Method for operating a linear drive system and linear drive system

Abstract

The invention relates to a method for operating a linear drive system. The linear drive system has a primary part and a secondary part, which can be moved translationally relative to each other. The primary part has an energizable electromagnetic device, and the secondary part has a magnet assembly consisting of permanent magnets arranged side by side. By energizing the electromagnetic device of the primary part, a magnetic interaction between the electromagnetic device and the magnet assembly of the secondary part can be caused, so that the primary part and the secondary part move relative to each other. The primary part has a sensor device, which is composed of a magnetic field sensor for detecting the magnetic field generated by the magnet assembly of the secondary part. In an initial measurement, the magnetic field of the magnet assembly of the secondary part is detected at different positions of the primary part relative to the secondary part by means of the sensor device and position-dependent reference magnetic field data are provided. In addition, the position of the primary part is determined. For this purpose, the magnetic field of the magnet assembly of the secondary part is detected at the current position of the primary part relative to the secondary part by means of the sensor device and current magnetic field data are provided. The current position of the primary part relative to the secondary part is determined based on the reference magnetic field data and the current magnetic field data. In addition, the invention also relates to a linear drive system.

Description

Technical Field

[0001] The invention relates to a method for operating a linear drive system. The drive system has a primary part and a secondary part, which can be moved translationally relative to each other. In the method, the position of the primary part is determined. The invention also relates to a linear drive system.

[0002] This patent application claims the priority of German patent application DE 10 2021 130 313.3, the disclosure content of which is hereby incorporated by reference into the present application. Background Art

[0003] Linear drive systems generate linear translational movements. Such systems can be used in various fields, for example, to induce translational movements of machine elements or parts of equipment. The generation of movement can be based on magnetic or electromagnetic operating principles.

[0004] The drive system, which can also be referred to as a linear motor, can have a primary part and a secondary part. The primary part and the secondary part can move translationally relative to each other. For example, the secondary part can be stationary and the primary part can move relative to the secondary part. The primary part can have an energizable electromagnetic device, and the secondary part can have a magnet assembly consisting of permanent magnets arranged side by side. By energizing the electromagnetic device of the primary part, a magnetic interaction between the electromagnetic device and the magnet assembly can be caused, so that the primary part and the secondary part move relative to each other.

[0005] In order to reliably control this movement, it is usually necessary to determine the position of the primary part relative to the secondary part. For this purpose, corresponding measuring devices can be used in addition to the primary and secondary parts for the drive. For example, magnetostrictive linear measuring systems and optical, inductive or magnetic linear scales are used. This requires the use of additional accessories and the corresponding space. Summary of the invention

[0006] The object of the present invention is to provide an improved method for operating a linear drive system. In addition, the object of the present invention is to provide a correspondingly designed linear drive system.

[0007] This object is achieved by the features of the independent claim. Further advantageous embodiments of the invention are described in the dependent claims.

[0008] According to one aspect of the present invention, a method for operating a linear drive system is provided. The linear drive system has a primary part and a secondary part, which can move translationally relative to each other. The primary part has an energizable electromagnetic device, and the secondary part has a magnet assembly consisting of permanent magnets arranged side by side. By energizing the electromagnetic device of the primary part, a magnetic interaction between the electromagnetic device and the magnet assembly of the secondary part can be caused, so that the primary part and the secondary part move relative to each other. The primary part has a sensor device, which is composed of a magnetic field sensor for detecting the magnetic field generated by the magnet assembly of the secondary part. In an initial measurement, the magnetic field of the magnet assembly of the secondary part is detected at different positions of the primary part relative to the secondary part by means of the sensor device, and reference magnetic field data related to the position is provided. In addition, the position of the primary part is determined. For this purpose, the magnetic field of the magnet assembly of the secondary part is detected at the current position of the primary part relative to the secondary part by means of the sensor device, and current magnetic field data is provided. The current position of the primary part relative to the secondary part is determined based on the reference magnetic field data and the current magnetic field data.

[0009] The proposed method makes it possible to reliably and precisely determine the position of a primary part of a linear drive system. The secondary part of the drive system, which is already used for the motion drive, is used together with a sensor arrangement consisting of a magnetic field sensor arranged on the primary part for position determination. This makes it possible to determine the position without using bulky accessories, thus making it possible to determine the position in a space-saving and cost-effective manner.

[0010] The method uses the fact that the magnetic field generated by the permanent magnet arrangement of the secondary part and detectable by means of the sensor arrangement of the primary part can have a substantially periodic curve with individual differences in the direction of movement in which the primary part and the secondary part can move relative to one another. These differences can be caused by tolerances of the linear drive system and its components. These can include mechanical and magnetic angle errors, magnetization errors, density differences, geometric deviations, bonding gaps, mechanical offsets, etc.

[0011] In the initial measurement, the magnetic field of the magnet assembly of the secondary component is detected at different positions of the primary component relative to the secondary component by means of a sensor device. On this basis or based on the measurement data obtained by detecting the magnetic field, position-related reference magnetic field data are provided. These reference magnetic field data can contain and reproduce the position-related differences of the detected magnetic field of the magnet assembly of the secondary component. In other words, the magnetic fingerprint of one or more permanent magnets of the secondary component can be recorded separately by the initial measurement. As for the actual position determination for the initial unknown current position of the primary component relative to the secondary component, the magnetic field of the magnet assembly of the secondary component is detected again by means of the sensor device of the primary component. On this basis, the current magnetic field data are provided. Therefore, by analyzing based on the reference magnetic field data and the current magnetic field data, the current position of the primary component relative to the secondary component can be inferred.

[0012] Other possible details and embodiments that can be used for the method and the linear drive system will be described in detail below.

[0013] In the case of the linear drive system, a translational movement of the primary part and the secondary part relative to one another can take place in a predetermined direction of movement.

[0014] In one embodiment, the linear drive system is configured such that the secondary part is a fixed component of the drive system and the primary part is a movable component of the drive system, wherein the primary part can move relative to the secondary part due to a magnetic interaction between an electromagnetic device of the primary part and a magnet assembly of the secondary part. An opposite design can also be adopted, in which the primary part is a fixed component of the drive system and the secondary part is a movable component of the system, wherein the secondary part can move relative to the primary part due to a magnetic interaction between an electromagnetic device of the primary part and a magnet assembly of the secondary part. In both variants, the position of the primary part relative to the secondary part can be determined by implementing the method.

[0015] On the current position that should be determined according to described method, the movable member of linear drive system (at first still) can be stationary.In addition, for example can determine the current position after this linear drive system restarts or power failure.

[0016] The electromagnetic device of the primary part may have a plurality of electromagnets that can be energized. These electromagnets may be implemented in the form of coils. By energizing the electromagnetic device in an appropriate manner, a changing magnetic field may be generated by means of the electromagnetic device. The energization may include applying a three-phase current to the electromagnetic device. The changing magnetic field may interact with the magnetic field generated by the magnet assembly of the secondary part, thereby causing the primary part and the secondary part to move relative to each other.

[0017] The magnet assembly of the secondary part has a plurality of permanent magnets arranged side by side. Adjacent and consecutive permanent magnets can be arranged in a mutually opposite manner with respect to their polarity, so that an alternation of polarities occurs in the direction of movement of the primary part and the secondary part. Thus, permanent magnet pairs consisting of permanent magnets with mutually opposite polarities can be present in the direction of movement.

[0018] The permanent magnets of the magnet assembly can have an elongated shape and their longitudinal axes can be arranged parallel to each other. The longitudinal axes of these permanent magnets can be oriented substantially perpendicular to the direction of movement. Different from the exact perpendicular orientation, the longitudinal axes of these permanent magnets can be oriented obliquely or slightly obliquely relative to the direction of movement in order to suppress the occurrence of cogging torque (also known as cogging effect) during movement.

[0019] The sensor device of the primary part for detecting the magnetic field of the permanent magnet assembly of the secondary part has a plurality of magnetic field sensors. In a possible design, these magnetic field sensors are Hall sensors. As an alternative, other sensors such as MR sensors (magnetoresistive sensors) can also be used. The magnetic field sensor can be used to detect the magnetic field or magnetic flux density in different directions, for example in three different directions. The magnetic field sensor can be arranged in a distributed manner in one or more planes. In addition, the magnetic field sensor can be arranged in a distributed manner spaced apart from each other relative to the movement direction of the primary part and the secondary part.

[0020] In addition to the above-mentioned components, the linear drive system may also have other components, including, for example, components that can be used to guide or support the movable primary component (or, in the case of a reverse design, the movable secondary component), such as guide rails with movable rollers or balls and corresponding retaining elements.

[0021] In another embodiment, the linear drive system has a main control device for controlling the operation of the drive system. The main control device can be connected to the primary part via a cable, which in the case of a movable embodiment of the primary part can be realized as a trailing cable or a cable chain. The main control device can be used to control the energization of the electromagnetic device of the primary part and thus the movement of the primary part and the secondary part relative to each other.

[0022] The initial measurement and position determination can also be controlled by means of the master control device or can also be carried out with the participation of the master control device. In this case, reference magnetic field data and current magnetic field data that can be obtained by detecting the magnetic field of the magnet assembly of the secondary part by means of the sensor device can be stored in the master control device. Based on the reference magnetic field data and the current magnetic field data, the master control device can determine the current position of the primary part relative to the secondary part. The embodiments of the method described below can also be implemented by the master control device or can be realized during the analysis performed by the master control device.

[0023] In another embodiment, the position determination comprises comparing at least a portion of the current magnetic field data with a portion of the reference magnetic field data by means of a similarity method. By using this method (also referred to as a correlation method), the position determination can be performed with high reliability and accuracy.

[0024] In the analogy method, data quantities or partial data quantities can be compared with one another. With reference magnetic field data and current magnetic field data provided, at least one partial data quantity of the current magnetic field data can be compared with a plurality of partial data quantities of the reference magnetic field data. Based on the initial measurement, these partial data quantities of the reference magnetic field data can indicate different positions of the primary part relative to the secondary part, so that the current position of the primary part can be at least approximately inferred from this comparison.

[0025] In another embodiment, the similar method used is the DTW method (Dynamic Time Warping). The DTW method allows a reliable position determination to be realized very easily and can therefore be performed reliably even with data sets having a relatively small number of data points. A further advantage is the high flexibility, so that even data sets with a different number of data points or with a temporal or spatial offset, for example due to scanning used in the course of magnetic field detection, can be reliably compared.

[0026] The similarity of two amounts of data to be compared can be determined by implementing the DTW method or DTW algorithm. The method may include the steps of generating a distance matrix and determining the most efficient path through the distance matrix. In addition, the similarity, the so-called DTW distance, can be determined by the method. The smaller the DTW distance, the more similar the amounts of data to be compared.

[0027] In another embodiment, the reference magnetic field data includes a plurality of magnetic field patterns. These magnetic field patterns representing partial data amounts of the reference magnetic field data correspond to a magnet group consisting of permanent magnets of the magnet assembly arranged side by side. These magnetic field patterns can be used for comparison. In this way, position determination can be performed with high reliability and accuracy.

[0028] With reference to the above-mentioned embodiment, for position determination, the permanent magnets of the magnet assembly of the secondary part are divided into a plurality of magnet groups. These magnet groups, each corresponding to a magnetic field pattern, can, for example, respectively include two permanent magnets arranged side by side and polarized oppositely to each other, and thus respectively include a permanent magnet pair. In addition, the magnet group can also respectively include a larger number of permanent magnets or permanent magnet pairs, for example, including four permanent magnets arranged side by side, and then including two permanent magnet pairs arranged side by side. The sensor device of the primary part can be dimensioned so that one or more permanent magnet pairs can be covered by means of these magnetic field sensors relative to the direction of movement of the primary part and the secondary part, and thus a magnet group can be covered.

[0029] These magnetic field patterns, which may also be referred to as reference patterns or templates, may be used to compare with current magnetic field data. The comparison may include at least one of the following steps: comparing the current magnetic field data with the magnetic field pattern; comparing at least one portion (i.e., at least one partial data amount) of the current magnetic field data with at least one partial pattern of the magnetic field pattern; comparing the current magnetic field data with a magnetic field pattern reassembled from the magnetic field pattern (or portions or partial patterns of these magnetic field patterns); and / or comparing multiple portions or partial data amounts of the current magnetic field data with partial patterns of the magnetic field pattern. Possible implementations thereof will be described in detail below.

[0030] Possible procedures for providing magnetic field patterns are as follows. In another embodiment, the primary part and the secondary part are moved relative to each other in an initial measurement. These magnetic field patterns are provided based on the detected magnetic field of the magnet assembly of the secondary part, which is detected by means of the sensor device when the magnetic field sensors of the sensor device are respectively located in the area of ​​a magnet group. In other words, when the relevant magnet group is covered by these magnetic field sensors in the direction of movement of the primary part and the secondary part, a magnetic field pattern is provided for a magnet group based on the detected magnetic field. In this way, magnetic field patterns can be provided in a simple manner. These magnetic field patterns can be stored in a main control device of the linear drive system.

[0031] In another embodiment, it is determined whether the magnetic field sensors of the sensor device are respectively located in the region of a magnet group (and thus whether there is coverage of the magnet group) based on the zero crossings of the curve of the magnetic field components of the magnetic field of the magnet assembly of the secondary part detected by means of the end-side magnetic field sensors of the sensor device. The end-side magnetic field sensors are located at the end or edge of the assembly consisting of the magnetic field sensors of the sensor device relative to the movement direction of the primary part and the secondary part. The magnetic field components under consideration can be detected in a direction perpendicular to the movement direction of the movable primary part (or in the case of the reverse design, perpendicular to the movable secondary part). In this case, these zero crossings can indicate the boundaries of adjacent permanent magnets and permanent magnet pairs of the magnet assembly of the secondary part, which can be used to determine whether the magnetic field sensors of the sensor device are located in the region of the magnet group. If the end-side magnetic field sensor is located at or near the boundary and the magnet group is covered by the magnetic field sensor of the sensor device, this can be identified based on the zero crossings of the curve of the magnetic field components detected by means of the end-side magnetic field sensor. A magnetic field pattern can be provided in accordance with this.

[0032] With respect to the position of the primary part to be determined, the magnetic field sensor of the sensor device can be located in the current position of the primary part in the region of a magnet group of the magnet assembly of the secondary part, and thus the magnet group is covered by the magnetic field sensor. In this case, the relevant magnet group and, in this respect, the positioning of the sensor device on the relevant magnet group and, thus, the current position of the primary part can be determined by comparing the current magnetic field data (obtained at the current position) with the magnetic field patterns corresponding to these magnet groups to determine the magnetic field pattern with the greatest similarity.

[0033] However, in the current position of the primary part, the sensor device can also be arranged offset in the region of two adjacent magnet groups of the magnet assembly of the secondary part, so that the two magnet groups are each partially covered by the sensor device relative to the direction of movement of the primary part and the secondary part. In this case, the comparison can be made in accordance with this or with the help of data in accordance with this, which will be explained further below.

[0034] In another embodiment, the position determination includes determining the sensor position of the sensor device relative to the boundary of two adjacent magnet groups or two adjacent permanent magnet pairs in the current position of the primary part. Furthermore, the position of the primary part is determined or compared taking into account the determined sensor position of the sensor device. This allows, for example, offset positioning of the sensor device in the region of two adjacent magnet groups to be taken into account and, in this case, exact position determination can also be achieved.

[0035] In another embodiment, the sensor position of the sensor device is determined based on the zero crossings of the curve of the magnetic field component of the magnetic field of the magnet assembly of the secondary part reproduced by the current magnetic field data. According to the above embodiments described in connection with the provision of the magnetic field pattern, the magnetic field component under consideration can be a magnetic field component detected in a direction oriented perpendicular to the direction of movement of the primary part and the secondary part. In this case, the boundary of two adjacent magnet groups or permanent magnet pairs can be detected based on the zero crossings in the curve of the magnetic field component reproduced by the current magnetic field data, and in this regard the sensor position of the sensor device relative to such a boundary can be determined.

