Method for operating planar drive system and planar drive system

Abstract

The invention relates to a planar drive system (1) having a first planar drive subsystem (11) and a second planar drive subsystem (31). The rotor (100) can be moved in at least two directions above the first stator surface (14) by means of a first drive element (15). In particular, for this purpose, the rotor (100) has a rotor drive element (101). The first planar drive subsystem (11) further comprises a first control unit (21), by means of which the first drive element (15) can be actuated. When the rotor (100) is arranged above the second stator surface (34), the rotor (100) can also be moved in at least two directions above the second stator surface (34) by means of a second drive element (35) in principle. The second planar drive subsystem (31) further comprises a second control unit (41), by means of which the second drive element (35) can be actuated. The first stator surface (14) is adjacent to the second stator surface (34). In the transition area (3), the rotor (100) is cooperatively driven by the first planar drive subsystem (11) and the second planar drive subsystem (31).

Description

[0001] The present invention relates to a method for operating a planar drive system and a planar drive system.

[0002] This patent application claims the priority of German patent application DE 10 2022 129 508.7, the disclosure of which is incorporated herein by reference.

[0003] The planar drive system can be used in particular in automation technology, especially in manufacturing technology, handling technology, process technology, packaging technology and printing technology. With the aid of the planar drive system, the movable elements of a device or machine can be moved or positioned in at least two linearly independent directions. The planar drive system can include a permanently excited electromagnetic planar motor having a planar stator and a rotor that can move along at least two directions on the stator.

[0004] In the case of a permanently excited electromagnetic planar motor, the driving force is thus exerted on the rotor, since the energized coil arrangement of the stator module interacts magnetically with the drive magnets of the plurality of magnet arrangements of the rotor. The coil arrangements can be combined into stator units, and the stator module can have a plurality of such stator units. Planar drive systems with rectangular and longitudinally extended coil arrangements and rectangular and longitudinally extended magnet arrangements of the rotor are known from the prior art. For example, such a planar drive system is described in the published application DE 10 2017 131 304 A1. With such a planar drive system, in particular linear and translational movements of the rotor are possible. This means that, with the aid of such a planar drive system, the rotor can move freely parallel to the stator surface and perpendicular to the stator surface, at least at different distances from the stator surface, above the stator surface, and the rectangular and longitudinally extended coil arrangement is arranged below the stator surface. In addition, such a planar drive system is capable of tilting the rotor by a few degrees and rotating it by a few degrees. The last-mentioned movements can be carried out above any point on the stator surface. In particular, the rotor can be rotated up to 20° from the normal position.

[0005] Alternative technical embodiments of a planar drive system are known from the published applications DE 10 2016 224 951 A1 and DE 10 2018 209 403 A1. In this planar drive system, a controlled conveyance of the rotor relative to the stator is possible because one of the two elements has a plurality of actuator magnets arranged at least partially movably, the respective position and / or orientation of which relative to the element can be predetermined in a controlled manner by an actuator element, and the other of the two elements has at least two fixed magnets immovably connected to the element, wherein the fixed magnets are magnetically coupled to the actuator magnets. The planar drive system is arranged to convey the rotor relative to the stator by a controlled positioning and / or orientation of the actuator magnets. In this case, the conveyance particularly includes bringing at least one rotor to a desired position and / or orientation relative to the stator. The movably arranged actuator magnets can be used as drive elements. The manipulation variables of these drive elements can include, for example, the rotation angle and / or the rotation speed of the movably arranged actuator magnets.

[0006] In a further description, it is first assumed a planar drive system according to the published application DE 10 2017 131 304 A1, wherein the features crucial for the present invention can also be easily transferred to a planar drive system according to DE 10 2016 224 951 A1 or DE 10 2018 209 403 A1.

[0007] According to the published application DE 10 2017 131 304 A1, a control unit is used to control the planar drive system, which converts a predetermined trajectory of the rotor into energization information of a coil device and subsequently controls the energization of the coil device. The actual position of the rotor determined by a position sensor can be used to adjust the current of the coil device. The input of the planar drive system and the output of the planar drive system are effected via the control unit. The control unit can include, for example, a user interface, such as a keyboard, a computer mouse and / or a screen for inputting and outputting information.

[0008] In the control of such a planar drive system, it has been found that due to limited computing power, the control unit can only manipulate a predetermined number of stator modules and can, in doing so, take into account the positions and movement paths of a predetermined number of rotors. For example, the control unit can manipulate a hundred stator modules while taking into account the positions of, for example, forty rotors.

[0009] An object of the present invention is to provide a method for operating a planar drive system in which a large number of stator modules and / or a large number of rotors can be used. Another object of the present invention is to provide a planar drive system in which a large number of stator modules and / or a large number of rotors can be used. Another object of the present invention is to provide control units and a method for operating these control units.

[0010] These objects are achieved by the subject matter of the independent patent claims. Advantageous designs are given in the dependent claims.

[0011] A planar drive system includes a first planar drive subsystem and a second planar drive subsystem. The first planar drive subsystem includes a first stator module forming a first stator surface. The first stator module includes a first drive element and a first position detector. The first planar drive subsystem further includes a first control unit by which the first drive element can be actuated and a first measurement value of the first position detector can be read. In addition, the first control unit can be used to evaluate the first measurement value of the first position detector so as to determine the rotor position. The second planar drive subsystem includes a second stator module forming a second stator surface. The second stator module includes a second drive element and a second position detector. The second planar drive subsystem further includes a second control unit by which the second drive element can be actuated and a second measurement value of the second position detector can be read. In addition, the second control unit can be used to evaluate the second measurement value of the second position detector so as to determine the rotor position. The first control unit and the second control unit can be connected via a communication link and exchange data. The first stator surface abuts the second stator surface. This can in particular mean that the first stator surface and the second stator surface are in contact with each other. However, a gap can also be provided between the first stator surface and the second stator surface. The planar drive system further includes at least one rotor which can be moved in at least two directions above the first stator surface and the second stator surface by means of the first drive element and the second drive element respectively. In particular, the rotor can be driven by the interaction of the drive element and the rotor magnet. The drive element can include a coil arrangement. The coil arrangements can be combined into a stator unit. The first stator module can include a plurality of first stator units. The second stator module can include a plurality of second stator units. The drive element can be the coil group described in the published application DE 10 2017 131 304 A1. The rotor can have a magnetic unit described in the present published application. Optionally, the drive element can be the movable arranged actuator magnet described in the published applications DE 102016 224 951A1 and DE 10 2018 209 403 A1. The rotor can have a fixed magnet described in these published applications.

[0012] According to a first aspect, the invention relates to a method for operating a planar drive system, which enables the rotor to be driven in cooperation with the first planar drive subsystem and the second planar drive subsystem. For this purpose, the method for operating a planar drive system includes the following steps:

[0013] - triggering drive cooperation by the first control unit based on boundary conditions;

[0014] - The first control unit outputs a cooperation signal to the second control unit;

[0015] - The second control unit receives the cooperation signal;

[0016] - The second control unit outputs a second measurement value to the first control unit;

[0017] - The first control unit receives the second measurement value;

[0018] - The first control unit determines first rotor position data based on the first measurement value and the second measurement value;

[0019] - Compare the first rotor position data with the first rotor position set data, and calculate a first manipulated variable for one of the first drive elements and / or calculate a second manipulated variable for one of the second drive elements by the first control unit based on the comparison between the first rotor position data and the first rotor position set data;

[0020] - If the second manipulated variable has been calculated, the first control unit outputs the second manipulated variable to the second control unit;

[0021] - The second control unit receives the second manipulated variable;

[0022] - The first control unit operates the first drive element with the first manipulated variable calculated for the first drive element;

[0023] - The second control unit operates the second drive element with the second manipulated variable calculated for the second drive element.

[0024] Instead of calculating a first manipulated variable, multiple first manipulated variables can also be calculated for multiple first drive elements. If necessary, the first manipulated variable can be calculated for all first drive elements in each case. Instead of calculating a second manipulated variable, multiple second manipulated variables can also be calculated for multiple second drive elements. If necessary, the second manipulated variable can be calculated for all second drive elements in each case. In the following, for the formula selected as the manipulated variable, it can also always be assumed that multiple manipulated variables are provided, and vice versa.

[0025] The method for operating a planar drive system according to the invention is based on the idea that the first planar drive subsystem and the second planar drive subsystem can in principle control the rotor independently. However, for certain operating states, for example, when the rotor is to move in the boundary region between the first planar drive subsystem and the second planar drive subsystem, the rotor is driven cooperatively. To achieve this, in the method, a first control unit is responsible for controlling the rotor. However, a second control unit makes available a second measurement value of a second position detector. This enables the first control unit to perform an exact determination of the position of the rotor, even if the rotor has, for example, at least partially moved above the second stator surface. In this case, in particular when a second drive element is required to drive the rotor, a second manipulated variable is calculated. For example, this can be evaluated by the rotor position. In particular, if the second manipulated variable is not equal to zero, the second manipulated variable is necessary for driving the rotor. In this case, the second drive element must be operated, and thus the corresponding transmission of the second manipulated variable is also required. This also applies if more than one second drive element may need to be operated and thus more than one second manipulated variable is transmitted. By outputting the second manipulated variable to the second control unit, the second control unit is also able to operate one or more second drive elements in such a way that the rotor can also be driven by the one or more second drive elements. Thus, the second control unit does not perform its own control but only operates one or more second drive elements based on the received second manipulated variable. If no second manipulated variable is required to manipulate the rotor, for example, if the rotor is completely above the first stator surface, it can be provided that the second manipulated variable is still calculated and output by the first control unit. In addition, in this case, it can be provided that the first control unit outputs appropriate information by means of which the second control unit recognizes that no second manipulated variable is required to manipulate the rotor and thus no manipulated variable has been calculated. Thus, if required, transmission capacity can be saved.

