations of the rotor.

[0048] This allows for the simple and accurate determination of the rotor's preferred orientation relative to the stator module's preferred orientation based on the recorded measurements of the directional magnetic field, and consequently, the rotor's orientation relative to the stator module.

[0049] According to one embodiment, the measurement step includes:

[0050] In the measurement step, for multiple different orientations of the rotor's preferred direction relative to the stator module's preferred direction, multiple measured values ​​of the component of the directional magnetic field parallel to the sensor's preferred direction are recorded using a magnetic field sensor device; or

[0051] In the simulation step, for multiple different orientations of the rotor preferred direction relative to the stator module preferred direction, multiple values ​​of the component of the directional magnetic field parallel to the sensor preferred direction of the magnetic field sensor device are calculated based on the model description of the directional magnetic field.

[0052] This achieves the technical advantage of accurately and reliably measuring the orientation of the rotor relative to the stator module. To this end, in order to determine the relationship between the expected measured values ​​of the directional magnetic field for a specific orientation of the rotor relative to the stator module (i.e., the specific orientation of the rotor relative to the stator module) and for multiple different orientations of the rotor relative to the stator module, multiple values ​​of the component of the directional magnetic field parallel to the sensor's preferred direction of the magnetic field sensor device are recorded for multiple different orientations of the rotor relative to the stator module or for multiple different orientations of the rotor relative to the preferred direction of the stator module.

[0053] Based on these measurements, the expected measured value of the directional magnetic field and the corresponding orientation of the rotor's preferred direction relative to the stator module's preferred direction can be determined. By measuring multiple values ​​of the directional magnetic field for multiple different orientations of the rotor relative to the stator module, the relationship between the expected measured value of the directional magnetic field and the corresponding orientation of the rotor's preferred direction relative to the stator module's preferred direction can be accurately and reliably determined, and consequently, the relationship between the expected value of the directional magnetic field and the corresponding orientation of the rotor relative to the stator module can be determined. This allows for the accurate and reliable determination of the rotor's orientation.

[0054] As an alternative, multiple values ​​of the directional magnetic field can be obtained by simulating multiple different orientations of the rotor relative to the stator module, based on a model description of the directional magnetic field.

[0055] Knowing the spatial design scheme of the directional magnetic field, the expected measured value of the directional magnetic field can be calculated for any orientation of the rotor relative to the stator module. Based on the calculated value of the directional magnetic field, the corresponding relationship between the directional magnetic field and the orientation of the rotor's preferred direction relative to the preferred direction of the stator module can be obtained. This allows for the determination of the rotor's orientation relative to the stator module with the highest possible accuracy. Furthermore, for each rotor in the planar drive system, a separate relationship between the directional magnetic field and the orientation of the rotor's preferred direction relative to the preferred direction of the stator module, or between the directional magnetic field and the rotor's orientation relative to the stator module, can be determined. This allows for the consideration of the individual characteristics of each rotor, enabling the determination of orientation with the highest possible precision by recording multiple measurements of the directional magnetic field.

[0056] According to one implementation, the comparison is performed using an approximation method in the comparison step.

[0057] This provides a technical advantage in accurately and reliably determining the rotor's orientation relative to the stator module. By comparing the recorded measured values ​​of the directional magnetic field with the expected values ​​of the directional magnetic field for any orientation of the rotor relative to the stator module, and by implementing an approximate method for determining the preferred orientation of the rotor relative to the preferred orientation of the stator module, it can be ensured that the relevant orientation of the rotor relative to the stator module can be determined most accurately for any value of the directional magnetic field.

[0058] An approximation method, for example, can be based on the least squares method, where the difference between the measured value of the component of the directional magnetic field parallel to the preferred direction of the sensor and the value of the directional magnetic field for a specific orientation of the rotor's preferred direction relative to the preferred direction of the stator module is minimized according to this relationship, thereby determining the corresponding value of the directional magnetic field for this relationship. Based on this, the rotor's orientation relative to the stator module corresponding to the measured value of the directional magnetic field can be determined.

[0059] In particular, if this relationship includes a lookup table in which the value of the directional magnetic field is assigned to the rotor orientation, the corresponding value of the directional magnetic field in the lookup table can be determined by using the least squares method with the aid of the measured value of the directional magnetic field. Then, based on this corresponding value, the corresponding orientation of the rotor relative to the stator module can be determined by the assignment of the lookup table.

[0060] According to one embodiment, the rotor further includes a transmission unit adapted to transmit the measured value of the directional magnetic field recorded in the magnetic field measurement step to a control device, wherein the orientation measurement step and the orientation measurement step are performed by the control device.

[0061] This achieves the technical advantage of eliminating the need to construct additional components, particularly processor units, on the stator module to implement the orientation and direction determination steps. All calculation steps can be performed by the control unit of the planar drive system via a transmission unit built on the rotor, transmitting the corresponding data. Therefore, a method for controlling a planar drive system can be implemented using any planar drive system with only one additional component in the form of a magnetic field sensor device.

[0062] According to one embodiment, the rotor further includes a processor unit adapted to perform an orientation measurement step and a direction measurement step, and a transmission unit to transmit the orientation measured in the orientation measurement step and / or the direction measured in the direction measurement step to a control device.

[0063] This achieves the technical advantage of enabling data transmission between the rotor and the control unit of the planar drive system with the smallest possible amount of data. By constructing a processor unit on the rotor suitable for implementing orientation and direction determination steps, and consequently analyzing the recorded measurements of the directional magnetic field, it is ensured that instead of transmitting the measured values ​​of the directional magnetic field recorded by the magnetic field sensor device from the rotor to the control unit, only the analyzed data, particularly the calculated orientation of the rotor relative to the stator module or the calculated direction of the rotor relative to the stator module, is transmitted to the control unit for further processing. This significantly reduces the amount of data to be transmitted and simplifies and accelerates data transmission.

[0064] According to one embodiment, the power supply for the magnetic field sensor device is wirelessly powered.

[0065] This achieves the technical advantages of eliminating the need for additional wiring on the rotor of the planar drive system and, consequently, eliminating the need to reduce the rotor's degrees of freedom on the stator module for power supply. The rotor's magnetic field sensor device can be powered wirelessly in the form of a corresponding modulation of the stator magnetic field generated by the stator module. Therefore, in addition to the additional wiring, the additional energy source for powering the magnetic field sensor device can also be eliminated.

[0066] According to one embodiment, the magnetic field sensor device of the rotor includes a plurality of 2D Hall sensors or a plurality of 3D Hall sensors, wherein the measurement channels of the 2D or 3D Hall sensors are arranged in a manner that is parallel to each other or antiparallel to each other.

[0067] This achieves the technical advantage of being able to measure the directional magnetic field as accurately as possible, and consequently, the orientation of the rotor relative to the stator module. By using multiple 2D or 3D Hall sensors, multiple independent measurements of the directional magnetic field can be recorded, thereby improving the accuracy of measuring the directional magnetic field and, consequently, the accuracy of measuring the rotor's orientation relative to the stator module. The orientation of the individual measurement channels of the multiple 2D or 3D Hall sensors in parallel or antiparallel orientations allows all measurements from the individual 2D or 3D Hall sensors used to measure the directional magnetic field to be taken into account, further improving accuracy and measurement precision.

[0068] According to one embodiment, the magnetic field sensor device of the rotor includes two 2D Hall sensors or 3D Hall sensors, wherein the two 2D Hall sensors or 3D Hall sensors are arranged on the rotor at a distance from each other, and wherein the connecting line between the two 2D Hall sensors or 3D Hall sensors extends through the geometric center of the working surface of the rotor.

[0069] This achieves the following technical advantages: by positioning two 2D or 3D Hall sensors outside the geometric center of the rotor's working surface, the scattering effect of the stator magnetic field and directional magnetic field appearing at the edge of the stator module or at the contact position between multiple stator segments of the stator module is compensated to determine the directional magnetic field. Specifically, the two 2D or 3D Hall sensors are arranged on the rotor in such a way that, for each of the stator modules or multiple consecutively arranged stator modules, at least one of the two 2D or 3D Hall sensors is arranged outside the region where the stator magnetic field or directional magnetic field stray field appears. This ensures the accuracy of the directional magnetic field measurement.