[0036] If there are no zero crossings in the observed magnetic field component curves and reproduced by the current magnetic field data or in the region of the ends of the observed magnetic field component curves that coincide with the boundaries of adjacent magnet groups or permanent magnet pairs, a sensor position can be identified in which the sensor device is possibly located in the region of a magnet group or there is possibly a magnet group covered by the sensor device. If this is not the case or there are zero crossings in the observed magnetic field component curves that coincide with the boundaries of adjacent magnet groups or permanent magnet pairs, a sensor position can be identified in which the sensor device is possibly located in the region of two adjacent magnet groups and there is possibly a partial coverage of these adjacent magnet groups by the sensor device.

[0037] Furthermore, determining the sensor position of a boundary of two adjacent magnet groups or permanent magnet pairs relative to the magnet assembly of the secondary component may also include determining the distance in the direction of movement between the boundary and one or more magnetic field sensors of the sensor device that are closest to the boundary in the current position of the primary component. To this end, one or more magnetic field sensors that are arranged closest to the boundary can be identified based on the curve and zero crossings of the magnetic field components reproduced by the current magnetic field data. On this basis or by implementing an interpolation or extrapolation method, the distance between the boundary and one or more magnetic field sensors that are closest to the boundary can be determined. The interpolation or extrapolation method can be implemented while taking into account the distance between the magnetic field sensors of the sensor device.

[0038] In the case of staggered positioning of the sensor device in the region of two adjacent magnet groups, the sensor device may cover the border of the adjacent magnet groups, and the plurality or two magnetic field sensors closest to the border may be arranged on both sides of the border. In this case, in order to determine the distance between the border and the magnetic field sensor or sensors closest to the border, an interpolation or extrapolation method may be implemented taking into account the distance between the relevant magnetic field sensors.

[0039] All magnetic field sensors may be arranged equidistantly from one another with respect to the direction of movement. This allows the above method steps to be performed using uniform distances between the magnetic field sensors. However, the magnetic field sensors may also be arranged non-equidistantly, so that the above steps may be performed using relevant distances between relevant magnetic field sensors in order to achieve a corresponding accuracy.

[0040] The distance between the magnetic field sensors can be determined in the following manner. In this case, the total distance between the end-side magnetic field sensors of the sensor device located at opposite ends of the assembly consisting of the magnetic field sensors in the direction of movement can be provided, for example, by measuring the sensor device. In addition, the phase shift of the curve of the magnetic field components of the magnetic field of the magnet assembly of the secondary part, which are respectively detected by means of the magnetic field sensors, can also be determined. This can be done during an initial measurement, in which the primary part and the secondary part can move relative to each other as described above. The magnetic field component can be a magnetic field component detected in a direction oriented perpendicular to the direction of movement. Based on this total distance and these phase shifts, the distance between adjacent magnetic field sensors of the sensor device in the direction of movement can be determined. On this basis, the distance between the boundary and the magnetic field sensor closest to the boundary can be determined as described above.

[0041] As described above, the positioning of the sensor device in the region of a magnet group of the magnet assembly of the secondary component can be identified by determining the sensor position of the sensor device relative to the boundary of two adjacent magnet groups or two adjacent permanent magnet pairs, so that the magnet group is covered by these magnetic field sensors. In this case, the boundary can be in the region of an edge or end of the sensor device. This can be determined based on the magnetic field component curve of the magnetic field of the magnet assembly of the secondary component reproduced by the current magnetic field data. The relevant magnetic field component can be detected in a direction oriented perpendicular to the direction of movement of the primary component and the secondary component. In this case, the sensor position of the sensor device in the region of a magnet group can be identified in the following manner: in the relevant curve of the magnetic field component, at least in the region of the end of the curve, there is no zero crossing that coincides with the boundary of the adjacent magnet group or permanent magnet pair.

[0042] In the case of such positioning of the sensor device in the region of a magnet group, the current magnetic field data can be compared with the magnetic field patterns of the reference magnetic field data for position determination of the primary part, as described above, in order to determine the magnetic field pattern with the greatest similarity and thus the associated magnet group. For position determination, the distance between the boundary of adjacent magnet groups or permanent magnet pairs and the magnetic field sensor closest to the boundary can also be determined in the direction of movement. For this purpose, the magnetic field component curves reproduced by the current magnetic field data can be used for extrapolation.

[0043] As described above, it is also possible to determine by determining the sensor position that the sensor device is located in the region of two adjacent magnet groups in the current position of the primary part, so that both magnet groups are partially covered by the sensor device. In the presence of such a sensor position, the following embodiment can be used for comparison. In this case, a partial data volume is formed from the current magnetic field data, which is obtained with the aid of a sensor subgroup consisting of magnetic field sensors of the sensor device, by which a partial coverage of one of the two magnet groups is achieved. In addition, a partial pattern is formed from the magnetic field pattern taking into account the partial coverage. For comparison, the partial data volume of the current magnetic field data is compared with the partial pattern of the magnetic field pattern.

[0044] In the above-described embodiment, the partial coverage of the magnet group by a part of the sensor device determined according to the sensor position is taken into account. In this case, the sensor subgroup consisting of the magnetic field sensors of the sensor device is located in the area of ​​the relevant magnet group, and the magnet group is thereby covered by the sensor subgroup. On this basis, a partial data volume is selected from the current magnetic field data, which is obtained using the sensor subgroup covering the magnet group. In the same way, partial patterns related to the partial coverage are formed from the magnetic field patterns. As described above, these magnetic field patterns are respectively associated with a magnet group of the magnet assembly of the secondary component. The partial patterns thus formed indicate the partial coverage determined according to the sensor position and achieved by the sensor subgroup relative to each magnet group associated with these magnetic field patterns.

[0045] In the similarity comparison that is subsequently carried out, the partial data volume of the current magnetic field data is compared with the partial pattern of the magnetic field pattern. In this way, the partial pattern and thus the magnetic field pattern with the greatest similarity can be determined, thereby determining the relevant magnet group and, to this extent, the positioning of the sensor device on the relevant magnet group. On this basis or by additionally taking into account the sensor position of the sensor device, the current position of the primary part can be determined.

[0046] In the above-described embodiment, it can be determined, for example, based on the sensor position that two adjacent magnet groups are covered to different degrees by the sensor device. In this case, a partial data volume can be formed from the current magnetic field data and a partial pattern can be formed from the magnetic field pattern with reference to a larger partial coverage and a larger sensor subgroup consisting of magnetic field sensors in order to achieve a higher accuracy.

[0047] In addition, a similarity comparison can be performed with respect to two partial covers of two adjacent magnet groups, so that the partial pattern with the greatest similarity and the associated magnet group can be determined for each partial cover. This can further improve the reliability and accuracy of the position determination. A authenticity check can also be achieved by this processing method. This requires that the determined partial pattern with the greatest similarity belongs to two adjacent magnet groups. If this is not the case, errors can be identified, for example, in the data used.

[0048] In another embodiment, with respect to the determined sensor position of the sensor device in the region of two adjacent magnet groups, the following processing is used so that both magnet groups are respectively partially covered by the sensor device. In this case, a combined magnetic field pattern is formed, which is composed of partial patterns of the magnetic field patterns of the two adjacent magnet groups, taking into account the partial covering. For comparison, the current magnetic field data are compared with the combined magnetic field pattern.

[0049] In the aforementioned embodiment, the coverage of two adjacent magnet groups determined according to the sensor position is taken into account, so that there is a partial coverage achieved by the sensor device in each of the two magnet groups. In this case, partial patterns of the magnetic field pattern that are related to the partial coverage are selected, which are respectively related to the two adjacent magnet groups, and these partial patterns are combined into a new magnetic field pattern. The newly combined magnetic field pattern indicates the positioning of the sensor device determined according to the sensor position, and thus indicates the coverage achieved by the sensor device relative to the two adjacent magnet groups.

[0050] In the similarity comparison that is subsequently carried out, the current magnetic field data are compared with the combined magnetic field pattern. In this way, the combined magnetic field pattern with the greatest similarity is determined, and thus the two adjacent magnet groups belonging to this combined magnetic field pattern and, to this extent, the positioning of the sensor device on the two magnet groups in question are determined. On this basis or by additionally taking into account the sensor position of the sensor device, the current position of the primary part can be determined.

[0051] The following embodiments of the method can also be used if, in the current position of the primary part, a sensor position of the sensor device is present or determined in the region of two adjacent magnet groups and both magnet groups are respectively partially covered by the sensor device.

[0052] In another embodiment, the current magnetic field data are divided into partial data volumes, which are each obtained by means of a sensor subgroup consisting of magnetic field sensors of the sensor device which partially covers the magnet assembly. Furthermore, partial patterns are formed from the magnetic field patterns taking into account the sensor position of the sensor device and taking into account the partial coverage achieved by the sensor subgroups. For comparison, the partial data volumes are compared with the partial patterns.

[0053] The above-described embodiments are based on the division of the magnetic field sensors of the sensor device into a plurality of sensor subgroups, which respectively achieve a partial coverage of the magnet assembly of the secondary component. The sensor subgroups can each include the same number of magnetic field sensors. On this basis, a plurality of partial data quantities are selected from the current magnetic field data, which are obtained using the sensor subgroups that respectively partially cover the magnet assembly. In the same way, partial patterns associated with the partial coverage are formed from the magnetic field patterns taking into account the sensor position of the sensor device in the current position. The partial coverage achieved by the sensor subgroups relative to two adjacent magnet groups can be reproduced with the help of the partial patterns. If, for a sensor subgroup, there is a coverage of the boundary of adjacent magnet groups, a partial pattern indicating the partial coverage achieved by the sensor subgroup can be formed by combining parts of the magnetic field patterns of the adjacent magnet groups. Depending on the division of the magnetic field sensors, multiple sensor subgroups can also cover the boundary. The partial pattern associated with the partial coverage of the sensor subgroups can be correspondingly formed by combining parts of the magnetic field patterns of the adjacent magnet groups.

[0054] In the similarity comparison that is subsequently carried out, the partial data volume is compared with the partial patterns that are respectively relevant with respect to the sensor position and the division of the magnetic field sensors and the partial coverage achieved by the sensor subgroups. The partial pattern with the greatest similarity can thereby be determined. In this way, two adjacent magnet groups belonging to the determined partial pattern can be determined, and thus the positioning of the sensor device on these two adjacent magnet groups can be determined. On this basis or by additionally taking into account the sensor position of the sensor device, the current position of the primary component can be determined.

[0055] The reliability and accuracy of the position determination can be further improved by means of the above-described embodiment of comparing a plurality of partial data volumes with a plurality of partial patterns. In addition, the design also enables a plausibility check. This requires that two adjacent magnet groups are determined in a consistent manner based on the determined partial patterns with the greatest similarity. If this is not the case, it can be inferred that, for example, there are errors in the data used.

[0056] With regard to the above-mentioned embodiments that are compared in different ways, a number of these different embodiments can be implemented in order to determine the position of the primary part relative to the secondary part. This can also facilitate the reliability of the position determination and, moreover, enable a plausibility check.

[0057] With regard to the above-mentioned embodiments, the following contents are supplementally referred to. As described above, the permanent magnets of the magnet assembly of the secondary part can be divided, according to which these magnet groups each include a plurality of permanent magnet pairs, which are composed of permanent magnets that are polarized oppositely to each other. The sensor device of the primary part can be dimensioned so that the coverage of such a magnet group can be achieved with the help of these magnetic field sensors relative to the movement direction of the primary part and the secondary part. In the current position of the primary part and in the presence of staggered sensor positions, the sensor device can cover multiple boundaries of adjacent permanent magnet pairs or magnet groups, which can be determined accordingly based on the zero crossing point of the curve of the magnetic field component of the magnet assembly of the secondary part reproduced by the current magnetic field data. The above-mentioned method variant for position determination can be implemented relative to one of these boundaries.

[0058] As described above, the current position of the primary part relative to the secondary part determined according to the method can be a stationary position, so that no movement occurs in the linear drive system when this position exists. Starting from this position, the primary part and the secondary part can move relative to each other. In this regard, the current position determined according to the method can be used as a reference position, and subsequent movements and position changes of the primary part relative to the secondary part can refer to this reference position. These position changes can be measured based on the magnetic field detected by one or more magnetic field sensors of the magnet assembly of the secondary part by means of the sensor device. This can be done, for example, in an incremental manner, specifically by measuring the position changes of each permanent magnet pair or magnet group relative to the magnet assembly. On this basis, the increment of the corresponding counter can be realized.

[0059] The above steps, like the previously explained steps (initial measurement, determination of position using current magnetic field data and reference magnetic field data), can be performed with the aid of a master control of the linear drive system or by a corresponding evaluation by the master control.

[0060] According to a second aspect of the present invention, a linear drive system is provided. The linear drive system can be used to implement the above method or one or more of the above embodiments of the method. The linear drive system has a primary part and a secondary part, which can move translationally relative to each other. The primary part has an energizable electromagnetic device, and the secondary part has a magnet assembly consisting of permanent magnets arranged side by side. By energizing the electromagnetic device of the primary part, a magnetic interaction between the electromagnetic device and the magnet assembly of the secondary part can be caused so as to move the primary part and the secondary part relative to each other. The primary part has a sensor device, which is composed of a magnetic field sensor for detecting the magnetic field generated by the magnet assembly of the secondary part. The linear drive system is configured to detect the magnetic field of the magnet assembly of the secondary part at different positions of the primary part relative to the secondary part by means of the sensor device in the initial measurement and provide reference magnetic field data related to the position. In addition, the linear drive system is further configured to determine the position of the primary part. To this end, the magnetic field of the magnet assembly of the secondary part is detected by means of the sensor device at the current position of the primary part relative to the secondary part and the current magnetic field data is provided. Based on the reference magnetic field data and the current magnetic field data, a current position of the primary part relative to the secondary part is determined.

[0061] The features, details and embodiments explained above in connection with the method can also be applied to the linear drive system and the advantages explained above in connection with the method can be taken into account. By using the secondary part already used to generate the movement together with the sensor device consisting of a magnetic field sensor arranged on the primary part for position determination in the linear drive system, no additional space-consuming accessories need to be used. As a result, space can be saved and position determination can be achieved in a cost-effective manner.

[0062] The advantageous embodiments and developments of the invention specified above and / or in the dependent claims can be used individually or in combination, except in cases where, for example, there are clearly related or incompatible alternatives. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In conjunction with the following description of the embodiments, the above-mentioned characteristics, features and advantages of the present invention and the methods for achieving these characteristics, features and advantages can be more clearly and specifically understood. The embodiments will be described in detail below in conjunction with the schematic diagrams. Among them:

[0064] Figure 1is a diagrammatic representation of a linear drive system having a primary part and a secondary part, wherein the primary part has an electromagnetic device and a sensor device including magnetic field sensors for detecting a magnetic field generated by the secondary part, and wherein the secondary part has a magnet arrangement consisting of permanent magnets, two of which are combined to form a magnet group;

[0065] Figure 2 A top view of a sensor device of a primary part and a magnet assembly of a secondary part;

[0066] Figure 3 A graph of magnetic field strength curves of a plurality of magnet groups having a magnet assembly;

[0067] Figure 4 is a diagrammatic representation of a sensor device and a magnet assembly, wherein the sensor device is located in the region of a magnet group and covers the magnet group, and also magnetic field patterns corresponding to the magnet groups of reference magnetic field data are shown;

[0068] Figure 5 A graph having a magnetic field strength curve, wherein zero crossings are shown relative to the magnetic field component curves;

[0069] Figure 6 is a graph of magnetic field data;

[0070] Figure 7 A diagram for illustrating determination of position by implementing a similarity method using current magnetic field data and reference magnetic field data;

[0071] Figure 8 is a diagram of a sensor device and a magnet assembly, wherein the sensor device is located in the region of two adjacent magnet groups and partially covers both magnet groups, and furthermore a partial diagram of a magnetic field pattern corresponding to the covering of the two magnet groups by the sensor device is shown;

[0072] Fig. 9 A chart of the current magnetic field data;

[0073] Fig.10 A chart showing part of the current magnetic field data;

[0074] Fig.11 is a diagrammatic representation of a sensor device and a magnet assembly, wherein the sensor device is located in the region of two adjacent magnet groups, and furthermore shows newly combined magnetic field patterns, which are composed of partial patterns of magnetic field patterns corresponding to the coverage of the two magnet groups by the sensor device;

[0075] Fig.12A diagram of a sensor device and a magnet arrangement, wherein the sensor device is located in the region of two adjacent magnet groups, furthermore showing a division of the magnetic field sensors of the sensor device into sensor subgroups and showing, in accordance with this division, partial data volumes of current magnetic field data and partial graphs of magnetic field graphs;

[0076] Fig.13 and Fig.14 A chart showing part of the current magnetic field data;

[0077] Fig.15 is a diagrammatic representation of a sensor device and a magnet arrangement, wherein the sensor device is located in the region of two adjacent magnet groups, and furthermore shows a further division of the magnetic field sensors of the sensor device into sensor subgroups, as well as partial data volumes of current magnetic field data and partial graphs of magnetic field graphs;

[0078] Fig.16 A chart showing another part of the current magnetic field data;

[0079] Fig.17 is a diagram of a sensor device and a magnet assembly, wherein four permanent magnets are combined into a magnet group, the sensor device is configured to cover such a magnet group, and also shows magnetic field patterns corresponding to these magnet groups of reference magnetic field data; and

[0080] Fig.18 The figure shows a sensor device and a magnet arrangement, wherein the sensor device is located in a plurality of magnet groups in an offset manner, and also shows a partial diagram of a magnetic field pattern and a newly combined magnetic field pattern. DETAILED DESCRIPTION

[0081] An embodiment of a linear drive system and a method for operating a linear drive system is described with the aid of the following schematic diagram. The linear drive system has a primary part and a secondary part, which can be moved translationally relative to one another. The operation of the linear drive system includes the position determination of the primary part, which is primarily carried out using the magnetic field generated by the secondary part. This allows the position determination to be realized in a space-saving manner.