[0026] In this case, the boundary conditions can in particular include the fact that the rotor approaches the transition region between the first stator surface and the second stator surface. For example, the boundary condition can be that the distance of the rotor to the boundary between the first planar drive subsystem and the second planar drive subsystem is less than a predetermined distance. Additionally or alternatively, the boundary conditions can include that the rotor is to be transferred from the first planar drive subsystem to the second planar drive subsystem. Then, the drive cooperation enables the first drive element and the second drive element to be operated cooperatively, so that a common drive of the rotor is provided by the two planar drive subsystems. Additionally, it can be provided that the first control unit can trigger the drive cooperation only when the rotor is above the first stator surface.

[0027] According to a second aspect, the invention relates to a method for operating a first control unit of a planar drive system according to the first aspect, comprising the following steps:

[0028] - Trigger-driven collaboration based on boundary conditions;

[0029] - Output a collaboration signal to the second control unit;

[0030] - Receive the second measurement value by the first control unit;

[0031] - Determine the first rotor position data based on the first measurement value and the second measurement value;

[0032] - Receive the second measurement value from the second control unit;

[0033] - Compare the first rotor position data with the first rotor position set data, and calculate the first manipulation variable of one of the first drive elements and / or calculate the second manipulation variable of one of the second drive elements based on the comparison between the first rotor position data and the first rotor position set data;

[0034] - If the second manipulation variable has been calculated, output the second manipulation variable to the second control unit;

[0035] - Use the first manipulation variable calculated for the first drive element to operate the first drive element.

[0036] Therefore, the method for operating the first control unit includes all the method steps of the method for operating the planar drive system performed by the first control unit. In particular, the calculations regarding the rotor position and the operation of the drive elements are performed by the first control unit.

[0037] According to a third aspect, the present invention relates to a first control unit for a first planar drive subsystem, which is configured to execute the method for operating the first control unit according to the present invention according to the second aspect.

[0038] According to a fourth aspect, the present invention relates to a method for operating a second control unit of a planar drive system according to the first aspect, including the following steps:

[0039] - Receive the collaboration signal;

[0040] - Output the second measurement value to the first control unit;

[0041] - Receive the second manipulation variable;

[0042] - The second control unit uses the second manipulation variable calculated for the second drive element to operate the second drive element.

[0043] Therefore, the method for operating the second control unit includes all the method steps of the method for operating the planar drive system performed by the second control unit. The second control unit particularly transmits the second measurement value to the first control unit, receives the second manipulation variable for the second drive element, and operates the latter with the second manipulation variable.

[0044] According to a fifth aspect, the invention relates to a second control unit for a second planar drive subsystem, which is arranged to execute the method according to the invention for operating the second control unit according to the fourth aspect.

[0045] According to a sixth aspect, the invention relates to a planar drive system. The planar drive system has a first planar drive subsystem and a second planar drive subsystem. The first planar drive subsystem includes a first stator module having a first stator unit forming a first stator surface. The first stator module has a first drive element and a first position detector. The first planar drive subsystem further includes a first control unit according to the invention of the third aspect, by means of which the first drive element can be controlled. In addition, the first control unit can be used to evaluate the first position detector in order to determine the rotor position. The second planar drive subsystem includes a second stator module having a second stator unit forming a second stator surface. The second stator module has a second drive element and a second position detector. The second planar drive subsystem further includes a second control unit according to the invention of the fifth aspect, by means of which the second drive element can be controlled. In addition, the second control unit can be used to evaluate the second position detector in order to determine the rotor position. The first control unit and the second control unit can be connected via a communication link and exchange data. The first stator surface abuts the second stator surface. This can in particular mean that the first stator surface and the second stator surface are in contact with each other. However, a gap can also be provided between the first stator surface and the second stator surface. The planar drive system further has at least one rotor, which can be moved in at least two directions above the first stator surface and the second stator surface by means of the first drive element and the second drive element, respectively. The drive element can be a coil assembly as described in the published application DE10 2017 131 304 A1. The rotor can have a magnetic unit as described in this published application. Optionally, the drive element can be a movable arrangement of actuator magnets as described in the published applications DE 10 2016 224 951A1 and DE 10 2018 209 403 A1. The rotor can have a fixed magnet as described in these published applications.

[0046] Embodiments of a method for operating a planar drive system according to a first aspect are described below. In each case, the method steps associated with the first control unit or the second control unit can equally optionally be provided in the method according to the invention for operating the first control unit according to the second aspect, or in the method according to the invention for operating the second control unit according to the fourth aspect. In each case, a single first manipulated variable can be calculated and used accordingly. Optionally, multiple first manipulated variables can also be calculated and used in each case. This also applies to the second manipulated variable. If a single manipulated variable is mentioned below, these statements should also apply analogously to multiple corresponding manipulated variables, and vice versa.

[0047] In one embodiment of the method for operating a planar drive system, the steps include:

[0048] - Outputting a second measured value from the second control unit to the first control unit;

[0049] - Receiving the second measured value by the first control unit;

[0050] - Determining first rotor position data by the first control unit based on the first measured value and the second measured value;

[0051] - Comparing the first rotor position data with the first rotor position setpoint data and calculating a first manipulated variable for one of the first drive elements and / or calculating a second manipulated variable for one of the second drive elements by the first control unit;

[0052] - If the second manipulated variable has been calculated, outputting the second manipulated variable from the first control unit to the second control unit;

[0053] - Receiving the second manipulated variable by the second control unit;

[0054] - Operating the first drive element by the first control unit using the first manipulated variable calculated for the first drive element;

[0055] - Operating the second drive element by the second control unit using the second manipulated variable calculated for the second drive element;

[0056] Repeating in a loop.

[0057] This loop repetition can be performed, for example, with a predefined cycle time, where the predefined cycle time is less than one millisecond, especially less than half a millisecond, and can be, for example, 250 microseconds. For example, with a cycle time in this range, the first control unit of the first planar drive subsystem can control one hundred first stator modules and forty rotors above the first stator surface. The second control unit of the second planar drive subsystem can control one hundred second stator modules and forty rotors above the second stator surface.

[0058] In one embodiment of a method for operating a planar drive system, the following steps are also performed:

[0059] - Output a first measured value from a first control unit to a second control unit;

[0060] - Receive the first measured value by the second control unit;

[0061] - Determine second rotor position data by the second control unit based on a second measured value and the first measured value;

[0062] - Compare the second rotor position data with second rotor position set data and calculate a first redundant actuating variable for one of the first drive elements and / or calculate a second redundant actuating variable for one of the second drive elements by the second control unit;

[0063] - Output the first redundant actuating variable from the second control unit to the first control unit;

[0064] - Receive the first redundant actuating variable by the first control unit.

[0065] Thus, the rotor position can be calculated by the first control unit and the second control unit. In addition, the first actuating variable and the second actuating variable are calculated by the first control unit respectively, and the first redundant actuating variable and the second redundant actuating variable are calculated by the second control unit respectively. If necessary, this enables the control of the rotor to be transferred from the first control unit to the second control unit. In particular, through this redundant calculation, it can be achieved that the second control unit can take over the control of the rotor without significant delay, because by calculating the first redundant actuating variable or the second redundant actuating variable, all relevant information is already available to the second control unit. This can, for example, make possible a planar drive system and its operating method, in which the rotor is transferred from a first planar drive subsystem to a second planar drive subsystem. In addition, this also allows detection of errors in the calculation of the actuating variables, because in the case where the first actuating variable deviates from the first redundant actuating variable or the second actuating variable deviates from the second redundant actuating variable, it may not be possible to transfer the control of the rotor from the first control unit to the second control unit. In this case, the control can, for example, be left to the first control unit until the actuating variable matches its redundant actuating variable.

[0066] In one embodiment of the method for operating a planar drive system, the cooperation signal is a transfer signal. After receiving the transfer signal, the second control unit checks whether a rotor transfer is possible. If a rotor transfer is possible, an acknowledgement is sent to the first control unit. In the case where a rotor transfer is not possible, an error message is output to the first control unit. As a result, the second control unit can either reject or consent to the rotor transfer. In particular, it can be considered whether the second control unit is able to control the rotor and accordingly calculate the manipulation variable. These steps can in particular be performed by the second control unit.

[0067] In one embodiment of the method for operating a planar drive system, the second control unit checks whether a rotor transfer is possible by evaluating the idle computing capacity of the second control unit. This can occur, for example, after the current CPU utilization and / or memory utilization. Additionally, the number of possible rotors can also be predetermined, such as the number of forty rotors further mentioned above. If another rotor can be checked according to these criteria, an acknowledgement is sent, otherwise an error message is sent. These steps can in particular be performed by the second control unit.