[0070] According to one embodiment, the magnetic field sensor device of the rotor includes three 2D Hall sensors or 3D Hall sensors, wherein the three 2D Hall sensors or 3D Hall sensors are arranged on the rotor at a certain distance from each other and form a triangular layout, and wherein the geometric center of the working surface of the rotor is arranged on the surface of the triangular layout formed by the three 2D Hall sensors or 3D Hall sensors or on the connecting line between two of the three 2D or 3D Hall sensors.

[0071] This achieves the technical advantage of further improving the measurement accuracy of the directional magnetic field. By arranging three 2D or 3D Hall sensors in a triangular layout, where none of the three 2D or 3D Hall sensors are located at the geometric center of the rotor's working surface, the influence of stray fields of the stator magnetic field or directional magnetic field appearing at the edge of the stator module or in the contact area of ​​multiple stator segments of the stator module can be compensated. Specifically, at least one 2D or 3D Hall sensor is arranged outside the stray field region.

[0072] According to one embodiment, the directional magnetic field is constructed as a static magnetic field.

[0073] This allows for the further precise elucidation of the directional magnetic field and, consequently, the further precise determination of the rotor's orientation relative to the stator.

[0074] According to one embodiment, the magnetic device is mounted on the rotor and the magnetic field sensor device is mounted on the stator module, wherein the preferred orientation of the stator module is identified by means of the preferred orientation of the sensor, the preferred orientation of the rotor is identified by means of the preferred orientation of the magnetic field, wherein the magnetic field sensor device includes at least one magnetic field sensor of the sensor module of the stator module, wherein the at least one magnetic field sensor is configured as a 2D Hall sensor or a 3D Hall sensor, wherein the preferred orientation of the sensor of the magnetic field sensor device is defined by the measurement channel of the Hall sensor, wherein the magnetic device is configured as at least one permanent magnet, and wherein the preferred orientation of the magnetic field is formed by the north and south poles of the permanent magnet.

[0075] This achieves the technical advantage of providing the simplest possible solution for generating a directional magnetic field. To this end, the magnetic field device is built on the rotor, and the magnetic field sensor device is constituted by the magnetic field sensor of the stator module's sensor module. In this case, the magnetic field device on the rotor can be built as a permanent magnet, thereby generating the simplest possible directional magnetic field. Since the magnetic field sensor device is implemented by the magnetic field sensor of the stator module's sensor module, no additional components are required to implement the magnetic field sensor device. Furthermore, the measured values ​​generated by the magnetic field sensor device can be transmitted to the control unit via a conventional data link between the stator module and the control unit. Therefore, another device for data transmission is also unnecessary.

[0076] According to a second aspect of the invention, a planar drive system is provided, comprising at least one control unit, a stator module having a stator surface, and a rotor positionable on the stator surface, wherein the stator module is adapted to generate a stator magnetic field along the stator surface for electrically controlling the rotor, wherein the rotor has a magnet assembly for generating a rotor magnetic field, wherein magnetic coupling between the rotor and the stator module can be achieved by the stator magnetic field and the rotor magnetic field, wherein, for determining the position of the rotor, the stator module includes a sensor module having a plurality of magnetic field sensors, wherein the stator module or the rotor has a magnetic means for generating a directional magnetic field, wherein the directional magnetic field is non-rotationally symmetric with respect to rotation about a rotation axis perpendicular to the stator surface and has a preferred magnetic field direction, and wherein a corresponding other of the stator module and the rotor has a magnetic field sensor means including a preferred sensor direction for detecting the directional magnetic field along the preferred sensor direction, and wherein the planar drive system is adapted to implement a method for controlling a planar drive system according to one embodiment.

[0077] This provides a planar drive system with precise and improved control and suitable for implementing the method according to the invention, which has the aforementioned advantages. Attached Figure Description

[0078] The present invention will now be described in detail with reference to the accompanying drawings. Wherein:

[0079] Figure 1 This is a schematic diagram of a planar drive system having a stator module and a rotor according to one embodiment;

[0080] Figure 2 A perspective view of a sensor module of a stator module according to one embodiment;

[0081] Figure 3 A schematic diagram of the bottom surface of a rotor according to one embodiment;

[0082] Figure 4 This is a flowchart of a method for controlling a plane drive system according to one embodiment;

[0083] Figure 5 This is another flowchart of a method for controlling a plane drive system according to another embodiment;

[0084] Figure 6 This is a schematic diagram of a rotor and sensor module according to one embodiment;

[0085] Figure 7 This is another flowchart of a method for controlling a plane drive system according to another embodiment;

[0086] Figure 8a This is another schematic diagram of a rotor and stator module according to another embodiment;

[0087] Figure 8b This is another schematic diagram of a rotor and stator module according to another embodiment;

[0088] Figure 8c This is another schematic diagram of a rotor and stator module according to another embodiment;

[0089] Figure 9 This is another schematic diagram of a rotor and stator module according to another embodiment;

[0090] Figure 10 Another schematic diagram of a rotor according to another embodiment; and

[0091] Figure 11 This is another schematic diagram of the bottom surface of a rotor according to another embodiment. Detailed Implementation

[0092] Figure 1 This is a schematic diagram of a planar drive system 200 having a stator module 300 and a rotor 400.

[0093] according to Figure 1 In the embodiment described above, the planar drive system includes a control unit 201, a stator module 300, and a rotor 400. The control unit 201 is connected to the stator module 300 via a data link 203. The control unit 201 is adapted to implement a method 100 for controlling the planar drive system 200 according to the present invention.

[0094] For a detailed description of the method for controlling the planar drive system 200 according to the present invention and the working principle of the position allocation function 205, please refer to the description of the method for controlling the planar drive system 200. Figure 4 , Figure 5 , Figure 7 and Figure 9 The description.

[0095] The stator module 300 has a flat stator surface 303. The flat stator surface 303 is disposed on the top surface of the stator module housing 305. The rotor 400 is disposed above the stator surface 303. The stator surface 303 is part of a stator unit 307 for electrically driving the rotor 400. The stator unit 307 having the stator surface 303 can be implemented as a printed circuit board. The stator surface 303 is square.

[0096] The stator unit 307 has four stator segments 308, which are connected to an electronic module (not shown) located within the stator module housing 305 via a contact structure 310.

[0097] The rotor 400 can be driven above the stator surface 303 at least along a first direction 507 and a second direction 509. The stator surface 303 has a plurality of stator conductors 309, in Figure 1 In one embodiment, the stator conductors are configured as stator conductors 309 and are oriented substantially along a first direction 507. The stator conductors 309 are conductive and energized to drive the rotor 400. A stator conductor gap 311 is provided between the stator conductors 309, through which the stator conductors 309 are electrically insulated from each other. Another arrangement of stator conductors may be provided below the stator surface 303, wherein these stator conductors are oriented substantially along a second direction 509.

[0098] Electronic modules for driving and controlling the rotor 400 are arranged in the stator module housing 305. These electronic modules may include, for example, power modules for generating drive current and control modules for controlling these power modules and drive currents. Connectors (not shown) are arranged on the bottom surface of the stator module housing 305 opposite to the stator surface 303, for connecting the stator module 300 to a plurality of connecting lines. These connecting lines may include, for example, control lines for transmitting control signals from the control modules and power supply lines for supplying power to the power modules and / or control modules. In particular, electrical energy for generating drive current can be fed to the power modules via the power supply lines.

[0099] In the top view of the stator surface 303, the stator module housing 305, the stator unit 307, and the stator surface 303 are rectangular, and in particular square.

[0100] The stator module housing 305 has a cutting plane 313. The sensor module can be arranged within the stator module housing 305 at the height of the cutting plane 313.

[0101] exist Figure 1 In this configuration, rotor 400 is provided with a preferred rotor orientation 441. This preferred rotor orientation can be arbitrarily selected and is used only to determine the orientation of rotor 400 relative to stator module 300. Stator module 300 is provided with a similarly selectable preferred stator module orientation 315. Figure 1 In this configuration, the two preferred directions are parallel. However, this is not mandatory and can be changed arbitrarily. Furthermore, a rotation axis 317 is shown, which is oriented perpendicular to the stator surface 303 and extends through the geometric center 445 of the rotor 400.