[0082] With respect to the embodiments described below, it is noted that aspects and details associated with one embodiment may also apply to another embodiment. In addition, features of multiple embodiments may be combined with each other. It is also noted that the illustrations are merely schematic in nature. In this regard, components and details shown in the figures may not be shown to scale, but may be exaggerated or reduced. With respect to the diagrams, it is noted that the axis labels may be arbitrary units.

[0083] Figure 11 is a side view of a possible design of a linear drive system 100. The linear drive system 100 has a primary component 110 and a secondary component 140, which can move translationally relative to each other. In this design, the secondary component 140 is a fixed component of the linear drive system 100, and the primary component 110 is a movable component of the linear drive system, so that the primary component 110 can move relative to the secondary component 140. In this case, the primary component 110 can also be called a slide, and the secondary component 140 can also be called a magnetic plate. Figure 1 , the direction of movement 170 is indicated by an arrow. The movement of the primary part 110 along the direction of movement 170 can take place both in the direction indicated by the arrow and in the opposite direction thereto.

[0084] In order to generate the movement, the primary part 110 has an electromagnet device 111 that can be energized, and the secondary part 140 has a magnet assembly 142 consisting of a plurality of permanent magnets 155 arranged next to each other in the direction of movement 170. The permanent magnets 155 are arranged such that adjacent permanent magnets 155 are arranged opposite to each other in terms of their polarity, thereby achieving an alternation of polarity in the direction of movement 170. This design is Figure 1 151 and 152. The permanent magnets 155 with different orientations in terms of polarity are also referred to below as first permanent magnets 151 and second permanent magnets 152. The first permanent magnet 151 can have a magnetic north pole on the side facing the primary part 110, as shown by an arrow pointing upwards. Correspondingly, the second permanent magnet 152 can have a magnetic south pole on the side facing the primary part 110, as shown by an arrow pointing downwards. In the following illustrations (e.g. Figure 4 ) in the magnetic field, the different polarities are indicated by the letters N (for the North Pole) and S (for the South Pole) instead of arrows.

[0085] The electromagnetic device 111 of the primary part 110 has a plurality of energizable electromagnets in the form of coils, not shown. By energizing these electromagnets, a changing magnetic field can be generated by the electromagnetic device 111, and the energizing can include applying a three-phase current to these electromagnets. The changing magnetic field can interact with the magnetic field provided by the permanent magnet assembly 142 of the secondary part 140, thereby causing a translational movement of the primary part 110 relative to the secondary part 140.

[0086] like Figure 1 As shown, in addition to the magnet assembly 142, the secondary part 140 also has a carrier plate 141 on which the permanent magnets 155 are arranged. Figure 1The housing 112 is shown only schematically in the figure, in which the electromagnetic device 111 is arranged. In addition, the primary part 110 also has a sensor device 120, which is also arranged in the housing 112 and is used to detect the magnetic field generated by the magnet assembly 142 of the secondary part 140. This is used to determine the position of the primary part 110 as described further below. For this purpose, the sensor device 120 has a plurality of magnetic field sensors 130 and a printed circuit board 121, on which the magnetic field sensors 130 are arranged. The magnetic field sensors 130 can be positioned on one side of the printed circuit board 121 or as Figure 1 As shown, the magnetic field sensors 130 are positioned on opposite sides of the printed circuit board. In this case, the magnetic field sensors 130 can be distributedly arranged in one plane, or can also be distributedly arranged in two planes. The magnetic field can be detected by scanning.

[0087] The magnetic field sensor 130 of the sensor device 120 is used to detect the magnetic field of the magnet assembly 142 or its magnetic flux density in three different directions, so that Figure 1 As indicated by the arrows, three different magnetic field components Bx, By and Bz of the magnetic field are detected. The first magnetic field component Bx is associated with a direction parallel to the direction of movement 170, while the second magnetic field component By and the third magnetic field component Bz are associated with a direction perpendicular to the direction of movement. In addition, the first and second magnetic field components Bx, By relate to a direction parallel to a plane given by the magnet assembly 142, while the third magnetic field component Bz relates to a direction perpendicular to the plane. The magnetic field sensor 130 can be implemented in the form of a Hall sensor or a 3D Hall sensor. Another design scheme can also be adopted, for example in the form of an MR sensor (magnetoresistive sensor).

[0088] In addition, if Figure 1As shown, the linear drive system 100 has a main control device 105, which is used to control the operation of the linear drive system 100. For this purpose, the main control device 105 is connected to a connection 113 of the primary part 110 via a connecting cable 107, which is arranged on the housing 112 of the primary part and to which the electromagnetic device 111 and the sensor device 120 of the primary part 110 are connected. In the case of a movable embodiment of the primary part 110, the connecting cable 107 is configured as a trailing cable or a cable chain, for example. Through the connection between the main control device 105 and the primary part 110 thus achieved, the main control device 105 can control the energization of the electromagnetic device 111. This can cause a corresponding movement of the primary part 110. In addition, the magnetic field of the magnet assembly 142 of the secondary part 140 can also be detected by means of the sensor device 120. On this basis, magnetic field data can be provided, which can be stored in the main control device 105. To this end, data communication between the sensor device 120 and the main control device 105 can be achieved via the connecting cable 107 and an interface not shown, so that the sensor signal or sensor data obtained by the sensor device 120 can be transmitted to the main control device 105 when performing magnetic field measurement.

[0089] Except in Figure 1 In addition to the components shown and described above, the linear drive system 100 may also include other components that are not shown. These are components for guiding or supporting the movable primary part 110 on or relative to the stationary secondary part 140. In this regard, for example, guide rails with movable rollers or balls and corresponding retaining elements arranged or formed on the housing 112 of the primary part 110 may be included.

[0090] according to Figure 1 In the embodiment shown, the sensor device 120 is dimensioned in such a way that a complete or substantially complete covering or overlapping of the two permanent magnets 155 with respect to the direction of movement 170 can be achieved by means of the magnetic field sensors 130. Furthermore, the magnetic field sensors 130 of the sensor device 120 are also arranged in a distributed manner and spaced apart from one another with respect to the direction of movement 170. For position determination, the permanent magnets 155 of the magnet assembly 142 of the secondary part 140 are distributed or divided in such a way as to match the sensor device 120, according to which a permanent magnet pair consisting of two permanent magnets 155 with opposite polarities to one another or a permanent magnet pair consisting of the first and second permanent magnets 151, 152 are combined into a magnet group 150.

[0091] Figure 21 is a top view of the sensor device 120 of the primary part 110 and the magnet assembly 142 of the secondary part 140. The permanent magnets 155 of the magnet assembly 142 have an elongated shape and their longitudinal axes are arranged parallel to one another. The longitudinal axes of the permanent magnets 155 are oriented substantially perpendicularly to the direction of movement 170. In this case, the orientation of the longitudinal axes of the permanent magnets 155 deviates slightly from an exactly perpendicular orientation in that they are oriented obliquely or slightly obliquely with respect to the direction of movement 170. This design serves to suppress cogging torque fluctuations (also referred to as cogging) that may occur during the movement of the primary part 110.

[0092] Figure 2 A possible design of the sensor device 120 is also shown, in which the magnetic field sensors 130 are arranged in a matrix in the form of rows and columns. This arrangement is selected so that, as shown above, the permanent magnet pairs and thus a magnet group 150 can be covered by means of the magnetic field sensors 130, and in addition, the magnetic field sensors 130 are arranged in a distributed manner and spaced apart from each other with respect to the movement direction 170. Figure 1 As shown, such a configuration can be realized by arranging magnetic field sensor 130 on one side of circuit board 121 of sensor device 120 and by arranging magnetic field sensor 130 on both sides of circuit board 121 .

[0093] In order to reliably control the operation of the linear drive system 100 or the movement of the primary part 110 by the main control device 105, the linear drive system 100 can be used to carry out a position determination of the primary part 110. This is achieved in a space-saving manner for the linear drive system 100 by using the secondary part 140 that is already used for the motion drive together with the sensor device 120 of the primary part 110 for the position determination. This is because the magnetic field generated by the permanent magnet 142 of the secondary part 140 and measurable by means of the sensor device 120 can have a substantially periodic curve with individual differences in the direction of movement 170. On this basis, a reliable and accurate position determination can be achieved.

[0094] For illustration, Figure 3A diagram of possible position-dependent curves 161, 162, 163 of the magnetic field strength of the magnetic field generated by the magnet assembly 142 of the secondary part 140 along the direction of movement 170 and detectable by the sensor device 120 or the magnetic field sensor 130 is shown. The figure shows the dependence of the flux density B on the position P of the three magnet groups 150 relative to the direction of movement 170. The first curve 161 is associated with the first magnetic field component Bx, the second curve 162 is associated with the second magnetic field component By, and the third curve 163 is associated with the third magnetic field component Bz. The three curves 161, 162, 163 are essentially sinusoidal, with individual differences between one permanent magnet pair and the next permanent magnet pair or between one magnet group 150 and the next. As shown Figure 3 As shown, the vertices 185 of the third curve 163 can, for example, have different values ​​of the flux density B. This also applies to the first and second curves 161 , 162 .

[0095] Such position-dependent differences in the magnetic field generated by the magnet arrangement 142 of the secondary part 140 and detectable by the sensor device 120 of the primary part 110 may be caused by tolerances of the linear drive system 100 and its components, which may exist from permanent magnet pairs to permanent magnet pairs and thus from magnet groups 150 to magnet groups 150. These differences may include mechanical and magnetic angle errors, magnetization errors, density differences, geometric deviations, bonding gaps, mechanical offsets, etc. The differences in the magnetic fields are used in the linear drive system 100 to determine the position of the primary part 110 relative to the secondary part 140. In this case, the following procedure is used.

[0096] In an initial measurement, the magnetic field of the magnet assembly 142 is detected or scanned at different positions of the primary part 110 relative to the secondary part 140 by means of the sensor device 120. On this basis, position-dependent reference magnetic field data are provided. These reference magnetic field data are used as the basis for the subsequent actual position determination. In this case, the primary part 110 is in an initially unknown current position relative to the secondary part 140. This current position can be a stationary position, so that during the operation of the linear drive system 100, no movement occurs at this position (initially) and the primary part 110 is stationary. At this current position, the magnetic field of the magnet assembly 142 is detected or scanned again by means of the sensor device 120. On this basis, current magnetic field data are provided. The current magnetic field data and the reference magnetic field data are used to determine the current position of the primary part 110. As will be further explained below, this includes the implementation of a similarity method.

[0097] The initial measurement and position determination, which will be described in detail below, can also be controlled or carried out by means of the main control device 105 of the linear drive system 100, or can also be carried out with the participation of the main control device 105. Reference magnetic field data obtained by detecting the magnetic field of the magnet assembly 142 by means of the sensor device 120 and current magnetic field data can be stored in the main control device 105. By means of a corresponding evaluation, which will be described further below, the current position of the primary part 110 can be determined with a high degree of reliability and accuracy from these data, which can also be carried out by the main control device 105.

[0098] The following technical solution is used for the initial measurement for providing reference magnetic field data. The initial measurement is carried out, and the magnetic field is detected in the area of ​​each magnet group 150 by means of the magnetic field sensor 130 of the sensor device 120 and the corresponding magnetic field data are provided, so that these magnetic field data correspond to the relevant magnet group 150. The magnetic field data thus obtained and associated with each magnet group 150 are referred to as magnetic field patterns hereinafter. These reference magnetic field data include all provided magnetic field patterns of the magnet group 150. These magnetic field patterns that can be stored in the main control device 105 can also be called reference patterns or templates.

[0099] For this purpose, the initial measurement can include moving the primary part 110 along the secondary part 140 and providing a magnetic field pattern based on the magnetic field, and the magnetic field can be detected by means of the magnetic field sensor 130 of the sensor device 120 in each case if the magnetic field sensor 130 is located in the region of a magnet group 150 and as long as the magnetic field sensor 130 covers the relevant magnet group 150 with respect to the movement direction 170. For this purpose, the magnetic field can be scanned with the magnetic field sensor 130 at a predetermined scanning frequency during the movement of the primary part 110, and corresponding magnetic field data can be generated on this basis. In this case, if the magnetic field sensor 130 is located in the region of a magnet group 150 and covers the magnet group, as described above, only the magnetic field data provided based on the measured magnetic field can be used as a magnetic field pattern and stored.

[0100] For illustration, Figure 4 The situation that may exist during an initial measurement at a point in time is shown. With respect to the primary part 110, only the sensor device 120 is shown, and with respect to the secondary part 140, only the magnet assembly 142 is shown. Subsequent illustrations (e.g. Figure 8 ). The following description is based on an exemplary embodiment of a sensor device 120 having forty-eight magnetic field sensors 130, which are arranged in a distributed manner and spaced apart from one another with respect to a direction of movement 170. In order to distinguish between components such as magnetic field sensors 130, Figure 4(and subsequent figures) use indices of the form ".1", ".2", ".30", ".48", ".n", etc. Correspondingly, in Figure 4 The magnetic field sensors 130 , which are designated by reference numerals 130 . 1 and 130 . 48 and are located at opposite ends of an assembly of magnetic field sensors 130 , are referred to below as first magnetic field sensor 130 . 1 and forty-eighth magnetic field sensor 130 . 48 .

[0101] The magnet groups 150 of the magnet assembly 142 are also indexed, so there is an assembly including a first magnet group 150.1, a second magnet group 150.2, etc., up to an n-th magnet group 150.n, where n can be 100, for example. With regard to the first magnet group 150.1, it should be noted that Figure 4 Differently, this first magnet group cannot be the magnet group 150 located at the (left) end of the magnet assembly 142, and in this respect, it can only be regarded as the first magnet group 150.1 in the following description. At least one further permanent magnet pair and thus at least one further magnet group 150 (not shown) can be arranged on the left side of the first magnet group 150.1.

[0102] exist Figure 4 Magnetic field patterns 210 corresponding to the respective magnet groups 150 of the reference magnetic field data 200 are also schematically shown in the figure corresponding to the positions of the magnet groups 150. These magnetic field patterns are also provided with indices, and therefore, there are the first magnetic field pattern 210.1, the second magnetic field pattern 210.2, and so on, up to the nth magnetic field pattern 210.n.

[0103] according to Figure 4 In an initial measurement in which the primary part 110 and the sensor device 120 are moved, for example, from left to right, the sensor device 120 is located in the region of the second magnet group 150.2, so that the second magnet group 150.2 is covered by the magnetic field sensor 130. In this state, the magnetic field data obtained by detecting the magnetic field with the help of the magnetic field sensor 130 form a second magnetic field pattern 210.2 corresponding to the second magnet group 150.2. When the sensor device 120 or its magnetic field sensor 130 is respectively located in the region of the relevant magnet group 150 and covers this magnet group, a further magnetic field pattern 210 of the reference magnetic field data 200 is provided in a corresponding manner according to the magnetic field detected by the magnetic field sensor 130.