[0068] In one embodiment of the method for operating a planar drive system, a rotor conversion from the first planar drive subsystem to the second planar drive subsystem and a control conversion from the first control unit to the second control unit occur. After the control transfer, the following steps are performed:

[0069] - The first control unit outputs a first measured value to the second control unit;

[0070] - The second control unit receives the first measured value;

[0071] - The second control unit determines second rotor position data based on the first measured value and a second measured value;

[0072] - The second rotor position data is compared with the second rotor position set data, and a first manipulation variable for one of the first drive elements and / or a second manipulation variable for one of the second drive elements is calculated by the second control unit;

[0073] - If the first manipulation variable has been calculated, the second control unit outputs the first manipulation variable to the first control unit;

[0074] - The first control unit receives the first manipulation variable;

[0075] - The first control unit operates the first drive element using the first manipulation variable calculated for the first drive element;

[0076] - The second control unit operates the second drive element using the second manipulation variable calculated for the second drive element.

[0077] Therefore, after the control transition, the calculations required to manipulate the drive element are taken over by the second control unit. For this purpose, the first control unit provides the measured values of the first position sensor and receives the first manipulated variable from the second control unit. Thus, by this method, it is possible to switch the rotor between the planar drive subsystems. Here, it is also possible to provide that the second control unit calculates a plurality of first manipulated variables and / or a plurality of second manipulated variables, and the plurality of second manipulated variables are output to the first control unit. In this case, one or more first manipulated variables are calculated, especially if they are necessary to drive the rotor.

[0078] In one embodiment of the method for operating a planar drive system, the steps include:

[0079] - Outputting, by the first control unit, a first measured value to the second control unit;

[0080] - Receiving, by the second control unit, the first measured value;

[0081] - Determining, by the second control unit, second rotor position data based on the second measured value and the first measured value;

[0082] - Comparing the second rotor position data with the second rotor position setpoint data and calculating a first manipulated variable for one of the first drive elements and / or calculating a second manipulated variable for one of the second drive elements by the second control unit;

[0083] - If the first manipulated variable has been calculated, outputting, by the second control unit, the first manipulated variable to the first control unit;

[0084] - Receiving, by the first control unit, the first manipulated variable;

[0085] - Operating, by the first control unit, the first drive element using the first manipulated variable calculated for the first drive element;

[0086] - Operating, by the second control unit, the second drive element using the second manipulated variable calculated for the second drive element;

[0087] The loop repeats.

[0088] As described above, this loop repetition can also be performed, for example, with a predetermined cycle time.

[0089] In one embodiment of the method for operating a planar drive system, the method further includes the following steps performed after the control transition:

[0090] - Outputting, by the second control unit, a second measured value to the first control unit;

[0091] - Receiving, by the first control unit, the second measured value;

[0092] - The first control unit determines first rotor position data based on a first measurement value and a second measurement value;

[0093] - Compare the first rotor position data with first rotor position set data, and calculate a first redundant manipulation variable for one of the first drive elements and / or calculate a second redundant manipulation variable for one of the second drive elements by the first control unit;

[0094] - The first control unit outputs the second redundant manipulation variable to the second control unit;

[0095] - The second control unit receives the second redundant manipulation variable.

[0096] Therefore, the first control unit can also calculate the corresponding manipulation variables redundantly. This can continue until the rotor transfer is completely finished. In particular, a termination signal can be provided to the first control unit, which signals to the first control unit that the rotor transfer has been completed. The termination signal can be generated, for example, by the second control unit, for example when the second control unit recognizes that the measurement values of the first rotor position data are no longer required and the first drive element is also not required to drive the rotor. In this case, the second control unit can output a termination signal to the first control unit. The first control unit receives the termination signal and stops the transmission of the first measurement value of the first position detector.

[0097] In an embodiment of the method for operating a planar drive system, rotor-specific data is transmitted between the first control unit and the second control unit. The rotor-specific data can include, for example, mass and / or load and / or information about an object arranged on the rotor. The rotor-specific data can also include the name of the rotor and / or specific control settings for the rotor.

[0098] A planar drive system can be provided with a central control unit. In particular, the central control unit can be configured to provide control over the entire planar drive system, where the central control unit takes into account the current rotor position and also outputs the set position of the rotor to the first control unit or the second control unit, respectively. However, the manipulation variables of the drive elements required to move from the current rotor position to the set position of the rotor are still calculated by the first control unit or the second control unit. In one embodiment of the method for operating a planar drive system, the central control unit receives first rotor position data from the first control unit and second rotor position data from the second control unit. The central control unit further issues a cooperation command to the first control unit, and the cooperation command represents boundary conditions. Thus, in this case, the central control unit instructs the first control unit to perform drive cooperation and output a cooperation signal. For example, the central control unit can identify that drive cooperation is necessary based on the first rotor position data or the second rotor position data, for example because a rotor transfer is to occur. This can be transmitted to the first and / or second control unit so that it performs the steps required by the method according to the present invention.

[0099] In one embodiment of the method for operating a planar drive system, the central control unit asks the second control unit whether a rotor transfer is possible. The second control unit checks whether a rotor transfer is possible. If a rotor transfer is possible, it outputs a confirmation to the central control unit. If a rotor transfer is not possible, it outputs an error message to the central control unit. Subsequently, it can be provided that the central control unit issues a corresponding cooperation command to the first control unit. It can be provided that the first control unit still outputs a transfer signal as the cooperation signal. In this case, it can be provided that the second control unit does not perform a further check on whether a rotor transfer is possible.

[0100] In one embodiment of the method for operating a planar drive system, it can be provided that the central control unit identifies that a rotor transfer has been completed based on the first rotor position data and the second rotor position data and outputs a termination signal to the first control unit and / or the second control unit.

[0101] In one embodiment of the method for operating a planar drive system, the central control unit issues a control transfer command to the first control unit and / or the second control unit. A control conversion is performed based on the control transfer command. For example, this can occur when the central control unit identifies that a control conversion and a rotor transfer are necessary if the rotor is to reach the set position.

[0102] In one embodiment of a method for operating a planar drive system, a central control unit outputs first rotor position setpoint data to a first control unit and / or second rotor position setpoint data to a second control unit. The first control unit can calculate a manipulated variable based on the first rotor position setpoint data. The second control unit can calculate a manipulated variable based on the second rotor position setpoint data. In this case, the central control unit controls the position of the rotor of the planar drive system.

[0103] In one embodiment of a method for operating a planar drive system, rotor-specific data is transmitted between the central control unit and the first control unit or the second control unit, respectively. In this case, the rotor-specific data can correspond to the rotor-specific data that has been further described above.

[0104] In one embodiment of a method for operating a planar drive system, drive cooperation begins when the rotor is within a predetermined distance of the edge region of the first planar drive subsystem.

[0105] The present invention is explained in more detail with reference to the accompanying drawings. In each case, the schematic diagrams show:

[0106] Figure 1 show a cross-section through the planar drive system;

[0107] Figure 2 show Figure 1 a top view of the planar drive system;

[0108] Figure 3 show Figure 1 and Figure 2 another top view of the planar drive system;

[0109] Figure 4 show a flow chart of a method for operating a planar drive system;

[0110] Figure 5 show Figure 1 、 2 and another top view of the planar drive system of 3;

[0111] Figure 6 show Figure 1 、 2 、3 and another top view of the planar drive system of 5;

[0112] Figure 7 show another flow chart of a method for operating a planar drive system with further optional steps;

[0113] Figure 8 show Figure 1 、 2Another top view of the planar drive system of 3, 5, and 6;

[0114] Figure 9 A top view showing another planar drive system;

[0115] Figure 10 A top view showing another planar drive system;

[0116] Figure 11 A top view showing another planar drive system; and

[0117] Figure 12 A top view showing another planar drive system.

[0118] Hereinafter, the same reference numerals may be used for the same features. In addition, for clarity, it may be assumed that not all elements are shown in each figure. In addition, for clarity, it may be stipulated that in each drawing, each element does not have its own reference numeral.