[0102] Figure 2This is a perspective view of a sensor module 500 used to detect the position of rotor 400 in planar drive system 200. The sensor module 500 is arranged in a rectangular shape and has a two-dimensional layout of magnetic field sensors 501 on a carrier 301 of stator module 300. The magnetic field sensors 501 are arranged on the carrier 301. The two-dimensional layout of the magnetic field sensors 501 has a first periodic lattice 503 and a second periodic lattice 505. The magnetic field sensors 501 in the first lattice 503 are represented by circular symbols, while the magnetic field sensors 501 in the second lattice 505 are represented by quadrilateral symbols.

[0103] In this application, when referring to the magnetic field sensor 501 in general, the reference numeral 501 is used.

[0104] The first magnetic field sensor 511 is connected by a solid line indicating the lattice structure of the first lattice 503. The second magnetic field sensor 513 is connected by a dashed line indicating the lattice structure of the second lattice 505. In this case, the first magnetic field sensor 511 and the second magnetic field sensor 513 can be the same, and the circular or square symbols should only indicate the position of the magnetic field sensor 501 belonging to the respective part layout.

[0105] The first lattice 503 and the second lattice 505 have the same structure but are offset relative to each other. Thus, the second magnetic field sensor 513 of the second lattice 505 and the first magnetic field sensor 511 of the first lattice 503 are both offset relative to each other.

[0106] Magnetic field sensor 501 Figure 2 The layout shown is for illustrative purposes only and may be used in conjunction with... Figure 2 The layout shown is slightly off.

[0107] Magnetic field sensor 501 is adapted to measure the magnetic field for a spatial region (not shown). Therefore, the measurement of magnetic field sensor 501 is limited to the corresponding spatial region of each magnetic field sensor 501. The spatial region of magnetic field sensor 501 can have any geometrical spatial extension and can be, for example, circular. These spatial regions can, in particular, be designed in a point-like manner, so that individual magnetic fields can be measured point-by-point by magnetic field sensor 501, wherein each magnetic field sensor 501 measures only the field contribution of each magnetic field directly arranged at the location of each magnetic field sensor 501.

[0108] The carrier 301 is planar, which allows the magnetic field sensor 501 to be arranged in a plane, i.e., a two-dimensional layout.

[0109] The magnetic field sensor 501 can be configured as a Hall sensor. Specifically, the magnetic field sensor 501 can be configured as a 2D or 3D Hall sensor, wherein a 3D Hall sensor measures magnetic field components in three linearly independent spatial directions. These spatial directions may, in particular, include a first direction 507, a second direction 509, and a third direction perpendicular to the first direction 507 and the second direction 509.

[0110] The carrier 301 can be constructed as a printed circuit board and / or a circuit board. This allows the carrier 301 to be provided in a simple manner.

[0111] The layout of the magnetic field sensor 501 can exactly include the two parts of the layout of the two lattices 503 and 505.

[0112] Figure 3 The rotor 400 of the planar drive system 200 is shown in a view from below, looking at its bottom surface. During operation of the planar drive system 200, the bottom surface of the rotor 400 is arranged toward the stator surface 303 of the stator module 300. The rotor 400 has a magnet assembly 401 at its bottom surface. The magnet assembly 401 is rectangular, particularly square, and comprises a plurality of magnets. The bottom surface of the rotor 400, especially in the region of the magnets in the magnet assembly 401, is constructed in a flat or planar manner. During operation, the bottom surface of the rotor 400 with the magnet assembly 401 is oriented substantially parallel to and toward the stator surface 303.

[0113] The magnet assembly 401 includes a first magnet unit 411, a second magnet unit 413, a third magnet unit 415, and a fourth magnet unit 417. The first magnet unit 411 and the third magnet unit 415 each have an elongated drive magnet arranged side-by-side in a first rotor direction 407 and extending along a second rotor direction 409 perpendicular to the first rotor direction 407. The second magnet unit 413 and the fourth magnet unit 417 each have an elongated drive magnet arranged side-by-side in the second rotor direction 409 and extending along the first rotor direction 407. During operation, the first and third magnet units 411 and 415 drive the rotor 400 in the first rotor direction 407, and the second and fourth magnet units 413 and 417 drive the rotor 400 in the second rotor direction 409. Furthermore, all magnet units 413 and 417 are used for driving in a direction perpendicular to the stator surface 303.

[0114] At the center of the magnet assembly 401, the rotor 400 has an open area 403 that is not covered by the magnets of the magnet assembly 401. The rotor 400 has a fixing structure 405 in the area of ​​the open area 403.

[0115] Figure 4A flowchart illustrating a method 100 of a control plane drive system 200 according to one embodiment is shown.

[0116] Taking into account the following Figures 1 to 3 , Figure 6 as well as Figures 7 to 11 In the case of the description Figure 4 , Figure 5 and Figure 7 The method 100 shown is explained below.

[0117] A method 100 for controlling a planar drive system 200 can be used in the planar drive system 200, which includes a control unit 201, a stator module 300 having a stator surface 303, and a rotor 400 that can be positioned on the stator surface 303. The stator module 300 is adapted to generate a stator magnetic field along the stator surface 303 for electrically controlling the rotor 400, wherein the rotor 400 has a magnet assembly 401 for generating the rotor magnetic field. Magnetic coupling between the rotor 400 and the stator module 300 can be achieved through the stator magnetic field and the rotor magnetic field. To determine the position of the rotor 400, the stator module 300 includes a sensor module 500 having a plurality of magnetic field sensors 501.

[0118] Furthermore, the stator module 300 or rotor 400 includes a magnetic device 419 for generating a directional magnetic field, wherein this directional magnetic field is non-rotationally symmetric with respect to rotation about a rotation axis 317 perpendicular to the stator surface 303 and has a preferred magnetic field direction 319. Other corresponding components of the stator module 300 and rotor 400 have a magnetic field sensor device 424 including a preferred sensor direction 443 for detecting the directional magnetic field along this preferred direction.

[0119] In the preferred orientation identification step 101, the preferred orientation 315 of the stator module 300 is identified by means of the preferred orientation 319 of the magnetic field or the preferred orientation 443 of the sensor, and the preferred orientation 441 of the rotor 400 is identified by means of the other of the preferred orientation 319 of the magnetic field or the preferred orientation 443 of the sensor.

[0120] In this case, the preferred direction 315 of the stator module is any direction parallel to the stator surface 303, which is used to orient the rotor 400 relative to the stator module 300. The preferred direction 441 of the rotor is an arbitrarily selectable direction, which is parallel to the working surface 402 arranged on the bottom surface of the rotor 400 and is used to orient the rotor 400 relative to the stator module 300 by determining the orientation of the preferred direction 441 of the rotor relative to the preferred direction 315 of the stator module.

[0121] Here, the preferred magnetic field direction 319 is given by the axis of symmetry of the directional magnetic field and is oriented in a manner parallel to the working surface 402 of the rotor 400 or parallel to the stator surface 303 of the stator module 300, depending on whether the magnetic device 419 is arranged on the rotor 400 or on the stator module 300.

[0122] The magnetic field sensor device 424 may consist of one or more 2D / 3D Hall sensors. Therefore, the preferred sensor orientation 443 of the magnetic field sensor device 424 is defined by the orientation of the measurement channels of the 2D / 3D Hall sensors, particularly by the X, Y, or Z measurement channels.

[0123] After identifying the preferred orientation 315 of the stator module and the preferred orientation 443 of the sensor, the directional magnetic field is set by the magnetic device 419 in the magnetic field setting step 103.

[0124] Then, in magnetic field measurement step 105, at least one measurement value of the directional magnetic field is measured by the magnetic field sensor device 424. In this case, the at least one measurement value of the directional magnetic field includes at least one value of the component of the directional magnetic field in the direction parallel to the preferred direction 443 of the sensor. If the magnetic field sensor device 424 is composed of at least one 2D / 3D Hall sensor, the measurement value recorded by the 2D / 3D Hall sensor includes at least one component of the X, Y, or Z measurement channel of the 2D / 3D Hall sensor.