[0104] In this regard, carrying out the initial measurement also includes determining that the magnetic field sensors 130 of the sensor device 120 are each located in the region of a magnet group 150 and that the magnet group 150 is thereby covered, so that on this basis or in conjunction therewith a magnetic field pattern 210 of the magnet group 150 is provided in the above-described manner. For this purpose, use is made of the fact that the boundaries 190 between the permanent magnet pairs and between the magnet groups 150 can be detected based on the magnetic field measured by the sensor device 120, so that the presence of the magnetic field sensors 130 in the region of the respective magnet group 150 can be identified. Figure 4 In FIG. 1 , such a boundary 190 between the first and the second magnet group 150 . 1 , 150 . 2 is illustrated by a dashed line.

[0105] The boundary 190 of adjacent permanent magnet pairs and magnet groups 150 can be represented by a positive (i.e., with a positive slope) zero crossing of the magnetic field intensity curve of the third magnetic field component Bz obtained in the direction of movement 170 during the initial measurement. On this basis, the boundary 190 can be determined. Therefore, in order to determine that the magnetic field sensor 130 is respectively located in the area of ​​a magnet group 150, the curve of the third magnetic field component Bz detected by means of an end-side magnetic field sensor 130 (located at one end of the assembly formed by the magnetic field sensor 130) can be used.

[0106] For this purpose, for example, first magnetic field sensor 130.1 can be used. Figure 5 A diagram shows magnetic field strength curves 161 , 162 , 163 which are dependent on different magnetic field components Bx, By, Bz and which can be obtained in an initial measurement by detecting the magnetic field with the aid of first magnetic field sensor 130 . 1 . Figure 5 Also shown are positive zero crossings 180 of the third curve 163 associated with the third magnetic field component Bz, by which boundaries 190 of adjacent permanent magnet pairs and magnet groups 150 are indicated.

[0107] If first magnetic field sensor 130.1 is located at or near boundary 190 and magnet group 150 is thereby covered by magnetic field sensor 130 of sensor device 120, this can be determined from zero crossing 180 of third magnetic field intensity curve 163 of third magnetic field component Bz detected by means of first magnetic field sensor 130.1 during the initial measurement. The magnetic field data acquired at this point in time by means of all magnetic field sensors 130 can form a corresponding magnetic field pattern 210 or can be used as magnetic field pattern 210. Thus, in the initial measurement of the movement of primary part 110 along secondary part 140, magnetic field pattern 210 can be provided in each case adapted thereto, depending on the magnetic field of magnet assembly 142 detected by means of magnetic field sensor 130, by means of first magnetic field sensor 130.1 to determine whether zero crossing 180 is present in third magnetic field component Bz measured by means of first magnetic field sensor 130.1.

[0108] For illustration, Figure 6 A diagram showing possible magnetic field data 205 is provided by showing the magnetic field data in a region of a magnetic field set 150 (e.g. Figure 4 2) using all magnetic field sensors 130 to detect the magnetic field and provide these magnetic field data, and these magnetic field data can be used as magnetic field patterns 210 or according to Figure 4 2. The magnetic field data 205 shown includes data points of magnetic field components Bx, By and Bz detected by each magnetic field sensor 130 of the sensor device 120, which are marked with different symbols in the form of circles, triangles and squares. Correspondingly, for the sensor device 120 including forty-eight magnetic field sensors 130 according to this example, the number M of the magnetic field sensor 130 is shown on the abscissa. As described above, the forty-eight magnetic field sensors 130 of the sensor device 120 are distributed and arranged side by side with each other along the direction of movement 170. Corresponding to the forty-eight magnetic field sensors 130, the magnetic field data 205 and each magnetic field pattern 210 include forty-eight data points for each magnetic field component Bx, By, Bz.

[0109] A forty-eighth magnetic field sensor 130.48 can also be used instead of the first magnetic field sensor 130.1 to identify the boundary 190 of the adjacent magnet groups 150 based on the curve of the third magnetic field component Bz detected by the magnetic field sensor 130.48 in the initial measurement, thereby determining the time point at which the magnetic field sensors 130 of the sensor device 120 are respectively located in the area of ​​a magnet group 150. A magnetic field pattern 210 can also be provided in matching manner.

[0110] The actual position determination is performed in order to determine the current position of the primary part 110 on the secondary part 140. This can be performed, for example, after a restart or power failure of the linear drive system 100. The position determination, which can be performed by the main control device 105 in the course of a corresponding analysis as described above, is performed based on the current magnetic field data obtained by detecting the magnetic field of the magnet assembly 142 by means of the magnetic field sensor 130 of the sensor device 120 at the current position and the reference magnetic field data 200 previously provided in the initial measurement. For the following description, according to the further description below, Figure 7 , these current magnetic field data are denoted by reference numeral 250 .

[0111] The current magnetic field data 250 includes data points for the magnetic field components Bx, By, Bz detected by each magnetic field sensor 130 of the sensor device 120, corresponding to the magnetic field pattern 210 of the reference magnetic field data 200, that is, here, forty-eight data points for each magnetic field component Bx, By, Bz corresponding to the number of magnetic field sensors 130. Accordingly, Figure 6 The illustration can also be used to show current magnetic field data 250 obtained at the current position of the primary part 110. As described below, a similarity method is implemented for position determination using the current magnetic field data 250 and the magnetic field pattern 210 of the reference magnetic field data 200. The so-called DTW method (Dynamic Time Warping) is used as the similarity method.

[0112] The similarity of two data amounts to be compared can be determined by implementing the DTW method or the DTW algorithm. The purpose of this is to achieve the best match between these data amounts when one of these data amounts is mapped to another data amount in a distorted manner. Dynamic programming techniques can be used here, in which each data point of one data amount is compared with each data point of another data amount, so that a distance matrix can be generated. In this case, the most effective path through the distance matrix can be determined, and the path represents the best mapping with the smallest total distance between these data amounts. Therefore, a similarity in the form of a so-called DTW distance can be obtained, which can indicate the degree of distortion of the best mapping. The smaller the DTW distance, the more similar the compared data amounts are. In this way, the similarity of these data amounts can be evaluated.

[0113] In order to explain the procedure associated with determining the position of the primary part 110, the following situation is first assumed. In this case, in the current position of the primary part 110, the magnetic field sensor 130 of the sensor device 120 is located in the region of a magnet group 150 of the magnet assembly 142 of the secondary part 140, so that the associated magnet group 150, such as Figure 4 As shown, it is covered by magnetic field sensor 130 .

[0114] like Figure 7 As shown in the diagram, in this case, the current magnetic field data 250 can be compared with each magnetic field pattern in the magnetic field pattern 210 of the reference magnetic field data 200 using a DTW algorithm for position determination. As a result of each comparison, a distance scale 270 in the form of the above-mentioned DTW distance can be obtained. Figure 7As shown, the first distance scale 270.1, the second distance scale 270.2, ... the nth distance scale 270.n can be obtained by comparing the current magnetic field data 250 with the first magnetic field pattern 210.1, the second magnetic field pattern 210.2, ... the nth magnetic field pattern 210.n. On this basis, the magnetic field pattern 210 with the greatest similarity (i.e., there is a minimum distance scale 270 or a minimum DTW distance) can be determined, thereby determining the magnet group 150 related thereto. This is the magnet group 150 (e.g., as shown in FIG. 1 ) in which the sensor device 120 is located. Figure 4 The second magnet group 150 . 2 is shown.) This information indicates the current position sought of the primary part 110 relative to the secondary part 140 .

[0115] However, at the current position of the primary part 110, the sensor device 120 can also be arranged in an offset manner in the region of two adjacent permanent magnet pairs and magnet groups 150 of the magnet assembly 142 of the secondary part 140, so that the two magnet groups 150 are partially covered by the magnetic field sensor 130 of the sensor device 120 relative to the direction of movement 170. In this case, the method variants described below can be processed, which are based on the above-mentioned method. Therefore, for the details of the consistent features and steps, refer to the above description. In addition, the features and details mentioned for one method variant can also be used for another method variant. The steps described can be performed by an analysis performed with the help of the main control device 105.

[0116] Figure 8 1 shows a situation that may occur in the current position of the primary part 110. In this case, the sensor device 120 is arranged in an offset manner in the area of ​​two adjacent magnet groups 150, here the first magnet group 150.1 and the second magnet group 150.2. In this sensor position, the sensor device 120 is located above the boundary 190 of the two magnet groups 150.1, 150.2, and the two magnet groups 150.1, 150.2 are each partially covered by the sensor device 120. Therefore, Figure 8As shown, at both magnet groups 150.1, 150.2 there is a coverage area 230 associated with the movement direction 170, wherein a sensor subgroup 240 consisting of magnetic field sensors 130 of the sensor device 120 covers one of the magnet groups 150.1, 150.2 respectively. A first coverage area 230.1 is present at the first magnet group 150.1, and a second coverage area 230.2 is present at the second magnet group 150.2. Thirty magnetic field sensors 130 of the sensor device 120 are arranged in the first coverage area 230.1, namely from the first magnetic field sensor 130.1 to the thirtieth magnetic field sensor 130.30. The thirty magnetic field sensors 130 belonging to the first coverage area 230.1 represent the first sensor subgroup 240.1. In the second coverage area 230.2, another eighteen magnetic field sensors 130 of the sensor device 120 are arranged, namely from the thirty-first magnetic field sensor (not shown) to the forty-eighth magnetic field sensor 130.48. Eighteen magnetic field sensors 130 belonging to second coverage area 230 . 2 form a second sensor subgroup 240 . 2 .

[0117] In order to take such situations into account, the sensor position of the sensor device 120 relative to the boundary 190 of two adjacent magnet groups 150 should be determined at the current position of the primary part 110. The position of the primary part 110 is determined taking into account the determined sensor position and adapted thereto or according to the above Figure 7 The comparison described. Analogously to the provision of the magnetic field pattern 210 in the manner described above, the sensor position is determined based on the positive zero crossing of the magnetic field strength curve of the third magnetic field component Bz, wherein in this case the relevant curve is reproduced by the current magnetic field data 250 obtained by means of all magnetic field sensors 130. The boundary 190 of two adjacent permanent magnet pairs and magnet groups 150 can be detected by the zero crossing, and the sensor position of the sensor device relative to the boundary 190 can be detected thereby.

[0118] For illustration, Fig. 9 Shows that it can be Figure 8 1 shows a diagram of current magnetic field data 250 provided by detecting the magnetic field of the magnet assembly 142 by means of the magnetic field sensor 130 in the sensor position of the sensor device 120. The magnetic field strength curve 263 of the third magnetic field component Bz reproduced by the current magnetic field data 250 has a positive zero crossing 180, which is consistent with the two adjacent magnet groups 150 (according to Figure 8 The boundary 190 of the first and second magnet groups 150 . 1 , 150 . 2 coincides. In this way, the sensor position of the sensor device 120 relative to the boundary 190 can be detected and determined, and thus the offset positioning of the sensor device 120 on two adjacent magnet groups 150 can be detected and determined.

[0119] Furthermore, during the determination of the sensor position, the distance between the relevant boundary 190 and the magnetic field sensor 130 of the sensor device 120 that is closest to the boundary 190 can also be determined in the current position of the primary part 110 with respect to the direction of movement 170. For this purpose, the magnetic field sensors 130 that are closest to the boundary 190 and that are arranged on both sides of the boundary 190 can first be identified based on the curve 263 of the third magnetic field component Bz reproduced by the current magnetic field data 250. Therefore, the distance between the boundary 190 and the magnetic field sensor 130 that is closest to the boundary 190 can be inferred by using the curve 263 to implement an interpolation or extrapolation method while taking into account the distance between the relevant magnetic field sensors 130. Figure 8 and Fig. 9 , which are thirtieth magnetic field sensor 130 . 30 and a thirty-first magnetic field sensor 130 (not shown), wherein thirtieth magnetic field sensor 130 . 30 is at the shortest distance from boundary 190 .

[0120] For the above steps, for example, an equidistant arrangement of the magnetic field sensors 130 relative to the direction of movement 170 can be used as a basis, and in this regard, the steps can be performed using a (known) uniform distance between the magnetic field sensors 130. However, as an alternative, a non-equidistant arrangement of the magnetic field sensors 130 can also be used, so that each corresponding individual spacing of the magnetic field sensors 130 can be used for the above steps.

[0121] The distance between the magnetic field sensors 130 of the sensor device 120 relative to the direction of movement 170 can be determined in the following manner. For this purpose, a distance between the magnetic field sensors 130 at the end of the sensor device 120 (depending on the Figure 8 is the total distance between the first and forty-eighth magnetic field sensors 130.1, 130.48) relative to the direction of movement 170. This can be achieved, for example, by measuring the sensor device 120. In addition, the phase shift of the curve of the magnetic field components of the magnetic field of the magnet assembly 142 of the secondary part 140, which are respectively detected by means of the magnetic field sensors 130, can also be determined. This can be done during the initial measurement while the primary part 110 moves along the secondary part 140. The magnetic field component used can again be the third magnetic field component Bz. The distance between adjacent magnetic field sensors 130 relative to the direction of movement 170 can be determined based on the total distance and phase shift between the magnetic field sensors 130. On this basis or by using the respective relevant distances (based on Figure 8 , (is the distance between the 30th magnetic field sensor 130.30 and the 31st magnetic field sensor 130), the distance between the boundary 190 and the magnetic field sensor 130 closest to the boundary 190 may be determined.

[0122] Based on the determined offset sensor position of the sensor device 120 relative to the boundary 190 of two adjacent magnet groups 150, it is further possible to determine the extent or proportion to which the sensor device 120 partially covers the relevant magnet group 150 in the current position of the primary part 110. From this, it can be inferred which part of the magnetic field sensor 130 or which sensor subgroup 240 covers each of the two magnet groups 150. Accordingly, it can be determined which part of the current magnetic field data 250 related to the respective magnet group 150 was obtained using which sensor subgroup 240. Figure 8 and Fig. 9 1 , which is associated with a partial coverage of one of the two magnet groups 150 (here the first magnet group 150 . 1 ), and a second sensor subgroup 240 . 2 , which is associated with a partial coverage of the other of the two magnet groups 150 (here the second magnet group 150 . 2 ), can be determined.

[0123] The position determination or comparison can be performed based on this information as described below. According to the diagram explained below, for the following description, a partial data volume of current magnetic field data 250 is denoted by reference numeral 260 and a partial image of magnetic field image 210 is denoted by reference numeral 220.

[0124] In one method variant, a partial data volume 260 is formed from the current magnetic field data 250 according to the offset sensor position of the sensor device 120, which partial data volume is obtained by means of a sensor subgroup 240 formed from the magnetic field sensors 130 of the sensor device 120, by which a partial coverage of one of the two magnet groups 150 is achieved. Correspondingly, partial patterns 220 are formed from the magnetic field patterns 210 of the reference magnetic field data 200, which partial patterns take into account the partial coverage of the relevant magnet group 150 achieved by the sensor subgroup 240, so that the partial coverage of each magnet group 150 associated with the magnetic field pattern 210 relative to the magnet assembly 142 can be reproduced or simulated. In the similarity comparison, the partial data volume 260 of the current magnetic field data 250 is compared with the partial patterns 220 of the magnetic field pattern 210. In this way, a partial pattern 220 and thus a magnetic field pattern 210 with the greatest similarity can be determined, so that the relevant magnet group 150 and thus the position of the sensor device 120 on the relevant magnet group 150 can be identified. This information, together with the detected sensor position of the sensor device 120 relative to the boundary 190 of the adjacent magnet group 150, indicates the current position of the primary part 110. If the adjacent magnet group 150 is covered to varying degrees by the sensor device 120 with respect to the sensor position of the sensor device 120 in the current position of the primary part 110, a partial data volume 260, a partial pattern 220 can be formed and compared with a greater partial coverage and a larger sensor subgroup 240 of magnetic field sensors 130.