[0119] Figure 1A planar drive system 1 is shown having a first planar drive subsystem 11 and a second planar drive subsystem 31. The first planar drive subsystem 11 has a first stator module 12. Optionally, a first stator unit 13 arranged in the first stator module 12 is provided. The first stator module 12 forms a first stator surface 14. The first stator module 12 has a first drive element 15 and a first position detector 16. The first drive element 15 can be a coil set as described in the published application DE 10 2017 131 304 A1. In particular, each drive element can include an energizable three-phase system. Then an electromagnetic traveling field can be generated with the first drive element 15. Optionally, the drive element can be a movably arranged actuator magnet as described in the published applications DE 10 2016 224 951 A1 and DE 102018 209 403 A1. The rotor can have a fixed magnet as described in these published applications. The first position detector 16 can be, for example, a magnetic field sensor, in particular a Hall sensor, in particular a 3D Hall sensor. A possible arrangement of the first position detector 16 in the first stator module can be found, for example, in the published application DE 10 2017131 320 A1. In particular, a plurality of first position detectors 16, in particular more than twenty first position detectors 16, and preferably more than forty first position detectors 16 can be provided within the first stator module 12. The first position detector 16 can be particularly configured as a magnetic field sensor. Here, the first position detector 16 is arranged on a sensor module. The sensor module has a carrier and a two-dimensional arrangement of magnetic field sensors, where each magnetic field sensor corresponds to one of the first position detectors 16. The magnetic field sensors are arranged on the carrier. The two-dimensional arrangement of magnetic field sensors has a first partial arrangement of magnetic field sensors and a second partial arrangement of magnetic field sensors. The magnetic field sensors of the first partial arrangement are arranged in a first periodic grid. The magnetic field sensors in the first periodic grid are arranged in a first direction and a second direction. Adjacent magnetic field sensors in the first partial arrangement are arranged at a first distance from each other in the first direction. Adjacent magnetic field sensors in the second direction of the first partial arrangement are arranged at a second distance from each other. The magnetic field sensors of the second partial arrangement are arranged in a second periodic grid. The magnetic field sensors in the second periodic grid are arranged in a first direction and a second direction. Adjacent magnetic field sensors in the second partial arrangement are arranged at a first distance from each other in the first direction and at a second distance from each other in the second direction. The first partial arrangement and the second partial arrangement are shifted relative to each other by a vector. The vector has a first component in the first direction and a second component in the second direction. The first component is less than the first distance. The second component is less than the second distance. The rotor 100 has, for example, a first magnetic unit as a rotor drive element 101, the first magnet unit including a first periodic arrangement of magnets having a first periodic length. In addition, the rotor 100 has a second magnet unit, the second magnet unit including a second periodic arrangement of magnets having a second periodic length.The first period of the magnets is periodic in a first direction. The second arrangement of the magnets is periodic in a second direction. During operation of the planar drive system 1, the first magnet unit is aligned in the first direction and the second magnet unit is aligned in the second direction. The first component is less than the first period length. The difference between the first distance and the first component is likewise less than the first period length. The second component is less than the second period length. The difference between the second distance and the second component is likewise less than the second period length. In order to detect the position of the rotor 100 in the planar drive system 1 from the individual measurement values of the position detector, it is necessary to provide a sufficient number of magnetic field sensors within the sensor module. Thus, there are always a sufficient number of magnetic field sensors available in the environment of the rotor 100 in order to be able to determine the exact position of the rotor 100. On the other hand, the measurement data of the magnetic field sensors must be evaluated, which is why as few magnetic field sensors as possible should be provided, since this reduces the required computing power. By arranging the magnetic field sensors of the position detection unit in two periodic grids, wherein the grids have the same structure and are shifted relative to each other, on the one hand, a sufficient number of magnetic field sensors are provided to determine the position of the rotor 100. On the other hand, the number of magnetic field sensors is so small that the computing power required for evaluation during detection of the position of the rotor 100 is reduced. DE102020 115 449A1 also discloses a method in which the position detectors of adjacent stator modules can be used to detect the position of the rotor 100. In this case, among other things, the sensor mode of the magnetic field sensors of the sensor module is determined in the sensor mode determination step, wherein the sensor mode includes a subset of the magnetic field sensors of the sensor module of the stator module. This achieves the technical advantage that a method for controlling the planar drive system 1 can be provided in which only the relevant magnetic field sensors of the sensor module of the stator module are selected to determine the position of the rotor 100 on the stator module of the planar drive system 1. Of course, this also applies to the transition of the rotor 100 from one stator module to another, in particular also to the transition from one planar drive subsystem to another. In particular, by means of this method, it is possible to select from which position detector the measurement values are transmitted from one control unit to another control unit, which overall reduces the amount of data to be transmitted. With regard to the structure and function of the position detection by means of the position detector, particular reference is made to DE 10 2017 131 320A1 and DE 10 2020 115 449A1, the content of which is hereby incorporated by reference in its entirety into the present application.

[0120] The planar drive system 1 also has at least one rotor 100, which can be moved above the first stator surface 14 in at least two directions parallel to the first stator surface 14 by means of the first drive element 15. In addition, it can be provided that the rotor 100 can move perpendicular to the first stator surface 14, can be inclined relative to the first stator surface 14, and can rotate about an axis perpendicular to the first stator surface 14. In Figure 1 , the rotor 100 is arranged above the first stator surface 14. In particular, for this purpose, the rotor 100 has a rotor drive element 101. The rotor drive element 101 can be configured as a permanent magnet and can be arranged as described in the published application DE 10 2017 131 304 A1. The first planar drive subsystem 11 also has a first control unit 21, by means of which the first drive element 15 can be controlled. In particular, the first control unit 21 can be configured to determine a first manipulation variable for the first drive element 15 and output it to the first drive element 15. In addition, the first control unit 21 is arranged to read a first measurement value from the first position detector 16. In addition, the first control unit 21 can be used to evaluate the first measurement value of the first position detector 16 in order to determine the rotor position, in particular the position of the rotor 100. This can be achieved, for example, by evaluating the magnetic field of the rotor drive element 101, in particular when the rotor drive element 101 is configured as a permanent magnet and the first position detector 16 includes Hall sensors.

[0121] The first manipulation variable can in particular be a force acting on the rotor 100. Then the first drive element 15 can be operated such that the force of the first manipulation variable acts on the rotor 100. Optionally, the first manipulation variable can also directly include operating information of the first drive element 15, such as the current of the first drive element 15 configured as a drive coil or the rotational position or rotational speed of the first drive element 15 configured as a movable magnet.

[0122] The first control unit 21 is connected to one of the first stator modules 12 in order to provide a communication link between the first control unit 21 and the corresponding first stator module 12. The first stator modules 12 can also be connected to each other. Optionally, contrary to the illustration of Figure 1 , it is also conceivable that the first control unit 21 is connected to each of the first stator modules 12.

[0123] The second planar drive subsystem 31 includes a second stator module 32 having a second stator unit 33 forming a second stator surface 34. The second stator module 33 has a second drive element 35 and a second position detector 36. The second drive element 35 can be configured similarly to the first drive element 15. The second position detector 36 can be configured similarly to the first position detector 16. When the rotor 100 is disposed above the second stator surface 34, the rotor 100 can in principle also be moved in at least two directions above the second stator surface 34 by means of the second drive element 35.

[0124] The second planar drive subsystem 31 also has a second control unit 41 with which the second drive element 35 can be controlled. In addition, the second control unit 41 is arranged to read a second measurement value from the second position detector 16. In addition, the second control unit 41 can be used to evaluate the second measurement value of the second position detector 36 in order to determine the rotor position. In particular, this can be achieved in a method similar to that already described for the first control unit 21. The arrangement of the second position detector 36 in the second stator module 32 can likewise be oriented as already described for the first stator module 12 in the published application DE 10 2017131 320 A1. In particular, a plurality of second position detectors 36, in particular more than twenty second position detectors 36, preferably more than forty-two second position detectors 36, can be provided within the second stator module 32. The second position detector 36 can in particular be configured as a magnetic field sensor.

[0125] The second control unit 41 is connected to one of the second stator modules 32 to provide a communication link between the second control unit 41 and the corresponding second stator module 32. The second stator modules 32 can also be connected to one another. Optionally, contrary to the illustration of Figure 1 it can also be envisaged that the second control unit 41 is connected to each of the second stator modules 32. The first control unit 21 and the second control unit 41 are connected by a communication link and can exchange data.

[0126] The first stator surface 14 adjoins the second stator surface 34. In Figure 1 this is configured such that the first stator surface 14 and the second stator surface 34 are in contact with one another. However, a gap can also be provided between the first stator surface 14 and the second stator surface 34 ( Figure 1 not shown in ). As a result, a boundary 4 is formed between the first stator surface 14 and the second stator surface 34.

[0127] Optionally, the planar drive system 1 also has a central control unit 2 which is connected to the first control unit 21 and can exchange data with the first control unit 21, and is connected to the second control unit 41 and can exchange data with the second control unit 41. In addition,Figure 1 The transition region 3 is shown, which is arranged at the boundary 4 between the first planar drive subsystem 11 and the second planar drive subsystem 31, and in each case includes those modules of the first stator module 12 adjacent to the second planar drive subsystem 31, or in each case includes those modules of the second stator module 32 adjacent to the first planar drive subsystem 11. Figure 1 The boundary 4 in [reference] is shown as a straight line. However, the boundary 4 does not necessarily have to be straight, but can have any desired profile.

[0128] As Figure 1 shown, it is possible to provide that the rotor 100 floats respectively above the first stator surface 14 or the second stator surface 34. This can be achieved, for example, by the operation of the first drive element 15 or the second drive element 35, in particular by means of the magnetic field generated by the first drive element 15 or the second drive element 35. Optionally, it can be provided that the first drive element 15 or the second drive element 35 only causes movement parallel to the first stator surface 14 or the second stator surface 34, and the rotor 100 is held above the first stator surface 14 or the second stator surface 34, for example, by an air cushion or by means of brushes or rollers. The rotor 100 can move in at least two directions parallel to the first stator surface 14 or the second stator surface 34. In addition, the movement of the rotor 100 can optionally occur perpendicular to the first stator surface 14 or the second stator surface 34. Furthermore, it can also be provided that the rotor 100 performs rotational and tilting movements. If all these movement possibilities are provided, the rotor 100 can move in a total of six dimensions, for example, by operating the first drive element 15 or the second drive element 35.