[0125] Subsequently, in orientation determination step 107, the orientation of the rotor preferred direction 441 relative to the stator module preferred direction 315 is determined based on the measured value of the component of the directional magnetic field parallel to the preferred direction 443 of the sensor. The orientation of the rotor preferred direction 441 relative to the preferred direction 315 of the stator module can be given, for example, by the angle between the two preferred directions. Since the rotor preferred direction 441 or the stator module preferred direction 315 coincides with the sensor preferred direction 443 or the magnetic field preferred direction 319, specifically depending on whether the magnet assembly 419 is built on the rotor 400 or the stator module 300 and whether the magnetic field sensor device 424 is correspondingly built on another component, the orientation between the rotor preferred direction 441 and the stator module preferred direction 315 can be determined by measuring the orientation of the preferred direction 319 of the magnetic field relative to the sensor preferred direction 443.

[0126] If the preferred orientation 443 of the magnetic field sensor device 424 is determined to be parallel or antiparallel to the preferred orientation 319 of the magnetic field by measuring at least one measurement of the directional magnetic field, then the parallel or antiparallel orientation of the preferred orientation 441 of the rotor relative to the preferred orientation 315 of the stator module can be deduced.

[0127] The determination of the orientation of the rotor preferred direction 441 relative to the stator module preferred direction 315, as described herein, is based on the concept that the measured value of the component of the directional magnetic field produces different values ​​for the component of the directional magnetic field depending on the orientation of the sensor preferred direction 443 relative to the magnetic field preferred direction 319. Therefore, when the sensor preferred direction 443, given for example by the X-channel of the 3D Hall sensor, is parallel to the magnetic field preferred direction 319, given for example by the x-component of the directional magnetic field, the maximum value of the x-component of the directional magnetic field is measured. When the rotor 400 is oriented such that the sensor preferred direction 443, given by the X-channel of the 3D Hall sensor, forms a considerable angle with the magnetic field preferred direction 319, given by the x-component of the directional magnetic field, the measured value of the directional magnetic field recorded by the X-channel of the 3D Hall sensor is substantially different from the maximum value of the x-component of the directional magnetic field.

[0128] Therefore, by measuring the deviation between the recorded measured value of the directional magnetic field or its components and the maximum value of the corresponding component of the directional magnetic field, the orientation of the preferred direction 443 of the sensor relative to the preferred direction 319 of the magnetic field and the orientation of the rotor 400 relative to the stator module 300 can be determined by recording the measured value of the directional magnetic field.

[0129] Similarly, for any other angle between the preferred sensor orientation 443 of the magnetic field sensor device 424 and the preferred magnetic field orientation 319 of the directional magnetic field, the orientation of the two preferred orientations can be inferred, and the orientation of the rotor 400 relative to the stator module 300 can be inferred accordingly.

[0130] Then, in orientation determination step 109, the first orientation of rotor 400 relative to stator module 300 is determined based on the orientation of rotor preferred direction 441 relative to stator module preferred direction 315.

[0131] Within this application, the orientation of rotor 400 relative to stator module 300 includes the rotation of rotor 400 about rotation axis 317, which is oriented perpendicular to stator surface 303 and extends through the geometric center of rotor 400. Conversely, the orientation of rotor 400 relative to stator module 300 does not include any translational movement of the geometric center of rotor 400 relative to stator module 300.

[0132] Figure 5 Another flowchart illustrates a method 100 of a control plane drive system 200 according to another embodiment.

[0133] Figure 5 The implementation shown is based on Figure 4 The illustrated embodiments include Figure 4 To avoid unnecessary repetition, all the methods and steps described above will not be elaborated upon below.

[0134] After the preferred orientation is identified in the preferred orientation identification step 101, the position of the rotor 400 relative to the stator module 300 is determined in the position determination step 111. In this case, the position of the rotor 400 relative to the stator module 300 does not include the orientation of the rotor 400 relative to the stator module 300. Here, two different positions of the rotor 400 relative to the stator module 300 can be transformed into each other by any number of translational movements of the rotor 400 relative to the stator module 300. The position of the rotor 400 relative to the stator module 300 is determined by recording multiple measurements of the rotor magnetic field of the rotor 400 using the magnetic field sensor 501 of the sensor module 500.

[0135] Then, in locking step 113, a locking magnetic field is set to lock the rotor 400 relative to the stator module 300 in the position previously determined in position determination step 111. Here, the locking magnetic field is set by the stator conductor 309 of the stator unit 307 of the stator module 300. In this case, the locking magnetic field set by the stator module 300 creates an attractive magnetic coupling between the rotor magnetic field of the rotor 400 and the locking magnetic field of the stator module 300 in the z-direction perpendicular to the stator surface 303 of the stator module 300, which attracts the rotor 400 to the stator surface 303 of the stator module 300 and holds the rotor in the locked position. Then, for Figure 4 In the described method steps, the orientation of the rotor 400 relative to the stator module 300 is determined in the locked position.

[0136] After determining the orientation of the rotor 400 relative to the stator module 300 in orientation measurement step 109, the first orientation of the rotor 400 relative to the stator module 300 determined in orientation measurement step 109 is changed to a second orientation of the rotor 400 relative to the stator module 300 in orientation measurement step 115. Alternatively, a locking magnetic field can be set in locking step 113 to release the locking of the rotor 400 relative to the stator module 300 at a specific position, allowing the rotor 400 to move relative to the stator module 300.

[0137] In addition to changing the first orientation of the rotor 400 to a second orientation of the rotor 400 relative to the stator module 300, the rotor 400 can be further controlled and, consequently, translated relative to the stator module 300.

[0138] Figure 6 This is a schematic diagram of a rotor 400 and a stator module 300 according to one embodiment.

[0139] Figure 6 Show Figure 1The stator module 300 and rotor 400 are shown. Further details regarding the two components described herein will not be repeated below.

[0140] A magnetic field sensor device 424, in the form of a 2D / 3D Hall sensor 427 arranged on a rotor printed circuit board 425, is constructed on the rotor 400. Correspondingly, a magnet assembly 419 is constructed on the stator module 300, which... Figure 6 In the embodiment, it is constructed in the form of the stator conductor 309 of the stator segment 308 of the stator unit 307 of the stator module 300.

[0141] Figure 6 The opening shown on rotor 400 is only for illustration of magnetic field sensor device 424, which is built on the bottom surface of rotor 400.

[0142] exist Figure 6 In the embodiment described, the 2D / 3D Hall sensor 427 is configured as a 3D Hall sensor and has a first measurement channel 435, a second measurement channel 437, and a third measurement channel 439. These three measurement channels are arranged at right angles to each other and are capable of measuring the directional magnetic field in directions parallel or antiparallel to the respective measurement channels. Different components of the directional magnetic field can be determined using the multiple measurement channels of the 2D / 3D Hall sensor.

[0143] Specifically, depending on the orientation, the stator magnetic field or directional magnetic field generated by the stator conductor 309 of the stator module 300 has an x-component Bx, a y-component By oriented perpendicular to this x-component, and a z-component Bz oriented perpendicular to this y-component. Figure 6 In the embodiment described, the 3D Hall sensor of the magnetic field sensor device 424 is oriented such that the first measurement channel 435 is oriented parallel to the x-component Bx of the stator magnetic field or the oriented magnetic field, while the second measurement channel 437 is oriented parallel to the y-component By, and the third measurement channel 439 is oriented parallel to the z-component Bz. Furthermore, in... Figure 6 In this context, the first measurement channel 435 is identified as the preferred sensor orientation 443. Identifying the first measurement channel 435 using the preferred sensor orientation 443 is purely exemplary, and the preferred sensor orientation 443 can also be identified using the second measurement channel 437. Furthermore, in... Figure 6 In the embodiment described above, the preferred rotor orientation 441 is identified by means of a preferred orientation 443 sensor, while the preferred stator module orientation 315 is identified by means of the x-component Bx of the directional magnetic field. As described above, the preferred orientations of the stator module 300 and the rotor 400 can be arbitrarily selected and are used only to determine the orientation of the rotor 400, which is constructed in a rotationally symmetric manner, relative to the stator module 300.

[0144] As Figure 6In an alternative to the illustrated embodiment, the magnetic field sensor device 424 may have multiple 2D / 3D Hall sensors 427.

[0145] Figure 7 Another flowchart illustrates a method 100 of a control plane drive system 200 according to another embodiment.

[0146] Method 100 Figure 7 The embodiments shown are the same as Figure 6 As shown in the embodiment, the magnetic field sensor device 424 is constructed on the rotor 400, while the magnetic device 419 is composed of the stator conductor 309 of the stator unit 307 of the stator module 300.