[0125] Regarding the sensor device 120 Figure 8 With respect to the sensor position in the current position of the primary component 110 shown in the figure, a larger partial coverage of one of the two adjacent magnet groups 150 with respect to the movement direction 170 is achieved by the first sensor subgroup 240.1 (here covering the first magnet group 150.1). This can be determined based on the determined sensor position. Therefore, the relevant first partial data volume 260.1 can be composed of data or data points of the current magnetic field data 250 obtained by detecting the magnetic field of the magnet assembly 142 by means of the magnetic field sensor 130 of the first sensor subgroup 240.1 (by means of the first magnetic field sensor 130.1 to the thirtieth magnetic field sensor 130.30). According to Fig. 9 In the diagram of , the first data volume 260.1 is associated with data points located to the left of the zero crossing 180 and thus to the left of the boundary 190. Fig.10 1 , the first partial data volume 260 . 1 is shown separately in the respective diagram. The first partial data volume 260 . 1 comprises thirty data points for each magnetic field component Bx, By, Bz, corresponding to the thirty magnetic field sensors 130 of the first sensor subgroup 240 . 1 .

[0126] The partial pattern 220 for comparison with the first partial data volume 260.1 can be formed from the magnetic field pattern 210 of the reference magnetic field data 200, wherein this is done in accordance with the determined partial coverage of the magnet group 150 by the first sensor subgroup 240.1. Figure 8 A first partial pattern 220.1 formed from the magnetic field pattern 210 and associated with the partial coverage achieved by the first sensor subgroup 240.1 is schematically shown. A respective first partial pattern 220.1 is formed for each magnetic field pattern 210. The first partial pattern 220.1 simulates the partial coverage achieved by the first sensor subgroup 240.1 relative to the magnet assembly 142 for each magnet group 150 associated with the magnetic field pattern 210. Corresponding to the thirty magnetic field sensors 130 of the first sensor subgroup 240.1 and the sensor position of the sensor device 120 relative to the boundary 190 of the adjacent magnet group 150, the first partial pattern 220.1 comprises the last thirty data points (not shown) of the magnetic field pattern 210 for each magnetic field component Bx, By, Bz, respectively.

[0127] In the subsequent similarity comparison, Figure 7 As shown, the first partial data volume 260.1 of the current magnetic field data 250 can be compared with each first partial pattern 220.1 of the magnetic field pattern 210 (i.e., the first partial pattern 220.1 of the first magnetic field pattern 210.1, the first partial pattern 220.1 of the second magnetic field pattern 210.2, ... the first partial pattern 220.1 of the nth magnetic field pattern 210.n) to obtain the corresponding distance scales 270 (i.e., the first distance scale 270.1, the second distance scale 270.2, ... the nth distance scale 270.n). In this way, the first partial pattern 220.1 and the corresponding magnetic field pattern 210 with the greatest similarity can be determined, that is, there is a minimum distance scale 270 therein, so as to determine the positioning of the sensor device 120 on the relevant magnet group 150. Referring to Figure 8 , which is first magnet group 150 . 1 . This information, together with the detected offset sensor position of sensor device 120 relative to boundary 190 of the associated magnet group 150 (here magnet groups 150 . 1 , 150 . 2 ), reflects the current position of primary part 110 on secondary part 140 .

[0128] Accordingly, a partial data volume 260, a partial pattern 220 can be formed and compared with the other of the two partial coverages of adjacent magnet groups 150. Figure 8For example, this is a smaller partial coverage achieved by the second sensor subgroup 240.2. In this case, the relevant second partial data volume 260.2 can be composed of data points of the current magnetic field data 250 obtained by detecting the magnetic field of the magnet assembly 142 by means of the magnetic field sensors 130 of the second sensor subgroup 240.2 (by means of the thirty-first to forty-eighth magnetic field sensors 130.48 not shown). Fig. 9 , the second partial data volume 260.2 includes data points located to the right of the zero crossing 180 and thus to the right of the boundary 190, the number of which corresponds to the second sensor subgroup 240.2, which is eighteen for each magnetic field component Bx, By, Bz. In addition, the second partial pattern 220.2 can be formed from the magnetic field pattern 210, such as Figure 8 As shown schematically, the second partial pattern simulates the partial coverage of each magnet group 150 associated with the magnetic field pattern 210 relative to the magnet assembly 142 achieved by the second sensor subgroup 240.2. Corresponding to the eighteen magnetic field sensors 130 of the second sensor subgroup 240.2 and the sensor position of the sensor device 120 relative to the boundary 190, the second partial pattern 220.2 includes the first eighteen data points (not shown) of the magnetic field pattern 210 for each magnetic field component Bx, By, Bz.

[0129] In similarity comparison, Figure 7 As shown, the second partial data volume 260.2 of the current magnetic field data 250 can be compared with each second partial pattern 220.2 of the magnetic field pattern 210 to obtain a corresponding distance scale 270. In this way, the second partial pattern 220.2 and the corresponding magnetic field pattern 210 with the greatest similarity can be determined, thereby determining the sensor device 120 in the relevant magnet group 150 (i.e. Figure 8 This information, together with the detected offset sensor position of sensor device 120 relative to boundary 190 of the relevant magnet group 150 (here magnet groups 150.1, 150.2), indicates the current position of primary part 110 on secondary part 140.

[0130] If, in the current position of the primary part 110, the adjacent magnet group 150 differs from Figure 8 If the sensor device 120 is (substantially) covered to the same extent, partial data volume 260 of current magnetic field data 250 and partial pattern 220 of magnetic field pattern 210 can be used for comparison with respect to one of the two partial coverages.

[0131] Furthermore, regardless of the extent of the respective overlap, a partial data volume 260 and a corresponding partial pattern 220 can be formed for each of the two partial overlaps and the corresponding partial data volume 260 can be compared with the associated partial pattern 220. For each partial data volume 260, the corresponding partial pattern 220 and the magnetic field pattern 210 with the greatest similarity can be determined thereby, and thus the associated magnet group 150 can be determined. Furthermore, a plausibility check can also be achieved thereby. This is because for the determined partial patterns 220 with the greatest similarity, it is required that these partial patterns belong to two adjacent magnet groups 150. If this is not the case, an error can be inferred based on the plausibility check, for example in the form of erroneous data.

[0132] At once Figure 8 and Fig. 9 For example, the first partial data volume 260.1 can be compared with each of the first partial patterns 220.1, and the second partial data volume 260.2 can be compared with each of the second partial patterns 220.2. Based on the comparison results or the determined maximum similarity, the associated magnet groups 150 can be determined respectively. Figure 8 For the sensor position shown, this should be the first and second magnet group 150.1, 150.2. If this is not the case and, for example, the first magnet group 150.1 is determined when comparing with the first partial data volume 260.1, and a different magnet group 150 is determined when comparing with the second partial data volume 260.2 instead of the second magnet group 150.2, an error is detected.

[0133] In the present situation, in the current position of the primary part 110, the magnetic field sensor 130 of the sensor device 120 is located in the region of a magnet group 150 of the magnet arrangement 142 of the secondary part 140, so that for example Figure 4 In the case shown, this positioning can also be detected by determining the sensor position of the sensor device 120 relative to the boundary 190 of two adjacent permanent magnet pairs or magnet groups 150. In this case, the relevant boundary 190 can be in the region of an edge or end of the sensor device 120. Figure 4 In FIG. 1 , this is, for example, boundary 190 , which is shown by a dashed line, at the left-hand end of sensor device 120 .

[0134] Such a sensor position can be determined based on whether there is a positive zero crossing in the magnetic field strength curve of the third magnetic field component Bz that coincides with the boundary 190, which can be reproduced by means of the current magnetic field data 250 obtained with the aid of all magnetic field sensors 130. If there is no positive zero crossing in the magnetic field strength curve or in the end region of the magnetic field strength curve, it can be recognized that the magnetic field sensor 130 of the sensor device 120 is located in the region of the magnet group 150 in the current position of the primary part 110 and the relevant magnet group 150 is covered by the magnetic field sensor 130. In this case, it can be matched to this, such as according to Figure 7 As described, current magnetic field data 250 are compared with magnetic field patterns 210 of reference magnetic field data 200 for position determination of primary component 110 in order to determine the magnetic field pattern 210 having the greatest similarity and thus the associated magnet group 150 and, in this respect, the positioning of sensor device 120 on the associated magnet group 150 .

[0135] Furthermore, for position determination, the distance between the boundary 190 and the magnetic field sensor 130 closest to the boundary 190 with respect to the movement direction 170 may also be determined. Figure 4 , which is, for example, first magnetic field sensor 130 . 1. The relevant distance can be determined by extrapolation using the magnetic field strength curve of third magnetic field component Bz reproduced by current magnetic field data 250. The distance information related to the sensor position can reflect the current position of primary part 110 on secondary part 140 together with the determined positioning of sensor device 120 on magnet group 150.

[0136] like Figure 8 As shown, the following steps can also be used to determine the position, insofar as the determined sensor position of sensor device 120 in the current position of primary part 110 is located in the region of two adjacent magnet groups 150 , so that both magnet groups 150 are partially covered by sensor device 120 .

[0137] In another method variant, newly combined magnetic field patterns are formed, which are respectively combined from partial patterns 220 of the magnetic field patterns 210 provided during the initial measurement of two adjacent magnet groups 150, taking into account the partial coverage. The newly combined magnetic field pattern can reproduce or simulate the positioning of the sensor device 120 determined according to the sensor position, and thus reproduce or simulate the coverage of the two adjacent magnet groups 150 respectively relative to the magnet assembly 142 achieved by the sensor device 120. In a similarity comparison, the current magnetic field data 250 are compared with the combined magnetic field patterns. In this way, the combined magnetic field pattern with the greatest similarity can be determined, so that the two magnet groups 150 belonging to the combined magnetic field pattern are determined, and in this regard the positioning of the sensor device 120 on the two magnet groups 150 concerned is determined. This information, together with the detected sensor position of the sensor device 120 relative to the boundary 190 of the adjacent magnet groups 150, indicates the current position of the primary part 110.

[0138] For illustration, Fig.11 Another illustration is shown, in which the sensor device 120 is connected to Figure 8 In the region of two adjacent magnet groups 150 or first and second magnet groups 150.1, 150.2, they are arranged in a staggered manner. With respect to the direction of movement 170, the first magnet group 150.1 is covered by a first sensor subgroup 240.1 comprising thirty magnetic field sensors 130. With respect to the direction of movement 170, the second magnet group 150.2 is covered by a second sensor subgroup 240.2 comprising eighteen magnetic field sensors 130.

[0139] also, Fig.11 The formation of new combined magnetic field patterns 225 is schematically shown, which simulate the coverage of two adjacent magnet groups 150 and their magnetic field patterns 210 respectively relative to the magnet assembly 142 achieved by the sensor device 120. The combined magnetic field patterns 225 respectively include a first partial pattern 220.1 of a magnetic field pattern 210 of one magnet group 150 and a second partial pattern 220.2 of a magnetic field pattern 210 of a magnet group 150 adjacent to the magnet group. The partial coverage achieved by the first sensor subgroup 240.1 respectively relative to the magnet group 150 is reproduced by the first partial pattern 220.1, and the partial coverage achieved by the second sensor subgroup 240.2 respectively relative to the magnet group 150 adjacent to the magnet group is reproduced by the second partial pattern 220.2.

[0140] like Fig.11For example, as shown with reference to the first and second magnetic field patterns 210.1, 210.2 of the reference magnetic field data 200, a first partial pattern 220.1 of the first magnetic field pattern 210.1 and a second partial pattern 220.2 of the second magnetic field pattern 210.2 are used to form one of the combined magnetic field patterns 225. In a corresponding manner, another combined magnetic field pattern 225 is formed using the first partial pattern 220.1 of the second magnetic field pattern 210.2 and the second partial pattern 220.2 of the third magnetic field pattern 210 (not shown). Other combined magnetic field patterns 225 can be formed in a similar manner until the nth magnetic field pattern 210.n.

[0141] The first partial pattern 220.1 includes the last thirty data points of the magnetic field pattern 210 for each magnetic field component Bx, By, Bz, corresponding to the sensor positions of the thirty magnetic field sensors 130 of the first sensor subgroup 240.1 and the sensor devices 120 relative to the boundary 190 of the adjacent magnet group 150. The second partial pattern 220.2 includes the first eighteen data points of the magnetic field pattern 210 for each magnetic field component Bx, By, Bz, corresponding to the sensor positions of the eighteen magnetic field sensors 130 of the second sensor subgroup 240.2 and the sensor devices 120 relative to the boundary 190 of the adjacent magnet group 150. Therefore, corresponding to the current magnetic field data 250, the combined magnetic field pattern 225 includes forty-eight data points for each magnetic field component Bx, By, Bz (all not shown).

[0142] In similarity comparison, Figure 7 As shown, current magnetic field data 250 can be compared with each of combined magnetic field patterns 225 in order to respectively obtain a corresponding distance measure 270. In this way, the combined magnetic field pattern 225 with the greatest similarity can be determined, i.e., in which the smallest distance measure 270 is present, and thus the position of sensor device 120 on the two relevant magnet groups 150 can be determined. This information, together with the detected offset sensor position of sensor device 120 relative to boundary 190 of the relevant magnet group 150 (here magnet groups 150.1, 150.2), indicates the current position of primary part 110 on secondary part 140.

[0143] Furthermore, the position determination can also be carried out as follows with respect to a determined sensor position in which sensor device 120 is located in the region of two adjacent magnet groups 150 in the current position of primary part 110 , so that both magnet groups 150 are partially covered by sensor device 120 .

[0144] In another method variant, a predetermined division of the magnetic field sensors 130 of the sensor device 120 into a plurality of (i.e., at least two) sensor subgroups 240 is the basis. This division is independent of the sensor position of the sensor device 120 at the current position of the primary part 110. The division can be performed such that the sensor subgroups 240 each include the same number of magnetic field sensors 130. In accordance with the division of the magnetic field sensors 130, the current magnetic field data 250 is divided into a plurality of (i.e., at least two) partial data volumes 260, which are obtained with the aid of the individual sensor subgroups 240 of magnetic field sensors 130, each partially covering the magnet assembly 142. Furthermore, a partial pattern 220 is formed from the magnetic field pattern 210 of the reference magnetic field data 200, which is performed taking into account the detected sensor position of the sensor device 120 at the current position of the primary part 110 and taking into account the division of the magnetic field sensors 130 and the partial covering achieved by the sensor subgroups 240. As described above, the sensor position in which the position of sensor device 120 relative to boundary 190 of adjacent magnet groups 150 is determined can be detected from the positive zero crossings of the magnetic field strength curve of third magnetic field component Bz reproduced by current magnetic field data 250 .

[0145] The partial pattern 220 used in this method variant can reproduce or simulate the partial coverage of two adjacent magnet groups 150 respectively relative to the magnet assembly 142 achieved by the respective sensor subgroups 240. If the sensor subgroup 240 covers the boundary 190 of the adjacent magnet groups 150 (which can be identified based on the detected sensor position), the partial pattern 220 that reproduces the partial coverage achieved by the sensor subgroup 240 can be formed by combining the corresponding parts of the magnetic field patterns 210 of the adjacent magnet groups 150, similar to the above method variant. Depending on the corresponding division of the magnetic field sensor 130, there may be a plurality of sensor subgroups 240 covering the boundary 190. In this case, the partial pattern 220 associated with the partial coverage of these sensor subgroups 240 can also be formed by combining parts of the magnetic field patterns 210 of the adjacent magnet groups 150.

[0146] In the similarity comparison, partial data volume 260 is compared with partial patterns 220 that are respectively relevant with regard to the sensor position of sensor device 120 and the division of magnetic field sensors 130 and the partial coverage achieved by sensor subgroups 240. In this way, the partial pattern 220 with the greatest similarity can be determined, and thus the two magnet groups 150 belonging to partial pattern 220 and, to this extent, the positioning of sensor device 120 on the two magnet groups 150 in question. This information, together with the detected sensor position of sensor device 120 relative to boundary 190 of adjacent magnet groups 150, reflects the current position of primary part 110.

[0147] For illustration, Fig.12 Another illustration is shown in which the sensor device 120 is arranged in an offset manner in the region of two adjacent magnet groups 150 (here again the first and second magnet groups 150.1, 150.2) at the current position of the primary part 110. In this case, the first magnet group 150.1 is also covered by thirty magnetic field sensors 130 of the sensor device 120 (from the first magnetic field sensor 130.1 to the thirtieth magnetic field sensor 130.30), and the second magnet group 150.2 is covered by eighteen magnetic field sensors 130 of the sensor device (from the thirty-first magnetic field sensor 130 to the forty-eighth magnetic field sensor 130.48, not shown).