[0129] Instead of Figure 1 the illustration shown, it can alternatively be provided that the first planar drive subsystem 11 and / or the second planar drive subsystem 31 have a plurality of partial arrangements of the respective stator modules 12, 32, such that the first stator surface 14 has a plurality of arrangements of the first stator module 12 and / or the second stator surface 34 has a plurality of arrangements of the second stator module 32. In these cases, the method according to the invention can also be used.

[0130] Figure 2 The top view of the planar drive system 1 is shown Figure 1 shown. The first planar drive subsystem 11 includes nine first stator modules 12 arranged in a 3×3 arrangement. The second planar drive subsystem 31 includes nine second stator modules 32 arranged in a 3×3 arrangement. Other arrangements can also be selected. In addition, the number of the first stator modules 12 and the second stator modules 32 can also be different. Furthermore, the arrangement of the first stator modules 12 of the first planar drive subsystem 11 can be different from the arrangement of the second stator modules 32 of the second planar drive subsystem 31.

[0131] As Figure 1 and Figure 2 shown, as long as the rotor is arranged outside the transition region 3, it is possible to provide for the rotor 100 to be controlled only by the first control unit 21. Then, the position of the rotor 100 (rotor position) can be detected only by the first position detector 16 in combination with the first control unit 21. The first drive element 15 is sufficient to drive the rotor 100. Therefore, no second manipulation variable is calculated for one of the second drive elements 35, since this is not necessary for driving the rotor 100.

[0132] Figure 3 shows Figure 1 and Figure 2 Another top view of the planar drive system 1. The rotor 100 has moved simultaneously and is located in the transition region 3, but still above the first stator surface 14 of the first planar drive subsystem 11. Depending on the boundary conditions, it can be provided that the rotor 100 must now be driven by the cooperation of the first planar drive subsystem 11 and the second planar drive subsystem 31. The boundary conditions can be, for example, that the rotor 100 is arranged above those first stator modules 12 adjacent to the second planar drive subsystem 31. Another boundary condition can be that the rotor 100 is located in the transition region 3. In this case, if necessary, the transition region 3 can also be larger or smaller and, for example, include more parts than the Figure 3 shown first stator modules 12 or second stator modules 32. In particular, the transition region 3 can be selected such that it is unique in each case which first stator module 12 or second stator module 32 belongs to the transition region 3. This applies in particular when the dimension of the rotor 100 parallel to the first stator surface 14 is greater than the part of the first stator surface 14 formed by the first stator modules 12. Another boundary condition can be that the rotor center 102 has a predetermined distance from the boundary 4. This can be achieved by the method for operating the planar drive system 1 explained below. Another alternative boundary condition can be that at least one second drive element 35 is used for driving the rotor 100, or at least one second position detector 36 is used for determining the rotor position.

[0133] It can be provided that the first planar drive subsystem 11 has a normal region outside the transition region 3. In the normal range, the first control unit 21 takes over the full control of the rotor 100 without having to resort to the measured values of the position detector or the drive elements of other stator modules located outside the planar drive subsystem 11. On the other hand, in the transition region 3, the measured values of the position detector and / or the drive elements of other stator modules located outside the planar drive subsystem 11 are used. As a boundary condition, for example, the rotor 100 moves into the transition region 3, so that it is necessary to resort to the measured values from the position detector and / or from the drive elements of other stator modules.

[0134] Figure 4 A flowchart 200 showing a method for operating a planar drive system 1 is shown. The planar drive system 1 can, for example, according to Figures 1 to 3It is constructed as follows. In the drive cooperation step 201, the first control unit 21 triggers drive cooperation based on boundary conditions. In the cooperation signal output step 202, a cooperation signal is output from the first control unit 21 to the second control unit 41. Subsequently, the second control unit 41 receives the cooperation signal in the cooperation signal reception step 203. In the first measurement value output step 204, the second measurement value of the second position detector 36 is then output by the second control unit 41 to the first control unit 21. The first control unit 21 receives the second measurement value in the first measurement value reception step 205. In the first determination step 206, the first control unit 21 determines first rotor position data based on the first measurement value of the first position detector 16 and the second measurement value of the second position detector 36. In the first comparison and calculation step 207, the first control unit 21 compares the first rotor position data with the first rotor position set data, and the first control unit 21 calculates a first manipulation variable of one of the first drive elements 15 and / or a second manipulation variable of one of the second drive elements 36 based on the comparison between the first rotor position data and the first rotor position set data. In particular, all the first manipulation variables and second manipulation variables required to drive the rotor 100 can be calculated. This can be achieved by comparing the rotor position data with the known positions of the first drive element 15 and the second drive element 35. For example, the first manipulation variables of all the first drive elements 15 covered by the rotor 100 and the second manipulation variables of all the second drive elements 35 can be calculated. In the first manipulation variable output step 208, if the second manipulation variable has been calculated and the second manipulation variable is particularly required to control the rotor, the second manipulation variable is output from the first control unit 21 to the second control unit 41. If the second manipulation variable has not been calculated, because for example it is not required to control the rotor, the second manipulation variable or multiple second manipulation variables are irrelevant, especially with respect to the current rotor position, or are not required to be used or have no effect. Then, if necessary, the second control unit 41 receives the second manipulation variable in the first manipulation variable reception step 209. If several second manipulation variables have been calculated, all the second manipulation variables are also transmitted from the first control unit 21 to the second control unit 41. In the first operation step 210, the first drive element 15 is then operated by the first control unit 21 using the first manipulation variable calculated for the first drive element. In the second operation step 211, the second control unit 41 operates the second drive element 35 using the second manipulation variable calculated for the second drive element 35. If more than one first manipulation variable or second manipulation variable has been calculated, the operation is performed in the first operation step 210 according to all the first manipulation variables, and the operation is performed in the second operation step 211 according to all the second manipulation variables. The two variants are not always mentioned everywhere below, but it can always be assumed that the formula for the first manipulation variable or the second manipulation variable should always include multiple first manipulation variables or second manipulation variables, and vice versa.

[0135] The method for operating the planar drive system 1 is based on the idea that the first planar drive subsystem 11 and the second planar drive subsystem 31 can, in principle, control the rotor 100 independently. However, for certain operating states, for example, when the rotor 100 is to move in the boundary region 3 between the first planar drive subsystem 11 and the second planar drive subsystem 31, the rotor 100 is driven in cooperation. To achieve this, in this method, the first control unit 21 is responsible for controlling the rotor 100. However, the second control unit 41 makes the second measurement value of the second position detector 36 available. This enables the first control unit 21 to perform an accurate position determination of the rotor 100, even if the rotor 100 has, for example, at least partially moved above the second stator surface 34. By outputting a second manipulated variable to the second control unit 41, the second control unit 41 can also operate the second drive element 35 in such a way that the rotor 100 can also be driven by the second drive element 35. Thus, the second control unit 41 does not perform its own control, but only operates the second drive element 35 based on one or more received second manipulated variables. If no second manipulated variable is required to control the rotor 100, for example when the rotor 100 is completely above the first stator surface 14, it can be provided that the second manipulated variable is still output by the first control unit 21. Additionally, in this case, it can be provided that the first control unit 21 outputs corresponding information by means of which the second control unit 41 recognizes that no second manipulated variable is required to control the rotor 100. Thus, if necessary, transmission capacity can be saved.

[0136] Optionally, it can be provided that the first control unit 21 calculates a first manipulated variable and a first manipulated variable respectively, and the second control unit 41 calculates a second manipulated variable and a second manipulated variable respectively. In this case, the first control unit 21 can operate the first drive element 15 by means of the first manipulated variable. The second control unit 41 operates the second drive element 35 by means of the second manipulated variable.

[0137] The first manipulated variable can in particular be a force acting on the rotor 100. The first drive element 15 can then be operated such that the force of the first manipulated variable acts on the rotor 100. Optionally, the first manipulated variable can also directly include operating information of the first drive element 15, such as the current of the first drive element 15 configured as a drive coil or the rotational position or rotational speed of the first drive element 15 configured as a movable magnet. The second manipulated variable can likewise in particular be a force acting on the rotor 100. The second drive element 35 can then be operated such that the force of the second manipulated variable acts on the rotor 100. Optionally, the second manipulated variable can also directly include operating information of the second drive element 35, such as the current of the second drive element 35 configured as a drive coil or the rotational position or rotational speed of the second drive element 35 configured as a movable magnet.

[0138] The first manipulated variable or the first and second manipulated variables can be calculated by the regulation of the first control unit 21. In particular, a resultant force of at least two-dimensional but also optionally up to six-dimensional can be calculated from the rotor position (actual rotor position) and the rotor setpoint position. In this case, the actual rotor position and the rotor setpoint position can also be six-dimensional, i.e., each containing two dimensions parallel to the first stator surface 14 and the second stator surface 34, one dimension perpendicular to the first stator surface 14 and the second stator surface 34, one dimension of rotation about an axis perpendicular to the first stator surface 14 and the second stator surface 34, and two dimensions of tilt about an axis parallel to the first stator surface 14 and the second stator surface 34. The first drive element 15 and the second drive element 35 are then operated in such a way that the force acting on the rotor drive element 101 corresponds to the resultant force. This regulation can be achieved, for example, by an integral regulator. As an alternative to regulation by the resultant force, direct position regulation can also be provided.