[0147] In terms of methods and steps, Figure 7 The implementation shown is based on Figure 5 The embodiments shown are included and all the method steps described therein are not described in detail below.

[0148] exist Figure 7 In one embodiment, method 100 further includes a measurement step 117, in which multiple values ​​of the directional magnetic field are measured for multiple different orientations of the rotor preferred orientation 441 relative to the stator module preferred orientation 315. Therefore, in measurement step 117, for the different orientations of the rotor 400 relative to the stator module 300 that, as described above, cause different orientations of the rotor preferred orientation 441 relative to the stator module preferred orientation 315, the value of the expected directional magnetic field for the corresponding orientation can be recorded.

[0149] This can be achieved through appropriate measurements or, as an alternative, through calculations in a corresponding simulation.

[0150] Therefore, in measurement step 123, for different orientations of the rotor 400 relative to the stator module 300 and, consequently, for different orientations of the rotor's preferred orientation 441 relative to the stator module's preferred orientation 315, the measured values ​​of the directional magnetic field at the sensor preferred orientation 443 of at least one 2D / 3D Hall sensor 427 parallel to the magnetic field sensor device 424 can be recorded. For this purpose, for example, the rotor 400 can be positioned on the stator module 300 with different orientations, and corresponding orientation fields can be set so that the corresponding measured values ​​of the directional magnetic field are recorded for each orientation of the rotor 400 relative to the stator module 300.

[0151] Preferably, measurement step 123 can be performed as a calibration or adjustment of this control before controlling the rotor 400 on the stator module 300. For this purpose, a corresponding dataset of measurements of the directional magnetic field for any orientation of the rotor 400 relative to the stator module 300 can be recorded for each rotor 400 to be controlled in the planar drive system 200. Alternatively, a dataset can be recorded for a reference rotor, which serves as a reference dataset for controlling all rotors 400 of the planar drive system 200.

[0152] As an alternative to measuring the individual values ​​of the directional magnetic field in measurement step 123, the expected value of the directional magnetic field can be simulated in simulation step 125 in corresponding simulations for different orientations of the rotor 400 relative to the stator module 300. This can be implemented based on a model description of the spatial design scheme of the directional magnetic field, specifically by calculating the corresponding values ​​of the components of the directional magnetic field that are parallel to or antiparallel to the preferred direction 443 of the sensor for each arbitrary orientation of the rotor 400 relative to the stator module 300.

[0153] also, Figure 7 The implementation also includes, in order to determine the orientation of the rotor preferred direction 441 relative to the stator module preferred direction 315 in the orientation determination step 107, determining the expected measured value of the directional magnetic field in the relationship determination step 119 based on the value measured in the determination step 117, the corresponding orientation of the rotor preferred direction 441 relative to the stator module preferred direction 315, and relatedly, the relationship between the value of the directional magnetic field and the different orientations of the rotor 400 relative to the stator module 300. The relationship between the value of the directional magnetic field and the different orientations of the rotor 400 relative to the stator module 300 can, for example, be stored in a corresponding lookup table, in which different orientations of the rotor 400 relative to the stator module 300 are assigned corresponding values ​​of the directional magnetic field. Alternatively, this relationship can be stored in a mathematical relation or mathematical function.

[0154] Furthermore, in order to determine the orientation of the two preferred directions in orientation determination step 107, at least one measurement of the directional magnetic field recorded in magnetic field determination step 105 is compared with the value measured in relationship determination step 119. The comparison process implemented in comparison step 121 can be carried out based on an approximation method, in which the most suitable directional magnetic field value for the relationship is identified for the measurement of the directional magnetic field.

[0155] This approximation method can be based, for example, on the least squares method, where the difference between the measured value of the component of the directional magnetic field parallel to the preferred direction 443 of the sensor and the value of the directional magnetic field for a specific orientation of the rotor's preferred direction 441 relative to the preferred direction 315 of the stator module is minimized according to this relationship. The corresponding value of the directional magnetic field in this relationship is then determined, i.e., the value with the smallest deviation from the measured value of this directional magnetic field. Based on this, the orientation of the rotor 400 relative to the stator module 300 corresponding to the measured value of the directional magnetic field can be determined.

[0156] Especially when this relationship includes a lookup table, in which the value of the directional magnetic field is assigned to the orientation of the rotor 400, the corresponding value of the directional magnetic field in the lookup table can be determined by means of the measurement value of the directional magnetic field using the least squares method. Then, based on this corresponding value, the corresponding orientation of the rotor 400 relative to the stator module 300 can be determined by the assignment of the lookup table.

[0157] Therefore, by comparing step 121, the most suitable directional magnetic field value for this relationship is first selected based on the recorded measurements of the directional magnetic field, and accordingly, the corresponding orientation of the rotor preferred direction 441 relative to the stator module preferred direction 315 is assigned to the measured values ​​of the directional magnetic field. Thus, the corresponding orientation of the rotor 400 relative to the stator module 300, or the corresponding orientation of the rotor preferred direction 441 relative to the stator module preferred direction 315, can be determined based on the recorded measurements of the directional magnetic field.

[0158] As Figure 6 In an alternative implementation, the magnetic field sensor device 424 may have multiple 2D / 3D Hall sensors 427. Furthermore, in the magnetic field measurement step 105, multiple measurements of the directional magnetic field may be recorded.

[0159] The measurements of the directional magnetic field mentioned herein may in particular include multiple components of the directional magnetic field, since these magnetic field sensors are constructed as 2D / 3D Hall sensors and thus have at least two different measurement channels through which at least two components of the directional magnetic field can be measured.

[0160] The measured values ​​of the directional magnetic field recorded by the magnetic field sensor device 424 can be transmitted to the control unit 201 of the planar drive system 200 via a transmission device, and the control unit 201 analyzes these measured values ​​according to the orientation determination step 107 and the orientation determination step 109. Alternatively, the orientation determination step 107 and the orientation determination step 109 can be implemented by a processor unit constructed on the rotor 400. Furthermore, the magnetic field sensor device 424 can be powered wirelessly, wherein the magnetic field sensor device 424 is powered by induction by correspondingly modulating the stator magnetic field or the directional magnetic field generated by the stator module 300.

[0161] Figures 8a to 8c Three different designs of the magnetic field sensor device 424 are shown, each having one 2D / 3D Hall sensor, two 2D / 3D Hall sensors, or three 2D / 3D Hall sensors.

[0162] Figure 8a This is another schematic diagram of a rotor 400 and a stator module 300 according to another embodiment.

[0163] exist Figure 8a The image shows a stator module 300 and a rotor 400 mounted on this stator module. The rotor 400 includes a magnetic field sensor device 424, which... Figure 8a The embodiment includes a rotor printed circuit board 425 and a 2D / 3D Hall sensor 427 placed on this rotor printed circuit board. Figures 8a to 8c In this paper, the rotor 400 is simplified to a rotor circuit board 425 and Hall sensors placed on this rotor circuit board, because only the effect of the placement of each Hall sensor on the directional magnetic field of the stator module 300 should be shown.

[0164] exist Figure 8a In this configuration, a 2D / 3D Hall sensor 427 is arranged in the geometric center 445 of the rotor 400.

[0165] Based on the edge effect occurring at the edges of the stator module 300 or contact structures 310, regions are generated at the edges of each contact structure 310 or stator module 300 where the directional magnetic field cannot be accurately measured by the magnetic field sensor device 424. These regions are... Figures 8a to 8c It is shown in the middle by vertical and horizontal ellipses represented by dashed lines.

[0166] exist Figures 8a to 8c In this diagram, only one stator module 300 is shown. However, to operate the planar drive system 200, multiple stator modules 300 are typically arranged together to form a large-area drive surface for the planar drive system 200. To operate the rotor 400 on multiple stator modules 300, in... Figure 8aIn the embodiment shown where a single 2D / 3D Hall sensor 427 is arranged in the geometric center 445 of the rotor 400, there is a problem that when crossing the edge of the rotor 400 or the individual stator modules 300 of the contact structure 310, this single 2D / 3D Hall sensor 427 enters the region marked by the dashed ellipse where the directional magnetic field cannot be clearly measured due to the edge effect. Therefore, the directional magnetic field may not be clearly measured, and consequently, the orientation of the rotor 400 relative to the stator module 300 may not be clearly measured.

[0167] Figure 8b This is another schematic diagram of the rotor 400 and stator module according to another embodiment.