[0148] Independently of this, magnetic field sensors 130 of sensor device 120 may be divided in a predefined manner into a plurality of sensor subgroups 240 for position determination. Fig.12 In the illustrated processing mode, two sensor subgroups 240 are divided, namely the first and second sensor subgroups 240.1, 240.2, each of which has twenty-four magnetic field sensors 130. The first sensor subgroup 240.1 includes the first magnetic field sensor 130.1 of the sensor device 120 up to the twenty-fourth magnetic field sensor 130, which is not shown, and the second sensor subgroup 240.2 includes the twenty-fifth magnetic field sensor 130, which is not shown, up to the forty-eighth magnetic field sensor 130.48. Different parts of the magnet assembly 142 or the adjacent magnet groups 150.1, 150.2 are covered by the two sensor subgroups 240.1, 240.2 with respect to the movement direction 170. In this case, there is a first covering area 230.1 associated with the partial covering achieved by the first sensor subgroup 240.1 and a second covering area 230.2 associated with the partial covering achieved by the second sensor subgroup 240.2.

[0149] Corresponding to the division of the magnetic field sensor 130 into two sensor subgroups 240.1 and 240.2, Fig.12 As shown, the current magnetic field data 250 can be divided into a first partial data volume 260.1 and a second partial data volume 260.2, wherein the first partial data volume 260.1 is obtained by detecting the magnetic field of the magnet assembly 142 with the help of the first sensor subgroup 240.1, and the second partial data volume 260.2 is obtained by detecting the magnetic field of the magnet assembly 142 with the help of the second sensor subgroup 240.2. Corresponding to the twenty-four magnetic field sensors 130 of each sensor subgroup 240.1, 240.2, the two partial data volumes 260.1, 260.2 have twenty-four data points for each magnetic field component Bx, By, Bz. The partial data volumes 260.1, 260.2 may include the following: Fig.13 and Fig.14The data points are shown in the chart.

[0150] also, Fig.12 The formation of a partial pattern 220 from a magnetic field pattern 210 of reference magnetic field data 200 is schematically shown, which matches both the detected sensor position of sensor device 120 relative to boundary 190 and the partial coverage achieved by sensor subgroups 240.1, 240.2. In this case, a first and a second partial pattern 220.1, 220.2 are formed, which simulate the partial coverage of two adjacent magnet groups 150 and their magnetic field patterns 210 respectively relative to magnet assembly 142 achieved by first and second sensor subgroups 240.1, 240.2.

[0151] Corresponding to the twenty-four magnetic field sensors 130 of the first sensor subgroup 240.1 and the sensor positions of the sensor devices 120 relative to the boundary 190 of the adjacent magnet groups 150.1, 150.2, the first partial pattern 220.1 comprises, for each magnetic field component Bx, By, Bz, twenty-four data points of the magnetic field pattern 210 associated with the magnet group 150. They are respectively the nineteenth to forty-second data points (not shown) of the magnetic field pattern 210.

[0152] Likewise, corresponding to the twenty-four magnetic field sensors 130 of the second sensor subgroup 240.2 and the sensor position of the sensor device 120 relative to the boundary 190, the second partial pattern 220.2 includes twenty-four data points for each magnetic field component Bx, By, Bz. Fig.12 As shown, there is a situation where the boundary 190 is covered, which can be identified based on the sensor position, and thus the partial coverage achieved by the second sensor subgroup 240.2 indicates that the associated second partial pattern 220.2 is composed of the parts of the magnetic field pattern 210 of the adjacent magnet group 150 that match this. Therefore, the second partial pattern 220.2 here includes six data points for each magnetic field component Bx, By, Bz, namely the last six data points of the magnetic field pattern 210 associated with the magnet group 150, and a further eighteen data points, namely the last six data points of the magnetic field pattern 210 adjacent to this magnet group (such as Fig.12 The first eighteen data points (not shown) of the magnetic field pattern 210 of the magnet group 150 (respectively located to the right of the magnet group) are shown.

[0153] Fig.12It is shown that first and second partial patterns 220.1, 220.2 are formed with reference to only first magnetic field pattern 210.1 and second magnetic field pattern 210.2 of reference magnetic field data 200. In a corresponding manner, other first and second partial patterns 220.1, 220.2 are formed with reference to second magnetic field pattern 210.2 and third magnetic field pattern 210, with reference to third and fourth magnetic field patterns 210, and so on, up to the nth magnetic field pattern (not shown).

[0154] In similarity comparison, Figure 7 As shown, partial data quantities 260.1, 260.2 of current magnetic field data 250 can be compared with partial patterns 220.1, 220.2 respectively associated with respect to the sensor positions of sensor device 120 and the partial coverage achieved by sensor subgroups 240.1, 240.2, in order to respectively obtain a corresponding distance measure 270. Fig.12 As shown, in this case, during a first analysis 281, the first partial data volume 260.1 can be compared with each of the associated first partial patterns 220.1, and during a second analysis 282, the second partial data volume 260.2 can be compared with each of the associated second partial patterns 220.2. In this way, the first and second partial patterns 220.1, 220.2 with the greatest similarity can be determined, i.e., in which the smallest distance dimension 270 is respectively present. Accordingly, the two adjacent magnet groups 150 belonging to the determined partial patterns 220.1, 220.2 can be determined, and thus the positioning of the sensor device 120 on these adjacent magnet groups 150 can be determined. In addition to the detected sensor position of the sensor device 120 relative to the boundary 190 of the associated magnet group 150 (here, the magnet groups 150.1, 150.2), this information also indicates the current position of the primary part 110 on the secondary part 140.

[0155] A plausibility check can also be carried out with the aid of the above-described method variant. In this case, it is necessary to determine in a consistent manner two adjacent magnet groups 150 based on the determined partial patterns 220 with the greatest similarity. If this is not the case, an error can be assumed, for example in the form of erroneous data. Fig.12 Such an error may be noticeable, for example, by the first magnet group 150 . 1 being identified in the first analysis 281 and a different magnet group 150 being identified in the second analysis 282 instead of the first and second magnet groups 150 . 1 , 150 . 2 .

[0156] According to Fig.12 Different from the described processing methods, other divisions of the magnetic field sensor 130 of the sensor device 120 are also conceivable. For illustration, Fig.15Another illustration of a sensor device 120 is shown, which is arranged in an offset manner in the region of two adjacent magnet groups 150 or first and second magnet groups 150.1, 150.2 in the current position of the primary part 110. In this case, the first magnet group 150.1 is also covered by thirty magnetic field sensors 130 of the sensor device 120, and the second magnet group 150.2 is covered by eighteen magnetic field sensors 130 of the sensor device.

[0157] like Fig.15 As shown, the magnetic field sensor 130 can be divided into four sensor subgroups 240, namely the fourth, fifth, sixth and seventh sensor subgroups 240.4, 240.5, 240.6, 240.7, each of which includes twelve magnetic field sensors 130. Correspondingly, the current magnetic field data 250 can be divided into four partial data volumes 260, namely the fourth, fifth, sixth and seventh partial data volumes 260.4, 260.5, 260.6, 260.7, each of which has twelve data points for each magnetic field component Bx, By, Bz. In addition, in order to match the detected sensor position of the sensor device 120 relative to the boundary 190 and to match the partial coverage achieved by the sensor subgroups 240.4, 240.5, 240.6, and 240.7, the partial patterns 220 not shown can be formed by the magnetic field patterns 210 of the reference magnetic field data 200, which simulate the partial coverage of two adjacent magnet groups 150 and their magnetic field patterns 210 relative to the magnet assembly 142 respectively achieved by the sensor subgroups 240.4, 240.5, 240.6, and 240.7, and these partial patterns include twelve data points (not shown) for each magnetic field component Bx, By, and Bz.

[0158] By carrying out a similarity comparison of partial data quantities 260.4, 260.5, 260.6, 260.7 of current magnetic field data 250 with partial patterns 220 that are respectively relevant with respect to the sensor position and the division of magnetic field sensor 130 into sensor subgroups 240.4, 240.5, 240.6, 240.7, four partial patterns 220 with the greatest similarity can be determined in order to determine the relevant two magnet groups 150 and thus the positioning of sensor device 120 on the relevant two magnet groups 150. This information, together with the sensor position of sensor device 120, indicates the current position of primary part 110 on secondary part 140. If different adjacent magnet groups 150 are determined in this case, it can be concluded that an error is present.

[0159] also, Fig.15A further variant is shown in which the magnetic field sensors 130 of the sensor arrangement are divided into three partially overlapping sensor subgroups 240, namely first, second and third sensor subgroups 240.1, 240.2, 240.3, each comprising twenty-four magnetic field sensors 130. Fig.12 The sensor subgroups 240 are identical. The third sensor subgroup 240.3 overlaps the other two sensor subgroups 240.1, 240.2 and half of the third sensor subgroup is composed of the magnetic field sensors 130 of the other two sensor subgroups 240.1, 240.2. With respect to the direction of movement 170, different parts of the magnet assembly 142 or the adjacent magnet groups 150.1, 150.2 are covered by the three sensor subgroups 240.1, 240.2, 240.3, respectively. Accordingly, there are three coverage areas 230 associated with and partially overlapping the partial coverage achieved by the three sensor subgroups 240.1, 240.2, 240.3, namely the first coverage area 230.1, the second coverage area 230.2 and the third coverage area 230.3.

[0160] According to the classification of the magnetic field sensor 130, Fig.15 As shown, the current magnetic field data 250 can be divided into three overlapping partial data amounts 260, namely the first, second and third partial data amounts 260.1, 260.2, 260.3, which are respectively obtained by detecting the magnetic field of the magnet assembly 142 by means of one of the three sensor subgroups 240.1, 240.2, 240.3. Corresponding to the twenty-four magnetic field sensors 130 of each sensor subgroup 240.1, 240.2, 240.3, the three partial data amounts 260.1, 260.2, 260.3 have twenty-four data points for each magnetic field component Bx, By, Bz. The first and second partial data amounts 260.1, 260.2 may include the following: Fig.13 and Fig.14 For the data point of the third part, 260.3, we can apply Fig.16 of charts.

[0161] The first, second and third sensor subgroups 240.1, 240.2, 240.3 can be generated based on the aforementioned division including four sensor subgroups 240.4, 240.5, 240.6, 240.7. Specifically, the first sensor subgroup 240.1 includes the fourth and fifth sensor subgroups 240.4, 240.5, the second sensor subgroup 240.2 includes the sixth and seventh sensor subgroups 240.6, 240.7, and the third sensor subgroup 240.3 includes the fifth and sixth sensor subgroups 240.5, 240.6. Accordingly, the first, second and third partial data volumes 260.1, 260.2, 260.3 can be formed by using four partial data volumes 260.4, 260.5, 260.6, 260.7, wherein the first partial data volume 260.1 includes the fourth and fifth partial data volumes 260.4, 260.5, the second partial data volume 260.2 includes the sixth and seventh partial data volumes 260.6, 260.7, and the third partial data volume 260.3 includes the fifth and sixth partial data volumes 260.5, 260.6.

[0162] Fig.15 It is also schematically shown that a partial pattern 220 is formed from the magnetic field pattern 210 of the reference magnetic field data 200, which is carried out taking into account the sensor position of the sensor device 120 relative to the boundary 190 and taking into account the partial coverage achieved by the three sensor subgroups 240.1, 240.2, 240.3. In this case, a first, second and third partial pattern 220.1, 220.2 and 220.3 are formed, which show the partial coverage of two adjacent magnet groups 150 of the magnet assembly 142 by the three sensor subgroups 240.1, 240.2 and 240.3 and their magnetic field patterns 210, respectively.

[0163] Corresponding to the twenty-four magnetic field sensors 130 of the first sensor subgroup 240.1 and the sensor positions of the sensor device 120 relative to the boundary 190 of the adjacent magnet groups 150.1 and 150.2, the first partial pattern 220.1 includes twenty-four data points (not shown), i.e., the nineteenth to forty-second data points, of the magnetic field pattern 210 of the magnet group 150 for each magnetic field component Bx, By, Bz, respectively.

[0164] Likewise, corresponding to the twenty-four magnetic field sensors 130 of second sensor subgroup 240.2 and the sensor position of sensor device 120 relative to boundary 190, second partial pattern 220.2 includes twenty-four data points for each magnetic field component Bx, By, Bz. Fig.15As shown, the second sensor subgroup 240.2 covers the border 190, which can be identified based on the sensor position. Therefore, the second partial pattern 220.2, which indicates the partial coverage achieved by the second sensor subgroup 240.2, is composed of the parts of the magnetic field pattern 210 of the adjacent magnet group 150 that match this. Therefore, the second partial pattern 220.2 here includes six first data points, i.e. the last six data points of the magnetic field pattern 210 of the magnet group 150, and a further eighteen data points, i.e. the last six data points of the magnetic field pattern 210 of the magnet group 150 adjacent to this magnet group (e.g. Fig.15 The first eighteen data points (not shown) of the magnetic field pattern 210 of the magnet group 150 (respectively located to the right of the magnet group) are shown.

[0165] Similarly, the third partial graph 220.3 includes twenty-four data points for each magnetic field component Bx, By, Bz, corresponding to the twenty-four magnetic field sensors 130 of the third sensor subgroup 240.3 and the sensor position of the sensor device 120 relative to the boundary 190. Fig.15 As shown, there is also coverage of the border 190, which can be identified based on the sensor position, so that the third partial pattern 220.3, which indicates the partial coverage achieved by the third sensor subgroup 240.3, is composed of the parts of the magnetic field pattern 210 of the adjacent magnet group 150 that match this. Therefore, the third partial pattern 220.3 here includes eighteen data points for each magnetic field component Bx, By, Bz, i.e. the last eighteen data points of the magnetic field pattern 210 of the magnet group 150, and another six data points, i.e. the adjacent magnet group (e.g. Fig.15 The first six data points (not shown) of the magnetic field pattern 210 of the magnet group 150 (respectively located to the right of the magnet group) are shown.

[0166] Fig.15 It is shown that the first, second and third partial patterns 220.1, 220.2, 220.3 are formed with reference to only the first magnetic field pattern 210.1 and the second magnetic field pattern 210.2 of the reference magnetic field data 200. In a corresponding manner, the other first, second and third partial patterns 220.1, 220.2, 220.3 are formed with reference to the second magnetic field pattern 210.2 and the third magnetic field pattern 210, with reference to the third and fourth magnetic field patterns 210, and so on, up to the nth magnetic field pattern (not shown).

[0167] In similarity comparison, Figure 7As shown, partial data quantities 260.1, 260.2, 260.3 of current magnetic field data 250 can be compared with partial patterns 220.1, 220.2, 220.3 respectively associated with respect to the sensor positions of sensor device 120 and the division of magnetic field sensor 130 into sensor subgroups 240.1, 240.2, 240.3, in order to respectively obtain a corresponding distance measure 270. Fig.15 As shown, in this case, during a first analysis 281, the first partial data volume 260.1 can be compared with each of the associated first partial patterns 220.1, during a second analysis 282, the second partial data volume 260.2 can be compared with each of the associated second partial patterns 220.2, and during a third analysis 283, the third partial data volume 260.3 can be compared with each of the associated third partial patterns 220.3. In this way, the three partial patterns 220.1, 220.2, 220.3 with the greatest similarity can be determined, thereby determining the two associated magnet groups 150 and thus the positioning of the sensor device 120 on the two associated magnet groups 150 (here, magnet groups 150.1, 150.2). This information, together with the sensor position of the sensor device 120, indicates the current position of the primary part 110 on the secondary part 140. If different adjacent magnet groups 150 are determined in this case, it can be assumed that an error is present.

[0168] With the aid of the above-described method variants, the position of the primary part 110 relative to the secondary part 140 can be determined with high reliability and accuracy. In order to increase the reliability and accuracy, a plurality of these method variants can also be implemented. For example, the position of the primary part 110 relative to the secondary part 140 can be determined with high reliability and accuracy. Figure 8 The described method of similarity comparison based on the partial coverage of the magnet group 150 determined based on the sensor position of the sensor device 120 is similar to the method of similarity comparison based on the partial coverage of the magnet group 150 determined based on the sensor position of the sensor device 120. Fig.12 or Fig.15 The described approach based on the similarity comparison of magnetic field sensors 130 of sensor device 120 into sensor subgroups 240 is combined together. This makes it possible to implement a further plausibility check.