[0139] In addition, in Figure 4In one embodiment, optionally shown is that, in addition to performing the first operating step 210 and the second operating step 211, the method after the first manipulated variable receiving step 209 can be changed back to the first measured value output step 204, so as to repeatedly cycle through the first measured value output step 204, the first measured value receiving step 205, the first determining step 206, the first comparing and calculating step 207, the first manipulated variable output step 208, and the first manipulated variable receiving step 209. After each of these repetitions, the first operating step 210 and the second operating step 211 can be performed. Such a cyclic repetition can be performed, for example, at a predetermined cycle time, where the predetermined cycle time is less than one millisecond, particularly less than half a millisecond, and can be, for example, 250 microseconds. With a cycle time within this range, for example, the first control unit 21 of the first planar drive subsystem 11 can control one hundred first stator modules 12 and control forty rotors 100 above the first stator surface 14. The second control unit 41 of the second planar drive subsystem 31 can control one hundred second stator modules 32 and control forty rotors 100 above the second stator surface 34. Depending on the technical equipment of the first control unit 21 and / or the second control unit 41, the data transmission method or data transmission system used, the configuration of the planar drive system 1, and other boundary conditions, more or fewer stator modules 12, 32 can of course be controlled in the planar drive subsystems 11, 31, and more or fewer rotors 100 can be controlled in the planar drive subsystems 11, 31.

[0140] The calculation of the first manipulated variable or the first manipulated variable and the second manipulated variable or the second manipulated variable or the second manipulated variable by the first control unit 21 causes the first control unit 21 to control the position of the rotor 100. The second control unit 41 operates essentially as a command receiver and operates the second drive element 35 only using the second manipulated variable transmitted from the first control unit 21.

[0141] Figure 4It is also optionally shown that in an embodiment of the method, after the cooperative signal receiving step 203, the second measurement value output step 212 can be executed in parallel, wherein the first measurement value of the first position detector 16 is output from the first control unit 21 to the second control unit 41. In the second measurement value receiving step 213, the second control unit 41 receives the first measurement value. Subsequently, in the second determination step 214, the second control unit 41 determines the second rotor position data based on the second measurement value and the first measurement value. In the second comparison and calculation step 215, the second control unit 41 compares the second rotor position data with the second rotor position set data, and the second control unit 41 calculates the first redundant manipulation variable of one of the first drive elements 15 and / or the second redundant manipulation variable of one of the second drive elements 35. In the second manipulation variable output step 216, the first redundant manipulation variable is output from the second control unit 41 to the first control unit 21. In the second manipulation variable receiving step 217, the first redundant manipulation variable is received by the first control unit 21. If necessary, the second measurement value output step 212, the second measurement value receiving step 213, the second determination step 214, the second comparison and calculation step 215, the second manipulation variable output step 216, and the second manipulation variable receiving step 217 can also be repeatedly looped here.

[0142] By additional calculation of the first redundant manipulation variable or the first redundant manipulation variable and the second redundant manipulation variable or the second redundant manipulation variable, the second control unit 41 can take over the control of the rotor 100 at any time. In particular, the method can result in the regulator of the second control unit 41 already being equipped with all current regulation state variables required for regulation, in particular regulation parameters, such that the control transition between the first control unit 21 and the second control unit 41 does not fail because not all regulation parameters of the second control unit 41 are available. This makes the safe operation of the planar drive system 1 possible.

[0143] In particular, it can be provided that the rotor position set data is respectively transmitted from the central control unit 2 to the first control unit 21 or the second control unit 41. Optionally, the rotor position set data from the first control unit 21 to the second control unit 41 can be provided.

[0144] Optionally, the second operation step 211 can also be executed based on the second redundant manipulation variable determined in the second comparison and calculation step 215.

[0145] For an embodiment of the method for operating the planar drive system 1 described further below, the first measurement value output step 204, the first measurement value reception step 205, the first determination step 206, the first comparison and calculation step 207, the first manipulated variable output step 208, and the first manipulated variable reception step 209 can be specified and combined into a first position control sequence 218, and the second measurement value output step 212, the second measurement value reception step 213, the second determination step 214, the second comparison and calculation step 215, the second manipulated variable output step 216, and the second manipulated variable reception step 217 can be specified and combined into a second position control sequence 219.

[0146] A method for operating a first control unit 21 may include the following steps:

[0147] - Trigger drive cooperation based on boundary conditions in the drive cooperation step 201;

[0148] - Output a cooperation signal to a second control unit in the cooperation signal output step 202;

[0149] - Receive a second measurement value from the second control unit in the first measurement value reception step 205;

[0150] - Determine first rotor position data based on the first measurement value of the first position detector 16 and the second measurement value in the first determination step 206;

[0151] - In the first comparison and calculation step 207, compare the first rotor position data with the first rotor position set data, and calculate a first manipulated variable for one of the first drive elements 15 and / or calculate a second manipulated variable for one of the second drive elements 35 based on the comparison between the first rotor position data and the first rotor position set data;

[0152] - If the second manipulated variable has been calculated in the first manipulated variable output step 208, output the second manipulated variable to the second control unit 41;

[0153] - Operate the first drive element 15 with the first manipulated variable calculated for the first drive element 15 in the first operation step 210.

[0154] Here, it is also possible to provide a loop to repeat the first measurement value reception step 205, the first determination step 206, the first comparison and calculation step 207, and the first manipulated variable output step 208. In addition, it is possible to provide that the second measurement value output step 212 and the second manipulated variable reception step 217 are also executed by the first control unit 21. After each loop repetition, the first operation step 210 is executed.

[0155] A method for operating a second control unit 41 includes the following steps:

[0156] - Receive a cooperation signal in cooperation signal receiving step 203;

[0157] - Output a second measurement value of the second position detector 36 to the first control unit in the first measurement value output step 204;

[0158] - Receive a second manipulation variable in the first manipulation variable receiving step 208;

[0159] - In the second operation step 211, operate the second drive element 35 by the second control unit 41 using the second manipulation variable calculated for the second drive element 35.

[0160] Here, it is also possible to provide a loop to repeat the first measurement value output step 204 and the first manipulation variable receiving step 208. In addition, the method may further include a second measurement value receiving step 213, a second determination step 214, a second comparison and calculation step 215, and a second manipulation variable output step 216. After each loop repetition, the second operation step 211 is executed.

[0161] Figure 5 Shows Figures 1 to 3 Another top view of the planar drive system 1 of. The rotor 100 moves partially over the boundary 4, such that the rotor 100 is at least partially disposed above the second stator surface 34. In this position, it is also possible to provide control of the rotor 100 by the first control unit 21. The second control unit 41 only provides the second measurement value of the second position detector 36 and operates the second drive element 35 based on the second manipulation variable.

[0162] Figure 6 Shows Figures 1 to 3 and Figure 5 Another top view of the planar drive system 1 of. The rotor 100 moves backward on the first stator surface 14 and is now again completely above the first stator surface 14. In this case, it is not necessary to transfer the control of the rotor 100 from the first control unit 21 to the second control unit 41, because the first control unit 21 can calculate the first manipulation variable and the second manipulation variable at any time. In addition, if the rotor 100 is again outside the transition region 3, a termination signal can be output from the first control unit 21 to the second control unit 41. Optionally, when the rotor 100 is still in the transition region 3, it can be provided that the termination signal has been output, but it is obvious that the rotor 100 should not move backward in the direction of the second planar drive subsystem 31. After the output of the termination signal, the measurement values of the first position detector 16 or the second position detector 36 are no longer exchanged between the first control unit 21 and the second control unit 41, nor are the first manipulation variable of the first drive element 15 or the second manipulation variable of the second drive element 35 exchanged.

[0163] Figure 7 shows another flow chart 200 of a method for operating a planar drive system 1, where steps identical to those of the Figure 4 method have the same reference numerals, and optional steps are explained below.

[0164] In one embodiment, the cooperation signal is a transfer signal. After the second control unit 41 receives the transfer signal in the cooperation signal receiving step 203, the second control unit 41 checks in the checking step 220 whether rotor transfer is possible. In this case, rotor transfer may include transferring the rotor 100 from the first planar drive subsystem 11 to the second planar drive subsystem 31. In the case where rotor transfer is possible, in the output step 221, the second control unit 41 outputs an acknowledgement to the first control unit 21. In the case where rotor transfer is not possible, in the output step 221, the second control unit 41 outputs an error message to the first control unit 21. If an error message appears, rotor transfer does not occur. In addition, the error message may cause the cooperative drive to terminate, otherwise the execution of the first position control sequence 218 and optionally the execution of the second position control sequence 219 may be provided, as described in connection with Figure 4 described.

[0165] In one embodiment, in the checking step 220, the second control unit 41 checks whether rotor transfer is possible by evaluating the idle computing capacity of the second control unit 41. This can be achieved, for example, based on the current CPU utilization and / or memory utilization of the second control unit 41. In addition, the number of possible rotors 100 may be predetermined, for example, the number of forty rotors 100 mentioned further above. If another rotor 100 can be checked according to these criteria, an acknowledgement is output, otherwise an error message is output.