[0168] and Figure 8a The implementation methods differ in that, Figure 8b In the illustrated embodiment, the magnetic field sensor device 424 includes a first 2D / 3D Hall sensor 429 and a second 2D / 3D Hall sensor 431, which are arranged spaced apart from each other on opposite edges of the rotor printed circuit board 425. A connecting line between the two 2D / 3D Hall sensors extends through the geometric center 445 of the rotor 400. This arrangement of the first and second 2D / 3D Hall sensors ensures that edge effects on the two lateral edges of the illustrated stator module 300 do not negatively affect the determination of the directional magnetic field by the first 2D / 3D Hall sensor 429 and the second 2D / 3D Hall sensor 431 or by the magnetic field sensor device 424. This is achieved by the following: when the rotor 400 moves left and right, during... Figure 8b Within the range of the right or left edge of the stator module 300 shown, or within the range of the stator module and the vertical contact structure 310. Figure 8b Within the vertically arranged edge range, at each position of the rotor 400 relative to the stator module 300, one of the two 2D / 3D Hall sensors is respectively arranged outside the region where the directional magnetic field cannot be clearly measured due to the edge effect. This effect is... Figure 8b The image is shown by omitting the vertically arranged ellipses represented by dashed lines, thus indicating that it can be shown through... Figure 8b The layout of the 2D / 3D Hall sensors shown is used to compensate for edge effects at vertically oriented edges or contact structures 310.

[0169] Figure 8c This is another schematic diagram of a rotor 400 and a stator module 300 according to another embodiment.

[0170] exist Figure 8cIn the embodiment, the magnetic field sensor device 424 has a first 2D / 3D Hall sensor 429, a second 2D / 3D Hall sensor 431, and a third 2D / 3D Hall sensor 433, which are arranged in a triangular layout. Figure 8c The arrangement of the three 2D / 3D Hall sensors shown ensures that for each position of the rotor 400 relative to the stator module 300, at least one of the three 2D / 3D Hall sensors of the magnetic field sensor device 424 is arranged in Figure 8a Outside the area shown by the dashed line, the directional magnetic field cannot be precisely measured for the magnetic field sensor 501 arranged in these areas due to edge effects. Therefore, Figure 8c The arrangement of the three 2D / 3D Hall sensors shown enables precise determination of the directional magnetic field for each position of the rotor 400 on the stator module 300 via the magnetic field sensor device 424. Figure 8c The layout shown is different; an alternative triangular layout of three 2D / 3D Hall sensors may also cause the above effects.

[0171] Alternatively, the magnetic field sensor device 424 can be equipped with any number of 2D / 3D Hall sensors.

[0172] Figure 9 This is another schematic diagram of a rotor 400 and a stator module 300 according to another embodiment.

[0173] Figure 9 The stator module 300 with rotor 400 is shown. The rotor 400 is simplified to four magnet units 411, 413, 415, 417 and a magnetic field sensor device 424, which includes a first 2D / 3D Hall sensor 429, a second 2D / 3D Hall sensor 431 and a third 2D / 3D Hall sensor 433.

[0174] exist Figure 9 In the embodiment described, the first measurement channel 435 of the first 2D / 3D Hall sensor 429 is arranged in an antiparallel manner to the x-component Bx of the magnetic field of the stator module 300. Furthermore, the second measurement channel 437 of the first 2D / 3D Hall sensor 429 is also arranged in an antiparallel manner to the y-component By of the magnetic field of the stator module 300. Therefore, depending on the orientation of the directional magnetic field along the x-component Bx or the y-component By, the rotor 400 relative to the stator module 300... Figure 9 In the orientation shown, the corresponding components of the orientation magnetic field are measured by the corresponding first or second measurement channels 435 and 437 of the first to third 2D / 3D Hall sensors 429, 431, and 433.

[0175] By changing the orientation of the rotor 400 relative to the stator module 300, for example by changing the orientation around the axis of rotation (not in... Figure 9 As shown in the figure, the rotor 400 rotates, and the values ​​recorded by the first measurement channel 435 or the second measurement channel 437 of the first to third 2D / 3D Hall sensors 429, 431, 433 change, so that the orientation of the rotor 400 relative to the stator module 300 can be determined based on the changes in the individual measured values ​​of the directional magnetic fields of the first to third 2D / 3D Hall sensors 429, 431, 433.

[0176] To this end, the measured values ​​recorded by 2D / 3D Hall sensors 429, 431, and 433 for different orientations can be compared with the corresponding measured values ​​recorded as reference values ​​and stored in a lookup table for different orientations of the rotor 400 relative to the stator module 300. By comparing the recorded measured values ​​with the reference values ​​stored in the lookup table, the corresponding orientation of the rotor 400 relative to the stator module 300 can be determined. Specifically, the value in the lookup table with the smallest deviation from the recorded measured values ​​of the orientation magnetic field can be determined, and the corresponding orientation of the selected value assigned to the orientation magnetic field in the lookup table can be determined.

[0177] Furthermore, these three 2D / 3D Hall sensors are arranged such that the measurement channels of each Hall sensor are parallel or antiparallel to each other. Figure 9 In the illustrated embodiment, the first measurement channel 435 of the first 2D / 3D Hall sensor 429 is arranged, for example, in a manner that is antiparallel to the first measurement channel 435 of the second 2D / 3D Hall sensor 431 and the second measurement channel 437 of the third 2D / 3D Hall sensor 433. Therefore, the second measurement channel 437 of the first 2D / 3D Hall sensor 429 is arranged parallel to the first measurement channel 435 of the third 2D / 3D Hall sensor 433 and antiparallel to the second measurement channel 437 of the second 2D / 3D Hall sensor 431.

[0178] With this arrangement, where the measurement channels of each Hall sensor are parallel or antiparallel to each other, the measurement values ​​of the directional magnetic field recorded by different Hall sensors can be used to determine the directional magnetic field.

[0179] As an alternative, 2D / 3D Hall sensors can also be used with... Figure 9 The layout shown is arranged differently on the rotor 400, so that the measurement channels of each Hall sensor are arbitrarily parallel or antiparallel to each other.

[0180] Figure 10 Another schematic diagram of a rotor 400 according to another embodiment is shown.

[0181] exist Figure 10In the embodiment described, the magnetic field sensor device 424 includes four 2D / 3D Hall sensors 427, a first 2D / 3D Hall sensor 429, a second 2D / 3D Hall sensor 431, a third 2D / 3D Hall sensor 433, and a fourth 2D / 3D Hall sensor 434. These 2D / 3D Hall sensors do not, as in... Figure 9 Instead of being arranged at the center of the magnet assembly 401 as shown in the embodiment, it is arranged in the structural space of the rotor 400 that laterally surrounds the magnet assembly 401. Figure 10 In the embodiment described, four 2D / 3D Hall sensors 427 are each individually arranged on the rotor printed circuit board 425. Figure 10 In the embodiment described above, four 2D / 3D Hall sensors 427 are arranged on one side of the rotor 400. However, different arrangements may also be used.

[0182] exist Figure 10 In the implementation of the above method, four 2D / 3D Hall sensors 427 are interconnected by wiring 449.

[0183] The orientation of the various measurement channels 435, 437, and 439 of the 2D / 3D Hall sensor 427 is not in Figure 10 As shown in the image. (and) Figure 9 Similar to the implementation method described above, the 2D / 3D Hall sensors 427 can be arranged such that the measurement channels 435, 437, and 439 of the different 2D / 3D Hall sensors 427 are parallel to each other or antiparallel. However, different orientations of the measurement channels 435, 437, and 439 can also be used.

[0184] A 2D / 3D Hall sensor 427 can, for example, be arranged in a buffer (not shown) of the rotor 400, which laterally surrounds the rotor 400 and buffers collisions with other rotors 400 or obstacles. Figure 10 In an alternative to the illustrated embodiment, the magnetic field sensor device 424 may include another number of 2D / 3D Hall sensors 427 arranged in one or more buffers on the edge region of the rotor 400. The 2D / 3D Hall sensors 427 may, in particular, be arranged on one or any number of rotor printed circuit boards 425.