[0169] Furthermore, it should be pointed out that the above numerical descriptions (such as the number of magnetic field sensors 130 of sensor device 120 ) are merely examples and can be replaced or converted by other numerical descriptions.

[0170] As described above, the magnetic field sensor 130 of the sensor device 120 can cover a magnet group 150 including a pair of permanent magnets consisting of two permanent magnets 155 or a first and a second permanent magnet 151, 152. Therefore, the sensor device can have another number or a larger number of magnetic field sensors 130, which are distributed and spaced apart from each other along the movement direction 170 on the printed circuit board 121 of the sensor device 120. For example, seventy-two or more magnetic field sensors 130 can be used. This can improve the accuracy and reliability of position determination. In terms of the design of the magnet assembly 142 of the secondary part 140, this is embodied, for example, by means of a relatively large number of permanent magnets 155 and permanent magnet pairs.

[0171] However, the maximum possible number of magnetic field sensors 130 may be limited by mutual influences between the magnetic field sensors 130, which may occur when the distances between the magnetic field sensors 130 are relatively small relative to each other. In this regard, the size of the sensor device 120 can be configured so that a greater number of permanent magnet pairs can be covered by means of the magnetic field sensors 130. In this way, a sensor device 120 with a greater number of magnetic field sensors 130 can be used. In addition, the magnetic field sensors 130 can be spaced apart from each other so that influences between the magnetic field sensors 130 can be avoided.

[0172] In this case, the position determination can be carried out based on magnet groups 150 which do not include a permanent magnet pair, but rather a plurality of permanent magnet pairs, each consisting of a first and a second permanent magnet 151, 152, matched to the sensor device 120 and corresponding to the possible coverage achieved by the magnetic field sensor 130. It is also possible to divide the permanent magnets 155 into magnet groups 150 such that the magnet groups 150 partially overlap. Furthermore, in the current position of the primary part 110 and in the case of offset sensor positions, the sensor device 120 can also cover a plurality of boundaries 190 of adjacent permanent magnet pairs or magnet groups 150, which can be identified based on the positive zero crossings of the magnetic field intensity curve of the third magnetic field component Bz reproduced by the current magnetic field data 250. An analysis can be carried out in accordance with this to determine the position relative to one of the boundaries 190.

[0173] The following will be based on Fig.17 and Fig.18 A possible example is described. The consistent features and method steps and the components that are the same or have the same function will not be described in detail below. With regard to the relevant details, reference is made to the above description instead, which can be applied in a corresponding manner.

[0174] Fig.17Another possible embodiment that can be adopted for the sensor device 120 of the primary part 110 is shown. The sensor device 120 has ninety-six magnetic field sensors 130, namely from the first magnetic field sensor 130.1 to the ninety-sixth magnetic field sensor 130.96, which are arranged distributed and spaced apart from each other along the movement direction 170. The sensor device 120 is designed so that a complete or substantially complete coverage of two permanent magnet pairs, each consisting of a first and a second permanent magnet 151, 152, can be achieved with the help of the magnetic field sensors 130. Accordingly, for position determination, the permanent magnets 155 of the magnet assembly 142 of the secondary part 140 are distributed or divided in such a way that the magnet group 150 also has two permanent magnet pairs, each consisting of a first and a second permanent magnet 151, 152, and thus has a total of four permanent magnets 155.

[0175] Here, the correspondence between the permanent magnet pairs and the magnet groups 150 is selected so that the magnet groups 150 partially overlap. Fig.17 , and from left to right, the first magnet group 150.1 includes the first and second permanent magnet pairs, the second magnet group 150.2 includes the second and third permanent magnet pairs, the third magnet group 150.3 includes the third and fourth permanent magnet pairs, and so on. The result of this division is that, in the analysis performed by means of the main control device 105 for position determination, every two magnet groups 150 adjacent to each other or, in other words, magnet groups 150 located on both sides relative to the boundary 190 and every two magnet groups 150 with odd or even indices are regarded as adjacent magnet groups 150. The first magnet group 150.1 and the third magnet group 150.3 represent, for example, two adjacent magnet groups 150. This applies correspondingly to the second and fourth magnet groups 150.2, 150.4.

[0176] At once Fig.17 For the purposes of the present invention, it should also be noted that the first magnet group 150.1 cannot be the magnet group 150 located at the (left) end of the magnet assembly 142, which can only be regarded as the first magnet group 150.1 for the following description. At least one further permanent magnet pair can be provided on the left side of the first magnet group 150.1. Therefore, another magnet group 150 (not shown) adjacent to the second magnet group 150.2 can be provided on the left side of the second magnet group 150.2.

[0177] Fig.17Also shown are magnetic field patterns 210 corresponding to the individual magnet groups 150 of the reference magnetic field data 200, which partially overlap with the magnet groups 150. In this design, the magnetic field pattern 210 can also be obtained in an initial measurement in a manner similar to that described above. In this case, the primary part 110 can move along the secondary part 140 and the magnetic field pattern 210 can be provided based on the magnetic field, which is detected by means of the magnetic field sensor 130 of the sensor device 120 when the magnetic field sensor 130 is located in the area of ​​the magnet group 150 and the relevant magnet group 150 is thus covered by the magnetic field sensor 130. In this case, the magnetic field pattern 210 can be provided in a manner that matches the positive zero crossing of the magnetic field intensity curve of the third magnetic field component Bz detected by means of the magnetic field sensor 130 at one end, for example the first magnetic field sensor 130.1, when the primary part 110 moves, and the boundaries 190 (see Fig.18 ).

[0178] Corresponding to the ninety-six magnetic field sensors 130 of the sensor device 120, the current magnetic field data 250 obtained by detecting the magnetic field of the magnet device 142 of the secondary part 140 at the current position of the primary part by means of the magnetic field sensors 130 can have ninety-six data points for each magnetic field component Bx, By, Bz. This also applies to the magnetic field pattern 210 (not shown) provided during the initial measurement.

[0179] To determine the position of the primary part 110 on the secondary part 140, the above-described steps and method variants can be used accordingly. If, in the current position of the primary part 110, the magnetic field sensor 130 of the sensor device 120 is located in the region of a magnet group 150 of the magnet arrangement 142 of the secondary part 140, such that the relevant magnet group 150 is covered by the magnetic field sensor 130 and there can be a contact with the magnetic field sensor 130, Fig.17 Similarly, such positioning can be identified by determining the sensor position of the sensor device 120 relative to the boundary 190 of two adjacent permanent magnet pairs or magnet groups 150. The relevant boundary 190 can be located in the area of ​​the edge or end of the sensor device 120. Such a sensor position can be determined based on whether there is a positive zero crossing in the magnetic field intensity curve of the third magnetic field component Bz, which can be reproduced by the current magnetic field data 250 obtained by all magnetic field sensors 130 at the current position.

[0180] If there is no positive zero crossing in the region of the end of the magnetic field strength curve, it can be recognized that magnetic field sensor 130 of sensor device 120 is located in the region of a magnet group 150 in the current position of primary part 110 and that the relevant magnet group 150 is covered by magnetic field sensor 130. In this case, it can be detected as follows Figure 7As shown, current magnetic field data 250 are compared with magnetic field patterns 210 of reference magnetic field data 200 for position determination of primary part 110, in order to determine the magnetic field pattern 210 with the greatest similarity, and thus determine the relevant magnet group 150, and in this respect determine the position of sensor device 120 on the relevant magnet group 150. In addition, the distance between boundary 190 and magnetic field sensor 130 closest to boundary 190, for example first magnetic field sensor 130.1, with respect to movement direction 170 can also be determined. This can be achieved by extrapolating the magnetic field strength curve of the third magnetic field component Bz reproduced by current magnetic field data 250.

[0181] like Fig.18 As shown, in the current position of the primary part 110, the sensor device 120 can also be arranged in an offset manner in the area of ​​two adjacent (adjacent) magnet groups 150. Based on the overlapping magnet groups 150, the offset arrangement of the sensor device 120 can involve two pairs of magnet groups consisting of adjacent magnet groups 150. Fig.18 , this applies to the first magnet group 150.1 and the third magnet group 150.3 adjacent thereto. If, as described above, there is a further permanent magnet pair on the left side of the first magnet group 150.1 and, in this respect, a further magnet group 150 is provided on the left side of the second magnet group 150.2 adjacent thereto, there is also an offset arrangement of the sensor device 120 relative to the further magnet group 150 and the second magnet group 150.2. Due to this offset arrangement, the relevant adjacent magnet groups 150 are each partially covered by the magnetic field sensors 130 of the sensor device 120.

[0182] In this case, the sensor device 120 can cover two permanent magnet pairs (see Fig.17 ), in the case of staggered positioning, the sensor device 120 can also be located above two boundaries 190 of adjacent permanent magnet pairs or magnet groups 150, such as Fig.18 As shown by first boundary 190.1 and second boundary 190.2. These two boundaries 190.1, 190.2 can also be identified based on current magnetic field data 250 acquired by means of magnetic field sensor 130 at the current position of primary part 110. Boundaries 190.1 and 190.2 coincide with positive zero crossings of the magnetic field intensity curve of the third magnetic field component Bz reproduced by current magnetic field data 250, so these boundaries can be detected based on these zero crossings.

[0183] In determining the sensor position of the sensor device 120 relative to the boundary 190 during the position determination process as described above, one of the two boundaries 190 can be selected and used. For example, one can select Fig.18In the example, a second boundary 190.2 is arranged on the right side with respect to the movement direction 170. Correspondingly, the further analysis is also performed using the selected boundary 190.

[0184] When determining the sensor position, the distance between the selected boundary 190 and the magnetic field sensors 130 of the sensor device 120 that are closest to the boundary 190 and arranged on both sides of the boundary can be determined according to the above description in relation to the direction of movement 170. This can be achieved by identifying the magnetic field sensor 130 that is closest to the boundary 190 using the magnetic field strength curve of the third magnetic field component Bz reproduced by the current magnetic field data 250 and by performing an interpolation or extrapolation method while taking into account the distances between the relevant magnetic field sensors 130. Fig.18 , the sixtieth magnetic field sensor 130 . 60 located on the left side of the second boundary 190 . 2 is positioned, for example, closest to the second boundary 190 . 2 .

[0185] Based on the determined sensor position of sensor device 120 relative to selected boundary 190 , the method variant explained above for determining the current position of primary component 110 may be carried out as follows.

[0186] If it is determined that the sensor device 120 is located in the region of two adjacent (adjacent) magnet groups 150 and that both magnet groups 150 are partially covered by the sensor device 120, a partial data volume 260 can be formed from the current magnetic field data 250, which is obtained by means of a sensor subgroup 240 formed by magnetic field sensors 130 of the sensor device 120, by which a partial coverage of one of the two magnet groups 150 is achieved. Correspondingly, partial patterns 220 can be formed from the magnetic field patterns 210 of the reference magnetic field data 200, which simulate the partial coverage achieved by the sensor subgroup 240 with respect to each magnet group 150 and its magnetic field pattern 210. In a similarity comparison, the partial data volume 260 can be compared with each of the partial patterns 220 in order to determine the partial pattern 220 and the corresponding magnetic field pattern 210 with the greatest similarity, and thus determine the positioning of the sensor device 120 on the relevant magnet group 150. This information, together with the detected sensor position of sensor device 120 , indicates the current position of primary part 110 .

[0187] As described above, the analysis is performed taking into account the selected boundary 190. The selection of boundary 190 affects the determination of sensor subset 240 and thus the formation of partial data volume 260 from current magnetic field data 250 and partial pattern 220 from magnetic field pattern 210.

[0188] exist Fig.18, this processing is shown with reference to the second boundary 190.2 as the selected boundary 190, which separates two adjacent magnet groups 150, here the first and third magnet groups 150.1, 150.3. A larger partial coverage (with a first coverage area 230.1) is achieved by a first sensor subgroup 240.1 (with the first to sixtieth magnetic field sensors 130.1, 130.60) comprising sixty magnetic field sensors 130. This can be determined based on the determined sensor positions. Accordingly, a partial data volume 260 can be formed belonging to the first sensor subgroup 240.1 and formed from the current magnetic field data 250, which has sixty data points for each magnetic field component Bx, By, Bz (not shown).

[0189] also, Fig.18 Also shown is the formation of first partial patterns 220.1, which simulate the partial coverage achieved by the first sensor subgroup 240.1 relative to each magnet group 150 and its magnetic field pattern 210. Corresponding to the sixty magnetic field sensors 130 of the first sensor subgroup 240.1 and the sensor position of the sensor device 120 relative to the second boundary 190.2, the first partial pattern 220.1 includes the last sixty data points of the magnetic field pattern 210 for each magnetic field component Bx, By, Bz. Fig.18 In the example shown in FIG. 2 , only the first partial pattern 220 . 1 is shown with respect to the first magnetic field pattern 210 . 1 . In the similarity comparison, the partial data volume 260 can be compared with the first partial pattern 220 . 1 .

[0190] As an alternative, you can Fig.18 As shown with reference to the second sensor subgroup 240.2 (having a second coverage area 230.2) comprising thirty-six magnetic field sensors 130, partial data quantities 260, partial patterns 220 are formed and compared with respect to the other of the two partial coverages. In this case, the partial data quantity 260 consisting of the current magnetic field data 250 can include thirty-six data points for each magnetic field component Bx, By, Bz in a corresponding manner. This also applies to the second partial patterns 220.2 consisting of magnetic field patterns 210, which simulate the partial coverage achieved by the second sensor subgroup 240.2 relative to each magnet group 150 and its magnetic field pattern 210. Corresponding to the thirty-six magnetic field sensors 130 of the second sensor subgroup 240.2 and the sensor position of the sensor device 120 relative to the second boundary 190.2, the second partial pattern 220.2 includes the initial thirty-six data points of the magnetic field pattern 210 for each magnetic field component Bx, By, Bz. Fig.18In FIG. 2 , only the second partial pattern 220 . 2 is shown with respect to the third magnetic field pattern 210 . 3 . In a similarity comparison, the partial data volume 260 can be compared with the second partial pattern 220 . 2 .

[0191] Furthermore, in the case of a sensor position determination of the sensor device 120 in the region of two adjacent (adjacent) magnet groups 150, a newly combined magnetic field pattern 225 can also be formed, which is composed of partial patterns 220 of the magnetic field patterns 210 provided in the initial measurement process of the two adjacent magnet groups 150, taking into account the partial coverage. By means of the newly combined magnetic field pattern 225, the positioning of the sensor device 120 determined according to the sensor position and thus the coverage of the two adjacent magnet groups 150 respectively relative to the magnet assembly 142 achieved by the sensor device 120 can be simulated. In a similarity comparison, the current magnetic field data 250 can be compared with the newly combined magnetic field pattern 225 in order to determine the combined magnetic field pattern 225 with the greatest similarity and thus the positioning of the sensor device 120 on the two magnet groups 150 concerned. This information, together with the detected sensor position of the sensor device 120, indicates the current position of the primary part 110.

[0192] As also described above, the foregoing analysis is performed with consideration of the selected boundary 190. The selection of boundary 190 affects the formation of the new combined magnetic field pattern 225.

[0193] Fig.18 It is shown that a newly combined magnetic field pattern 225 is formed relative to the second boundary 190.2 as the selected boundary 190, which separates two adjacent magnet groups 150 or the first and third magnet groups 150.1, 150.3, wherein the first magnet group 150.1 is covered by the first sensor subgroup 240.1 and the third magnet group 150.3 is covered by the second sensor subgroup 240.2. The combined magnetic field pattern 225 includes a first partial pattern 220.1 of the magnetic field pattern 210 of the magnet group 210 and a second partial pattern 220.2 of the magnetic field pattern 210 of the magnet group 150 adjacent to the magnet group. The partial coverage achieved by the first sensor subgroup 240.1 with respect to the magnet group 150, respectively, is reproduced by the first partial pattern 220.1, and the partial coverage achieved by the second sensor subgroup 240.2 with respect to the magnet group 150, respectively, is reproduced by the second partial pattern 220.2.