[0166] After the first position control sequence 218 and the optional second position control sequence 219 have been executed, for example, also cyclically repeated several times, a control conversion step 222 occurs. The first position control sequence 218 allows the control of the rotor 100 before the control conversion step 222. The second position control sequence 219 can be used to have provided all the values required to control the rotor 100 to the regulator of the second control unit 41. In the control conversion step 222, a control conversion from the first control unit 21 to the second control unit 41 can occur. In addition, a rotor conversion from the first plane drive subsystem 11 to the second plane drive subsystem 31. In this case, the rotor conversion and the control conversion do not necessarily have to occur simultaneously. If required, the control conversion can occur before or after the rotor conversion. After the control conversion or the control conversion step 222, the second control unit 41 receives the control of the rotor 100 and performs the steps explained below. In another first measurement value output step 223, the first measurement value of the first position detector 16 is output from the first control unit 21 to the second control unit 41. In another first measurement value reception step 224, the second control unit 41 receives the first measurement value. Subsequently, the second control unit 41 determines another first rotor position data based on the first measurement value and the second measurement value in another first determination step 225. In another first comparison and calculation step 226, the second control unit 41 compares the another first rotor position data with another first rotor position set data, and the second control unit 41 calculates a first manipulation variable of one of the first drive elements 15 and / or a second manipulation variable of one of the second drive elements 35. In another first manipulation variable output step 227, if the first manipulation variable has been calculated, the first manipulation variable is output from the second control unit 41 to the first control unit 21. In another first manipulation variable reception step 228, the first manipulation variable is received by the first control unit 21. Then the first operating step 210 and the second operating step 211 already described are executed. Here, if required, a plurality of first manipulation variables can also be calculated and output, and a plurality of second manipulation variables can be calculated and used.

[0167] In addition, in Figure 7In this case, it is optionally shown that in an embodiment of the method, after another first manipulated variable receiving step 228, it is possible to switch back to another first measured value output step 223 again, so as to cyclically repeat another first measured value output step 223, another first measured value receiving step 224, another first determination step 225, another first comparison and calculation step 226, another first manipulated variable output step 227, and another first manipulated variable receiving step 228. After each of these repetitions, a first operating step 210 and a second operating step 211 can be executed. Such cyclic repetition can be performed, for example, with a predetermined cycle time, where the predetermined cycle time is less than one millisecond, particularly less than half a millisecond, and can be, for example, 250 microseconds.

[0168] Figure 7 It is also optionally shown that in an embodiment of the method, after a control conversion step 222, another second measured value output step 229 can be executed in parallel, where the second measured value of the second position detector 36 is output from the second control unit 41 to the first control unit 21. In another second measured value receiving step 230, the first control unit 21 receives the second measured value. Subsequently, in another second determination step 231, the first control unit 21 determines another second rotor position data based on the second measured value and the first measured value. In another second comparison and calculation step 232, the first control unit 21 compares the another second determined rotor position data with another second rotor position set data, and the first control unit 21 calculates another first redundant manipulated variable of one of the first drive elements 15 and / or another second redundant manipulated variable of one of the second drive elements 35. In another second manipulated variable output step 233, the another second redundant manipulated variable is output from the first control unit 21 to the second control unit 41. In another second manipulated variable receiving step 234, the another second redundant manipulated variable is received by the second control unit 41. If necessary, here it is also possible to cyclically repeat another second measured value output step 229, another second measured value receiving step 230, another second determination step 231, another second comparison and calculation step 232, another second manipulated variable output step 233, and another second manipulated variable receiving step 234. Optionally, the first operating step 210 can also be executed based on the first redundant manipulated variable determined in another second comparison and calculation step 232. Here, several other first redundant manipulated variables and several other second redundant manipulated variables can also be calculated and used.

[0169] By additional calculation of another first redundant manipulated variable or another first redundant manipulated variable and another second redundant manipulated variable or another second redundant manipulated variable, the first control unit 21 can take over the control of the rotor 100 again at any time.

[0170] For the embodiments of the method for operating the planar drive system 1 described further below, another first measurement value output step 223, another first measurement value reception step 224, another first determination step 225, another first comparison and calculation step 226, another first manipulated variable output step 227, and another first manipulated variable reception step 228 can be specified and combined into another first position control sequence 235, and a second measurement value output step 229, another second measurement value reception step 230, another second determination step 231, another second comparison and calculation step 232, another second manipulated variable output step 233, and another second manipulated variable reception step 234 can be specified and combined into another second position control sequence 236.

[0171] In Figure 7 the method, regulation as explained in connection with Figure 4 can also be provided. In particular, since the second control unit 41 has already calculated the first redundant manipulated variable and the second redundant manipulated variable before the control transition, the second control unit 41 can quickly take over the regulation without a delay that the regulator of the second control unit 41 is not yet ready.

[0172] The control transition of the control transition step 222 can also occur in an interpolated manner over several cycles. In this case, the manipulated variables of the first control unit 21 and the second control unit 41 are used for a specific time or a specific position distance. For example, a linear interpolation can be performed from fully using the manipulated variable of the first control unit 21 to fully using the manipulated variable of the second control unit 41. Both the first control unit 21 and the second control unit 41 perform interpolation on the used manipulated variables. Ideally, this may result in certain state variables building up slowly during the takeover of regulation, for which only parallel calculation before the switch is not sufficient.

[0173] Figure 8 shows Figures 1 to 3 another top view of the planar drive system 1 of Figure 7After the control transfer step 222 of the explanation, the second control unit 41 has taken over the control of the rotor 100 and is used to calculate another first manipulated variable or another second manipulated variable, while the first control unit 21 optionally calculates another first redundant manipulated variable or another second redundant manipulated variable. If the rotor 100 is again outside the transition region 3 of the second stator surface 34, a termination signal can also be output from the second control unit 41 to the first control unit 21. After the output of the termination signal, the measurement values of the first position detector 16 or the second position detector 36 are no longer exchanged between the first control unit 21 and the second control unit 41, nor are the other first manipulated variables for the first drive element 15 or the other second manipulated variables for the second drive element 35. Optionally, the output of the termination signal by the second control unit 41 can be provided, for example, when the measurement values of the first position detector 16 or the operation of the first drive element 15 are no longer required to control the rotor 100.

[0174] In an embodiment of the method for operating the planar drive system 1, rotor-specific data is transmitted between the first control unit 21 and the second control unit 41. In this case, the rotor-specific data can in particular include, for example, the rotor identification number, mass, load, and / or information about the object arranged on the rotor 100. The rotor-specific data can also include the name of the rotor 100 and / or specific control settings for the rotor 100. In particular, the rotor identification number can be used to keep an overview of the individual rotors 100.

[0175] Various possibilities can be imagined that cause the first control unit 21 to perform the cooperative signal output step 202. For example, the first control unit 21 can know that all the rotors 100 above the first stator surface 14 will be transferred to the second planar drive subsystem 31, for example, after machining above the first stator surface 14. In this case, a transfer signal can be output in each case. Then, the second control unit 41 checks whether it can accept the rotor 100 and performs the rotor transfer.

[0176] Another possibility is Figures 1 to 3 the central control unit 2 shown in FIGS. 5, 6, and 8. The central control unit 2 can in particular observe the rotor positions of all the rotors 100 of the planar drive system 1 and can also preset set positions for all the rotors 100. In addition, the central control unit 2 can predetermine when the first control unit 21 should trigger the drive cooperation with the second control unit 41. Then, the first drive element 15 is explicitly manipulated by the first control unit 21, and the second drive element 35 is explicitly manipulated by the second control unit 41.

[0177] In one embodiment, the central control unit 2 receives first rotor position data from the first control unit 21 and second rotor position data from the second control unit 41. The central control unit 2 issues a cooperation command to the first control unit 21, where the cooperation command represents boundary conditions. Based on the cooperation command, the first control unit 21 then performs a drive cooperation step 201. Subsequently, the first control unit 21 and the second control unit 41 perform further method steps explained in conjunction with Figure 4 and Figure 7 the further method steps.

[0178] In one embodiment, the central control unit 2 asks the second control unit 41 whether a rotor transfer is possible. The second control unit 41 checks whether a rotor transfer is possible, for example, by the method already described above. If a rotor transfer is possible, an acknowledgment is sent to the central control unit 2. In the case where a rotor transfer is not possible, an error message is output to the central control unit 2. In the case of an acknowledgment, the central control unit 2 can trigger a rotor transfer by sending an appropriate cooperation command to the first control unit 21. In this case, it can be provided that the first control unit 21 does not perform the check step 220 in particular. Optionally, the central control unit 2 can also know whether the second control unit 41 can perform a rotor transfer based on the rotor position.

[0179] In one embodiment, the central control unit 2 identifies that a rotor transfer has been completed based on the first rotor position data and the second rotor position data, and outputs a termination signal to the first control unit 21 and / or the second control unit 41. As a result, the central control unit 2 can terminate the drive cooperation.

[0180] In one embodiment, the central control unit 2 issues a control transfer command to the first control unit 21 and / or the second control unit 41. A control transfer is performed based on the control transfer command. Thus, the central control unit 2 can control the timing of the control transfer.

[0181] In one embodiment, the central control unit 2 outputs first rotor position setting data to the first control unit 21 and / or second rotor position setting data to the second control unit 41. For example, this can be used if the central control unit 2 wants to predetermine the position of the rotor 100 and the actual manipulation of the first drive element 15 is performed by the first control unit 21, or the actual manipulation of the second drive element 35 is performed by the second control unit 41. In addition, using the method explained in conjunction with Figure 4 and Figure 7 the control conversion of the rotor 100 can be achieved between the first control unit 21 and the second control unit 41 if the first rotor position setting data or the second rotor position setting data is required.