[0185] exist Figure 10 In one embodiment, the rotor 400 also includes a coil unit 447, which can be used for energy transfer and / or communication between the rotor 400 and the stator module 300. The coil unit 447 can be placed in the structural space of the rotor 400 that laterally surrounds the magnet assembly 401, for example, in a buffer. Alternatively, the coil unit 447 can be constructed as a printed coil on the rotor printed circuit board 425 of the magnetic field sensor device 424 itself.

[0186] The 2D / 3D Hall sensor 427 can be connected to the coil unit 447 via wiring 449.

[0187] and Figure 10 Conversely, as illustrated in the diagram, the magnet assembly 401 can also be configured such that no open area is constructed at the center of the magnet assembly 401. In this case, the advantage is that without an open area at the center of the rotor 400, the size of the rotor 400 can be smaller, thus allowing more rotors 400 to be used on a given stator surface 303.

[0188] Furthermore, in accordance with the basis Figure 6 Compared to the embodiment where the rotor printed circuit board 425 is placed at the center of the magnet assembly 401 as a printed coil on the rotor printed circuit board 425, by according to Figure 10 The implementation of coil unit 447 allows for higher power transmission and maintains a greater distance between rotor 400 and stator module 300 during energy and data transmission. Therefore, energy and data transmission can also be achieved during normal operation of the planar drive system 200, such as during the driving of rotor 400.

[0189] Figure 11 This is another schematic diagram of the bottom surface of a rotor 400 according to another embodiment.

[0190] exist Figure 11 The middle shows Figure 3 The rotor 400 shown, wherein Figure 11 In the embodiment described, the magnetic device 419 is constructed on the rotor 400 in the form of a first permanent magnet 421 and a second permanent magnet 423. Furthermore, in... Figure 11 In the implementation of the method, the preferred direction 319 of the magnetic field is defined by the orientation of the second permanent magnet 423.

[0191] according to Figure 11 In the embodiment shown, the magnetic field sensor device 424 is composed of the magnetic field sensor 501 of the sensor module 500 of the stator module 300 (not shown). As... Figure 11 In an alternative to the illustrated embodiment, the magnetic device 419 can be implemented using any number of different permanent magnets. This is contingent upon the arrangement of any number of permanent magnets in the magnetic device 419 being non-rotationally symmetric about the axis of rotation 317 perpendicular to the working surface 402 of the rotor 400.

[0192] With the help of the non-rotationally symmetric arrangement of the permanent magnets of the magnetic device 419 about the rotation axis 317, the orientation of the rotor 400 relative to the stator module 300 can be precisely determined by the magnetic field sensor 501 of the magnetic field sensor device 424 of the sensor module 500 based on the non-rotationally symmetric directional magnetic field generated by the non-rotationally symmetric arrangement of the permanent magnets.

[0193] Appendix Label Table

[0194] 100 Methods for controlling planar drive systems

[0195] 101 Optimal Direction Recognition Steps

[0196] 103 Steps for setting up a magnetic field

[0197] 105. Procedure for Magnetic Field Measurement

[0198] 107 Orientation Determination Procedure

[0199] 109 Orientation Determination Procedure

[0200] 111 Position Determination Procedure

[0201] 113 Locking Steps

[0202] 115 Orientation Steps

[0203] 117 Measurement Procedure

[0204] 119 Relationship Determination Steps

[0205] 121 Comparison Steps

[0206] 123 Measurement Steps

[0207] 125 Simulation Steps

[0208] 200 Planar Drive System

[0209] 201 Control Unit

[0210] 203 Data Link

[0211] 300 stator module

[0212] 301 carrier

[0213] 303 stator surface

[0214] 305 Stator Module Housing

[0215] 307 stator unit

[0216] 308 stator segment

[0217] 309 Stator Conductor

[0218] 310 Contact Structure

[0219] 311 Stator conductor gap

[0220] 313 Cutting plane

[0221] 315 Stator Module Preferred Direction

[0222] 317 Rotation axis

[0223] 319 Preferred direction of magnetic field

[0224] 400 rotor

[0225] 401 Magnet Assembly

[0226] 402 working face

[0227] 403 Open Area

[0228] 405 Fixed Structure

[0229] 407 First rotor direction

[0230] 409 Second rotor direction

[0231] 411 First Magnet Unit

[0232] 413 Second Magnet Unit

[0233] 415 Third Magnet Unit

[0234] 417 Fourth Magnet Unit

[0235] 419 Magnetic Device

[0236] 421 First Permanent Magnet

[0237] 423 Second permanent magnet

[0238] 424 Magnetic Field Sensor Device

[0239] 425 Rotor Printed Circuit Board

[0240] 427 2D / 3D Hall Sensor

[0241] 429 First 2D / 3D Hall Sensor

[0242] 431 Second 2D / 3D Hall Sensor

[0243] 433 Third 2D / 3D Hall Sensor

[0244] 434 Fourth 2D / 3D Hall Sensor

[0245] 435 First Measurement Channel

[0246] 437 Second Measurement Channel

[0247] 439 Third Measurement Channel

[0248] 441 Preferred Rotor Direction

[0249] 443 Preferred orientation of the sensor

[0250] 445 Geometric Center

[0251] 447 Coil Unit

[0252] 449 Wiring

[0253] 500 sensor module

[0254] 501 Magnetic Field Sensor

[0255] 503 First Periodic Lattice

[0256] 505 Second Periodic Lattice

[0257] 507 First Direction

[0258] 509 Second Direction

[0259] 511 First Magnetic Field Sensor

[0260] 513 Second Magnetic Field Sensor

[0261] The x-component of the Bx magnetic field

[0262] By the y-component of the magnetic field

[0263] The z-component of the Bz magnetic field

Claims

1. A method (100) for controlling a planar drive system (200), wherein the planar drive system (200) comprises at least one control unit (201), a stator module (300) having a stator surface (303) and a rotor (400) which can be positioned on the stator surface (303), wherein the stator module (300) is adapted to generate a stator magnetic field along the stator surface (303) for electrically controlling the rotor (400), wherein the rotor (400) has a magnet assembly (401) for generating a rotor magnetic field, wherein a magnetic coupling between the rotor (400) and the stator module (300) can be achieved by the stator magnetic field and the rotor magnetic field, wherein for determining a position of the rotor (400) the stator module (300) comprises a sensor module (500) having a plurality of magnetic field sensors (501), wherein the stator module (300) or the rotor (400) has a magnetic device (419) for generating a directional magnetic field, wherein the directional magnetic field is non-rotationally symmetric with respect to a rotation around an axis of rotation (317) perpendicular to the stator surface (303) and extending through a geometrical center (445) of the rotor (400) and has a magnetic field preferred direction (319), wherein the magnetic field preferred direction (319) is defined by a component of the directional magnetic field or by a north pole and a south pole of a permanent magnet of the magnetic device (419) and is oriented parallel to a working face (402) of the rotor (400) or parallel to the stator surface (303) of the stator module (300), wherein the respective other one of the stator module (300) and the rotor (400) has a magnetic field sensor device (424) comprising a sensor preferred direction (443) for detecting the directional magnetic field along the sensor preferred direction (443), wherein the sensor preferred direction (443) is constituted by a measurement channel of a Hall sensor of the magnetic field sensor device (424), and wherein the magnetic field sensor device (424) is adapted to detect a component of the directional magnetic field parallel or antiparallel to the sensor preferred direction (443), the method comprising: In a preferred direction identification step (101), a stator module preferred direction (315) of the stator module (300) is identified by means of the magnetic field preferred direction (319) or the sensor preferred direction (443) and a rotor preferred direction (441) of the rotor (400) is identified by means of the other of the magnetic field preferred direction (319) or the sensor preferred direction (443), wherein the stator module preferred direction (315) is oriented parallel to a stator surface (303) of the stator module (300), wherein the rotor preferred direction (441) is oriented parallel to a working face (402) of the rotor (400), wherein one direction of the rotor (400) is defined by the rotor preferred direction (441), wherein one direction of the stator module (300) is defined by the stator module preferred direction (315), and wherein an orientation of the rotor (400) relative to the stator module (300) can be determined by determining the orientation of the rotor preferred direction (441) relative to the stator module preferred direction (315); In a magnetic field setting step (103), the directed magnetic field is set by the magnetic device (419); In a magnetic field determination step (105), at least one measurement value of the directed magnetic field is recorded by the magnetic field sensor device, wherein the at least one measurement value of the directed magnetic field comprises at least one value of a component of the directed magnetic field in a direction parallel to the sensor preferred direction (443); In an orientation determination step (107), based on the determined value of the component of the directed magnetic field parallel to the sensor preferred direction (443), the orientation of the rotor preferred direction (441) relative to the stator module preferred direction (315) is determined by determining a magnetic field preferred direction of the directed magnetic field relative to a sensor preferred direction (443) of the magnetic field sensor device (424); In a direction determination step (109), a first direction of the rotor (400) relative to the stator module (300) is determined based on the orientation of the rotor preferred direction (441) relative to the stator module preferred direction (315), wherein the first direction of the rotor (400) relative to the stator module (300) can be transformed into a second direction of the rotor (400) relative to the stator module (300) by rotating the rotor (400) relative to the stator module (300) around a rotation axis (317) which is oriented perpendicular to the stator surface (303) and which extends through a geometrical center of the rotor (400).