[0194] Fig.18It is shown that a new combined magnetic field pattern 225 is formed only with respect to the first and third magnetic field patterns 210.1, 210.3, which belong to two adjacent (adjacent to each other) magnet groups 150, namely the first and third magnet groups 150.1, 150.3. The combined magnetic field pattern 225 shown is formed using the first partial pattern 220.1 of the first magnetic field pattern 210.1 and the second partial pattern 220.2 of the third magnetic field pattern 210.3. Correspondingly, a further combined magnetic field pattern 225 can be formed using the first partial pattern 220.1 of the second magnetic field pattern 210.2 and the second partial pattern 220.2 of the fourth magnetic field pattern 210.4. Other combined magnetic field patterns 225 can be formed in a similar manner until the nth magnetic field pattern 210 (not shown).

[0195] Corresponding to the sixty magnetic field sensors 130 of the first sensor subgroup 240.1 and the sensor positions of the sensor device 120 relative to the second boundary 190.2, the first partial pattern 220.1 includes, for each magnetic field component Bx, By, Bz, the last sixty data points of the magnetic field pattern 210 used. Corresponding to the thirty-six magnetic field sensors 130 of the second sensor subgroup 240.2 and the sensor positions of the sensor device 120 relative to the second boundary 190.2, the second partial pattern 220.2 includes, for each magnetic field component Bx, By, Bz, the first thirty-six data points of the magnetic field pattern 210 used. Thus, corresponding to the current magnetic field data 250, the combined magnetic field pattern 225 includes, for each magnetic field component Bx, By, Bz, ninety-six data points (all not shown).

[0196] Furthermore, an analysis can also be performed based on a predetermined division of the magnetic field sensors 130 of the sensor device 120 into a plurality of sensor subgroups 240, wherein this division is independent of the sensor position of the sensor device 120 in the current position of the primary part 110. Based on this division, the current magnetic field data 250 can be divided into a plurality of partial data volumes 260, which are obtained by means of the individual sensor subgroups 240, which respectively partially cover the magnet assembly 142. Correspondingly, a partial pattern 220 can be formed from the magnetic field pattern 210 of the reference magnetic field data 200, which is performed taking into account the detected sensor position of the sensor device 120 in the current position of the primary part 110 and taking into account the division of the magnetic field sensors 130 and the partial coverage achieved by the sensor subgroups 240. The partial pattern 220 can reproduce the partial coverage of two adjacent (adjacent to each other) magnet groups 150, respectively relative to the magnet assembly 142, achieved by the individual sensor subgroups 240. In a similarity comparison, partial data volume 260 can be compared with partial patterns 220 that are respectively relevant with regard to the sensor position and the division of magnetic field sensor 130 in order to determine the partial pattern 220 with the greatest similarity and thus the positioning of sensor device 120 on the two adjacent magnet groups 150 in question. This information, together with the detected sensor position of sensor device 120, reflects the current position of primary part 110.

[0197] For the above analysis, for example, referring to the sensor device 120 including ninety-six magnetic field sensors 130, consider a method similar to Fig.12 or Fig.15 The magnetic field sensors 130 are divided in a manner such that they are divided into two sensor subgroups 240 or three partially overlapping sensor subgroups 240, each of which has forty-eight magnetic field sensors 130. Here, the analysis is also performed taking into account the selected boundary 190, which has an influence on the formation of the partial pattern 220. The partial pattern 220 is formed from the magnetic field pattern 210 with reference to two adjacent (adjoining) magnet groups 150, so that the partial coverage achieved by the sensor subgroups 240 with respect to two adjacent magnet groups 150 is simulated with the help of the partial pattern 220. Fig.17 , as described above, these are two magnet groups 150 with even or odd indices, respectively. If a sensor subgroup 240 covers a selected boundary 190, this can be identified based on the detected sensor position, which can be similar to the Fig.12 or Fig.15 In the illustrated manner, by combining corresponding parts of the magnetic field patterns 210 of adjacent (mutually adjoining) magnet groups 150 , a partial pattern 220 is formed which reproduces the partial coverage achieved by the sensor subgroup 240 .

[0198] As described above, the current position of the primary part 110 relative to the secondary part 140 determined according to the method can be a stationary position, so that no movement occurs in the linear drive system 100. On this basis, the primary part 110 and the secondary part 140 can be moved relative to each other during further operation of the linear drive system 100 controlled by the main control device 105.

[0199] The current position determined according to the method and with the aid of the master control device 105 can be used as a reference position to which subsequent movements and changes in the position of the primary part 110 relative to the secondary part 140 can be referred. In this regard, the change in position can be determined based on the magnetic field of the magnet assembly 142 of the secondary part 140, which is detected with the aid of one or more magnetic field sensors 130 of the sensor device 120. The movement detection that can be carried out during the corresponding analysis by the master control device 105 can be implemented, for example, in an incremental manner, in that the relevant position changes of the individual permanent magnet pairs or magnet groups 150 relative to the magnet assembly 142 are determined. On this basis, the corresponding counter can be incremented.

[0200] Furthermore, a design variant which differs from the above description and is not shown can also be considered for the linear drive system 100, in which the primary part 110 is a fixed component of the drive system 100 and the secondary part 140 is a movable component of the drive system. In this design variant, the secondary part 140 can move relative to the primary part 110 due to the magnetic interaction between the electromagnetic device 111 of the primary part 110 and the magnet assembly 142 of the secondary part 140. In addition, the secondary part 140 can be moved relative to the primary part 110, for example Figure 1 In various cases, the movable secondary part 140 is arranged above the primary part 110. By means of suitable components, a guidance or mounting of the movable secondary part 140 on or relative to the stationary primary part 110 can be achieved.

[0201] For this embodiment of the linear drive system 100 , the above-described method and its method variants can be implemented in a corresponding manner to determine the current position of the primary part 110 relative to the secondary part 140 . This position is synonymous with the positioning of the secondary part 140 relative to the primary part 110 .

[0202] In this case, the initial measurement may include moving the secondary component 140 relative to the primary component 110 and, similar to the above description, providing a magnetic field pattern 210 of the reference magnetic field data 200 based on the magnetic field of the magnet arrangement 142 of the secondary component 140, which magnetic field patterns are respectively detected by means of the sensor device 120 of the primary component 110 when the magnetic field sensor 130 of the sensor device 120 is located in the region of a magnet group 150 and covers the relevant magnet group 150. In order to determine the unknown current position of the primary component 110 relative to the secondary component 140 (and thus the current positioning of the secondary component 140 relative to the primary component 110), current magnetic field data 250 can be obtained by detecting the magnetic field of the magnet arrangement 142 of the secondary component 140 by means of the sensor device 120 of the primary component 110 at the current position. As described above, by using current magnetic field data 250 and reference magnetic field data 200 for analysis, the sought current position of primary component 110 relative to secondary component 140 (and thus the positioning of secondary component 140 relative to primary component 110 ) may be determined.

[0203] Although the present invention has been described in detail through the preferred embodiments, the present invention is not limited to the disclosed examples, and those skilled in the art may derive other variations therefrom without departing from the scope of protection of the present invention.

[0204] Reference numerals list

[0205] 100 Linear Drive System

[0206] 105 Main control device

[0207] 107 Connection cable

[0208] 110 Primary components

[0209] 111 Electromagnetic Device

[0210] 112 Shell

[0211] 113 connector

[0212] 120 sensor device

[0213] 121 Printed Circuit Board

[0214] 130 Magnetic Field Sensor

[0215] 140 Secondary components

[0216] 141 Carrier Board

[0217] 142 magnet assembly

[0218] 150 magnet sets

[0219] 151 permanent magnet

[0220] 152 permanent magnet

[0221] 155 permanent magnet

[0222] 161 Magnetic Field Strength Curve

[0223] 162 Magnetic Field Strength Curve

[0224] 163 Magnetic Field Strength Curve

[0225] 170 Movement direction

[0226] 180 Zero Point

[0227] 185 Vertex

[0228] 190 Boundary

[0229] 200 reference magnetic field data

[0230] 205 Magnetic Field Data

[0231] 210 Magnetic Field Pattern

[0232] 220 Partial Pattern

[0233] Magnetic field pattern of 225 combinations

[0234] 230 coverage area

[0235] 240 sensor subgroups

[0236] 250 Current magnetic field data

[0237] 260 Partial data volume

[0238] 263 Magnetic Field Strength Curve

[0239] 270 distance scale

[0240] 281 Analysis

[0241] 282 Analysis

[0242] 283 Analysis

[0243] B Flux density

[0244] Bx magnetic field component

[0245] By magnetic field component

[0246] Bz magnetic field component

[0247] M Magnetic field sensor number

[0248] P position

Claims

1. A method for operating a linear drive system (100), wherein the linear drive system (100) has a primary part (110) and a secondary part (140), wherein the primary part and the secondary part are movable in translation relative to each other, The primary part (110) has an energizable electromagnetic device (111), and the secondary part (140) has a magnet arrangement (142) consisting of permanent magnets (155) arranged next to one another. wherein energizing the electromagnetic device (111) of the primary component (110) can cause a magnetic interaction between the electromagnetic device (111) and the magnet assembly (142) of the secondary component (140) so as to move the primary component (110) and the secondary component (140) relative to each other, The primary part (110) has a sensor device (120) which is formed by a magnetic field sensor (130) for detecting a magnetic field generated by a magnet assembly (142) of the secondary part (140). wherein in an initial measurement, the magnetic field of the magnet assembly (142) of the secondary component (140) is detected at different positions of the primary component (110) relative to the secondary component (140) by means of the sensor device (120) and position-dependent reference magnetic field data (200) are provided, wherein the position of the primary component (110) is determined, Specifically, the sensor device (120) detects the magnetic field of the magnet assembly (142) of the secondary component (140) at the current position of the primary component (110) relative to the secondary component (140) and provides current magnetic field data (250), and determining a current position of the primary component (110) relative to the secondary component (140) based on the reference magnetic field data (200) and the current magnetic field data (250), wherein the position determination comprises comparing at least one portion of the current magnetic field data (250) with a portion of the reference magnetic field data (200) by means of a similarity method, The position determination is performed based on dividing the permanent magnets (155) of the magnet assembly (142) of the secondary component (140) into a plurality of magnet groups (150) consisting of permanent magnets (155) arranged side by side with each other, and the reference magnetic field data (200) includes a plurality of magnetic field patterns (210), each of which corresponds to a magnet group (150) consisting of permanent magnets (155) of the magnet assembly (142) of the secondary component (140) arranged side by side with each other.

2. The method according to claim 1, The similarity method described is the DTW method (Dynamic Time Warping).

3. The method according to any one of the preceding claims, Wherein performing the comparison comprises at least one of the following steps: comparing the current magnetic field data (250) with the magnetic field pattern (210); comparing at least one partial data volume (260) of the current magnetic field data (250) with at least one partial pattern (220) of the magnetic field pattern (210); comparing the current magnetic field data (250) with a magnetic field pattern (225) reassembled from a partial pattern (220) of the magnetic field pattern (210); and / or A plurality of partial data quantities (260) of the current magnetic field data (250) are compared with a partial pattern (220) of the magnetic field pattern (210).

4. The method according to any one of the preceding claims, The sensor device (120) of the primary part (110) is dimensioned so as to cover a magnet group (150) by means of a movement direction (170) of the magnetic field sensor (130) relative to the primary part (110) and the secondary part (140).

5. The method according to any one of the preceding claims, In the initial measurement, the primary component (110) and the secondary component (140) move relative to each other and provide the magnetic field pattern (210) based on the detected magnetic field of the magnet assembly (142) of the secondary component (140), and the magnetic field is detected by means of the sensor device (120) when the magnetic field sensors (130) of the sensor device (120) are respectively located in the area of ​​a magnet group (150).

6. The method according to claim 5, According to the zero crossing point (180) of a curve (163) of a magnetic field component of a magnetic field of a magnet assembly (142) of the secondary component (140) detected by means of a magnetic field sensor (130) at one end of the sensor device (120), it is determined that the magnetic field sensors (130) of the sensor device (120) are respectively located in the region of a magnet group (150).

7. The method according to any one of the preceding claims, wherein the position determination comprises determining a sensor position of the sensor device (120) in the current position of the primary component (110) relative to a boundary (190) of two adjacent magnet groups (150) or two adjacent permanent magnet pairs, And wherein the comparison is carried out taking into account the determined sensor position of the sensor device (120).

8. The method according to claim 7, The sensor position of the sensor device (120) is determined based on a zero crossing (180) of a curve (263) reproduced by the current magnetic field data (250) of a magnetic field component of a magnetic field of a magnet assembly (142) of the secondary component (140).

9. The method according to claim 7 or 8, wherein when the sensor device (120) is in a sensor position in the region of two adjacent magnet groups (150), both magnet groups (150) are respectively partially covered by the sensor device (120), A partial data volume (260) is formed from the current magnetic field data (250), the partial data volume being obtained by means of a sensor subgroup (240) consisting of magnetic field sensors (130) of the sensor device (120), by means of which a partial coverage of one of the two magnet groups (150) is achieved, wherein a partial pattern (220) is formed from the magnetic field pattern (210) taking into account partial coverage, And in order to implement the comparison, a partial data volume (260) of the current magnetic field data (250) is compared with a partial pattern (220) of the magnetic field pattern (210).

10. The method according to any one of claims 7 to 9, wherein when the sensor device (120) is in a sensor position in the region of two adjacent magnet groups (150), both magnet groups (150) are respectively partially covered by the sensor device (120), forming a combined magnetic field pattern (225), wherein the combined magnetic field pattern is formed by combining partial patterns (220) of the magnetic field patterns (210) of two adjacent magnet groups (150) in consideration of partial coverage, And wherein to implement the comparison, the current magnetic field data (250) is compared with the combined magnetic field pattern (225).

11. The method according to any one of claims 7 to 10, wherein the current magnetic field data (250) are divided into partial data volumes (260), each of which is obtained by means of a sensor subgroup (240) consisting of magnetic field sensors (130) of the sensor device (120) and partially covering the magnet assembly (142), wherein a partial pattern (220) is formed from the magnetic field pattern (210) taking into account the sensor positions of the sensor device (120) and taking into account the partial coverage achieved by the sensor subgroup (240), And wherein to implement the comparison, the partial data volume (260) is compared with the partial pattern (220).

12. A linear drive system (100) for implementing the method according to any one of the preceding claims, The linear drive system (100) comprises a primary part (110) and a secondary part (140), wherein the primary part and the secondary part are capable of translational movement relative to each other. The primary part (110) has an energizable electromagnetic device (111), and the secondary part (140) has a magnet assembly (144) consisting of permanent magnets (155) arranged next to one another. wherein energizing the electromagnetic device (111) of the primary component (110) can cause a magnetic interaction between the electromagnetic device (111) and the magnet assembly (142) of the secondary component (140) so as to move the primary component (110) and the secondary component (140) relative to each other, The primary part (110) has a sensor device (120) which is formed by a magnetic field sensor (130) for detecting a magnetic field generated by a magnet assembly (142) of the secondary part (140). The linear drive system (100) is configured to detect the magnetic field of the magnet assembly (142) of the secondary component (140) at different positions of the primary component (110) relative to the secondary component (140) by means of the sensor device (120) during an initial measurement and to provide position-dependent reference magnetic field data (200), wherein the linear drive system (100) is configured to determine the position of the primary component (110), Specifically, the sensor device (120) detects the magnetic field of the magnet assembly (142) of the secondary component (140) at the current position of the primary component (110) relative to the secondary component (140) and provides current magnetic field data (250); and determining a current position of the primary component (110) relative to the secondary component (140) based on the reference magnetic field data (200) and the current magnetic field data (250), wherein the position determination comprises comparing at least one portion of the current magnetic field data (250) with a portion of the reference magnetic field data (200) by means of a similarity method, The position determination is performed based on dividing the permanent magnets (155) of the magnet assembly (142) of the secondary component (140) into a plurality of magnet groups (150) consisting of permanent magnets (155) arranged side by side with each other, and the reference magnetic field data (200) includes a plurality of magnetic field patterns (210), each of which corresponds to a magnet group (150) consisting of permanent magnets (155) of the magnet assembly (142) of the secondary component (140) arranged side by side with each other.

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