2. The method (100) according to claim 1, further comprising: In a position determination step (111), a position of the rotor (400) relative to the stator module (300) is determined by recording a plurality of measurement values of a rotor magnetic field of the rotor (400) by means of magnetic field sensors (501) of a sensor module (500) of the stator module (300), wherein a first position of the rotor (400) relative to the stator module (300) can be converted into a second position of the rotor (400) relative to the stator module (300) by a translational shift of a geometrical center of the rotor (400) relative to the stator module (300) in a translational direction perpendicular to the rotation axis (317).

3. The method (100) according to claim 1, further comprising: In a locking step (113), a locking magnetic field is set by the stator module (300) to lock the rotor (400) in a position, wherein the locking magnetic field is oriented in a way that is opposite to the rotor magnetic field, so that an attractive magnetic coupling between the locking magnetic field and the rotor magnetic field is generated.

4. The method (100) according to claim 1, further comprising: In an orientation step (115), the rotor (400) is oriented from a first orientation to a second orientation based on an orientation of the rotor preferred direction (441) relative to the stator module preferred direction (315).

5. The method (100) according to claim 1, wherein the magnetic device (419) is built on the stator module (300) and the magnetic field sensor device (4) is built on the rotor (400), wherein the stator module preferred direction (315) is identified by means of the magnetic field preferred direction (319) and the rotor preferred direction (441) is identified by means of the sensor preferred direction (443), wherein the magnetic field sensor device (424) comprises at least one 2D or 3D Hall sensor (427), and wherein the magnetic device (419) is constituted by a stator unit of the stator module (300) for generating a stator magnetic field for driving the rotor (400).

6. The method (100) according to claim 5, further comprising: In a determination step (117), a plurality of values of the orientation magnetic field is determined for a plurality of different orientations of the rotor preferred direction (441) relative to the stator module preferred direction (315); and In a relationship determination step (119), a relationship between a value of the orientation magnetic field and an orientation of the rotor preferred direction (441) relative to the stator module preferred direction (315) is determined based on the plurality of values of the orientation magnetic field for a plurality of different orientations of the rotor preferred direction (441) relative to the stator module preferred direction (315); wherein the orientation determination step (107) comprises: In the comparison step (121), the measured value of the component of the directional magnetic field parallel to the sensor preferred direction (443) is compared to the relationship between the value of the directional magnetic field and the orientation of the rotor preferred direction (441) relative to the stator module preferred direction (315).

7. The method (100) according to claim 6, wherein the determining step (117) comprises: In the measurement step (123), a plurality of measured values of the component of the directional magnetic field parallel to the sensor preferred direction (443) of the magnetic field sensor device (424) are recorded by the magnetic field sensor device (424) for a plurality of different orientations of the rotor preferred direction (441) relative to the stator module preferred direction (315); or In the simulation step (125), a plurality of values of the component of the directional magnetic field parallel to the sensor preferred direction (443) of the magnetic field sensor device (424) are calculated based on the model description of the directional magnetic field for a plurality of different orientations of the rotor preferred direction (441) relative to the stator module preferred direction (315).

8. The method (100) according to claim 6, wherein the comparison in the comparison step (121) is performed by an approximation method.

9. The method (100) according to claim 5, wherein the rotor (400) further has a transmission unit adapted to transmit the measured values of the directional magnetic field recorded in the magnetic field determining step (105) to the control unit (201), and wherein the orientation determining step (107) and the direction determining step (109) are performed by the control unit (201).

10. The method (100) according to claim 5, wherein the rotor (400) further has a processor unit adapted to perform the orientation determining step (107) and the direction determining step (109) and a transmission unit adapted to transmit the orientation determined in the orientation determining step (107) and / or the direction determined in the direction determining step (109) to the control unit (201).

11. The method (100) according to claim 5, wherein the magnetic field sensor device (424) of the rotor (400) comprises a plurality of 2D Hall sensors or a plurality of 3D Hall sensors, wherein the measurement channels of the 2D or 3D Hall sensors are arranged on the rotor (400) in parallel or antiparallel to each other.

12. The method (100) according to claim 11, wherein the magnetic field sensor device (424) of the rotor (400) comprises two 2D Hall sensors or 3D Hall sensors, wherein the two 2D Hall sensors or 3D Hall sensors are arranged on the rotor (400) at a distance from each other, and wherein a connecting line between the two 2D Hall sensors or 3D Hall sensors extends through the geometric center of the working face of the rotor (400).

13. The method (100) according to claim 11, wherein the magnetic field sensor device (424) of the rotor (400) comprises three 2D or 3D Hall sensors, wherein the three 2D or 3D Hall sensors are arranged on the rotor (400) at a distance from each other and form a triangular layout, and wherein the geometric center of the working face of the rotor is arranged on the surface of the triangular layout constituted by the three 2D or 3D Hall sensors or on a connecting line between two of the three 2D, 3D Hall sensors.

14. The method (100) according to claim 1, wherein the magnetic device (419) is built on the stator module (300) and the magnetic field sensor device (424) is built on the rotor (400), wherein the stator module preferred direction (315) is identified by means of the sensor preferred direction (443) and the rotor preferred direction (441) is identified by means of the magnetic field preferred direction (319), wherein the magnetic field sensor device (424) comprises at least one magnetic field sensor (501) of a sensor module (500) of the stator module (300), wherein the at least one magnetic field sensor (501) is built as a 2D or 3D Hall sensor, wherein the magnetic device (419) is built as at least one permanent magnet.

15. A planar drive system (200) comprising at least one control unit (201), a stator module (300) having a stator surface (303) and a rotor (400) positionable on the stator surface (303), wherein the stator module (300) is adapted to generate a stator magnetic field along the stator surface (303) for electrically controlling the rotor (400), wherein the rotor (400) has a magnet assembly (401) for generating a rotor magnetic field, wherein a magnetic coupling between the rotor (400) and the stator module (300) can be achieved by the stator magnetic field and the rotor magnetic field, wherein for determining a position of the rotor (400) the stator module (300) comprises a sensor module (500) having a plurality of magnetic field sensors (501), wherein the stator module (300) or the rotor (400) has a magnetic device (419) for generating a directional magnetic field, wherein the directional magnetic field is non-rotationally symmetric with respect to a rotation around an axis of rotation (317) perpendicular to the stator surface (303) and extending through a geometrical center (445) of the rotor (400) and has a magnetic field preferred direction (319), wherein the magnetic field preferred direction (319) is constituted by an axis of symmetry of the directional magnetic field and is oriented parallel to a working face (402) of the rotor (400) or parallel to the stator surface (303) of the stator module (300), wherein the respective other one of the stator module (300) and the rotor (400) has a magnetic field sensor device (424) comprising a sensor preferred direction (443) for detecting the directional magnetic field along the sensor preferred direction (443), wherein the sensor preferred direction (443) is constituted by a measurement channel of a Hall sensor of the magnetic field sensor device (424), and wherein the magnetic field sensor device (424) is adapted to detect a component of the directional magnetic field parallel or antiparallel to the sensor preferred direction (443), wherein one direction of the rotor (400) is defined by the rotor preferred direction (441), wherein one direction of the stator module (300) is defined by the stator module preferred direction (315), and wherein an orientation of the rotor (400) relative to the stator module (300) can be determined by an orientation of the rotor preferred direction (441) relative to the stator module preferred direction (315), and wherein the planar drive system (200) is adapted to implement the method (100) according to any one of the above claims 1 to 14.

Images