[0182] If the central control unit 2 is present, it can in particular be provided that the central control unit 2 outputs a setpoint for the rotor position to the first control unit 21 or the second control unit 41. This output can be cyclic, but the cycle duration can be greater than the cycle times described for the first position control sequence 218 or the second position control sequence 219 or another first position control sequence 235 or another second position control sequence 236, and can be in the range of a few milliseconds to twenty milliseconds, for example two to four milliseconds. The central control unit 2 can provide setpoints for the rotor positions of more rotors 100 than are each controlled by the first control unit 21 and the second control unit 41, since the set rotor positions require a much smaller storage capacity than the measured values regarding the first position detector 16 or the second position detector 36 or the explicit control regarding the first or second manipulated variable. Optionally, it can be provided that the central control unit 2 runs with the same cycle time as the control units 21, 41. In this case, a more precise presetting of the set rotor positions can be achieved in each case without interpolation by the control units 21, 41.

[0183] Furthermore, independent of this cycle, the central controller 2 optionally outputs parameters or rotor-specific information or system-specific information and / or cooperation commands and / or control transfer commands and / or termination commands. The first control unit 21 and the second control unit 41 each cyclically output the first rotor position and the second rotor position to the central control unit 2 and, if required, receive parameters or rotor-specific information or system-specific information or cooperation commands or control transfer commands outside the cycle. Furthermore, the first control unit 21 optionally cyclically executes the first position control sequence 218 or another second position control sequence 236, and the second control unit 41 optionally cyclically executes the second position control sequence 219 or another first position control sequence 235.

[0184] In particular, the central control unit 2 can know all the positions of all the rotors 100 and, if required, all the positions of the objects arranged on the rotors 100. Furthermore, the central control unit 2 can predetermine the set positions of the rotors.

[0185] In one embodiment, the drive cooperation begins when the rotor 100 is within a predetermined distance of the edge region of the first planar drive subsystem 11. For example, this can include the distance to the boundary 4. In particular, it can be provided that the spacing corresponds to the size of the rotor 100 or the first stator module 12.

[0186] The first control unit 21, the second control unit 41, and the central control unit 2 can each have a programmable logic controller (SPS), with which the methods can be carried out in each case. In addition, an application program for determining the rotor set position or the rotor movement can be carried out on the SPS of the central control unit 2. In addition, the first control unit 21, the second control unit 41, and the central control unit 2 can have a computer, by means of which these methods can be carried out in each case. In addition, it can be provided that the first control unit 21 is integrated into the central control unit 2, or the second control unit 41 is integrated into the central control unit 2. Optionally, the central control unit 2 can be integrated into the first control unit 21 or the second control unit 41, i.e., arranged in particular in the same housing.

[0187] If the rotor 100 is now to be transferred again from the second plane drive subsystem 31 to the first plane drive subsystem 11, the Figure 7 process shown can be repeated, where the second plane drive subsystem 31 now takes on the tasks of the first plane drive subsystem 11 and the first control unit 11 together with the second control unit 41, as explained in connection with Figure 7 and vice versa.

[0188] Figure 9 is shown corresponding to Figure 1 , 2 , 3, 5, 6, and 8 of another planar drive system 1 of the planar drive system 1, provided that no differences are described below. In addition to the first planar drive subsystem 11 and the second planar drive subsystem 31, the planar drive subsystem 1 also has a third planar drive subsystem 51 and a fourth planar drive subsystem 71. The third planar drive subsystem 51 has a third control unit 61 and a 3×3 arrangement of third stator modules 52 forming a third stator surface 54. The third control unit 61 can be used to operate the third drive elements of the third stator module 52 ( Figure 9 not shown in the figure) and to read the third position detector of the third stator module 52 ( Figure 9 not shown in the figure). The fourth planar drive subsystem 71 has a fourth control unit 81 and a 3×3 arrangement of fourth stator modules 72 forming a fourth stator surface 74. The fourth control unit 81 can be used to operate the fourth drive elements of the fourth stator module 72 ( Figure 9 not shown in the figure) and to read the fourth position detector of the fourth stator module 72 ( Figure 9(not shown in the figure). In this case, the third drive element and the fourth drive element can be constructed in the same way as the first drive element 15 and the second drive element 35 that have been described respectively. In this case, the third position detector and the fourth position detector can be constructed like the first position detector 16 and the second position detector 36 that have been described. The first planar drive subsystem 11, the second planar drive subsystem 31, the third planar drive subsystem 51, and the fourth planar drive subsystem 71 are adjacent to each other. The first planar drive subsystem 11 and the second planar drive subsystem 31 are diagonally opposite to each other. The third planar drive subsystem 51 and the fourth planar drive subsystem 71 are also diagonally opposite to each other. The transition region 3 is formed by three first stator modules 12, three second stator modules 32, three third stator modules 52, and three fourth stator modules 72 in each case. In particular, the transition region 3 consists of all the stator modules adjacent to the boundary 4. The first control unit 21 is directly connected to the second control unit 41, the third control unit 61, and the fourth control unit 81. Therefore, communication between all the control units 21, 41, 61, 81 is possible. Optionally, it can be provided that each of the first control unit 21, the second control unit 41, the third control unit 61, and the fourth control unit 81 only has one connection to two adjacent control units, thus forming a ring connection. In this case, it can be provided that communication between all the control units 21, 41, 61, 81 arranged in this ring connection is possible. In addition, the third control unit 61 is connected to the central control unit 2, and the fourth control unit 81 is also connected to the central control unit 2.

[0189] Utilizing the combination Figures 1 to 8In the method of explanation, the rotor 100 can be transferred from the first-plane drive subsystem 11 to the second-plane drive subsystem 31. To reach the second-plane drive subsystem 31 from the first-plane drive subsystem 11, parts of the third-plane drive subsystem 51 and / or parts of the fourth-plane drive subsystem 71 may also be provided that must be passed through. In this case, it can be provided that in the transition region 3, the first control unit 21 first receives the measured values of the second position detector 36 from the second control unit 41, the measured values of the third position detector from the third control unit 61, and the measured values of the fourth position detector from the fourth control unit 81, thereby calculating a first manipulated variable, the second manipulated variable as described above, a third manipulated variable for the third drive element, and a fourth manipulated variable for the fourth drive element, and outputting the second manipulated variable to the second control unit 41, the third manipulated variable to the third control unit 61, and the fourth manipulated variable to the fourth control unit 81. After the control transition occurs, the second control unit 41 can now receive the measured values of the first position detector 16 from the first control unit 21, the measured values of the third position detector from the third control unit 61, and the measured values of the fourth position detector from the fourth control unit 81, thereby calculating another first manipulated variable, another second manipulated variable as described above, another third manipulated variable for the third drive element, and another fourth manipulated variable for the fourth drive element, and outputting the another first manipulated variable to the first control unit 21, the another third manipulated variable to the third control unit 61, and the another fourth manipulated variable to the fourth control unit 81. Thus, during the rotor transition, all the plane drive subsystems 11, 31, 51, 71 operate in cooperation, but the rotor 100 is initially controlled only by the first control unit 21 and then by the second control unit 41. In particular, it can be provided that the third control unit 61 provides a third measured value and optionally operates the third drive element based on the third manipulated variable, and although the fourth control unit 81 provides a fourth measured value and optionally operates the fourth drive element based on the fourth manipulated variable, neither the third control unit 61 nor the fourth control unit 81 takes over the control of the rotor 100.

[0190] The illustrated embodiment of the plane drive system 1 always shows only one rotor 100, and the described method can be used to achieve the cooperative drive or transfer of the rotor 100 from one of the plane drive subsystems 11, 31, 51, 71 to another of the plane drive subsystems 11, 31, 51, 71. Of course, each of the plane drive subsystems 11, 31, 51, 71 can control multiple rotors 100. If needed, more than one cooperative drive or several rotor transfers can also occur simultaneously, and the described method applies to each relevant rotor 100.

[0191] The planar drive subsystems 11, 31, 51, 71 can be arranged according to the requirements arising from the application of the planar drive system 1 in automation technology, in particular in manufacturing technology, handling technology, process technology, packaging technology, and printing technology. The boundary conditions for drive cooperation can result from the fact that one of the control units 21, 41, 61, 81 detects that a rotor is moving towards another one of the planar drive subsystems 11, 31, 51, 71 and that the position detector or drive element of the corresponding planar drive subsystem 11, 31, 51, 71 is required. In this case, it can be provided that the control units 21, 41, 61, 81 independently control the rotor 100 and that no central control unit 2 is provided. In this case, it can also be provided that one of the control units 21, 41, 61, 81 determines the set position of the rotor. Optionally, the central control unit 2 can predetermine the rotor position, which may result in the need for cooperative driving or rotor transfer, and in this case, the central control unit 2 or the control units 21, 41, 61, 81 respectively trigger the cooperative driving or rotor transfer.

[0192] Furthermore, it can be provided that the central control unit 2 and / or the control units 21, 41, 61, 81 are synchronized with each other in time, for example using a distributed clock. In order for the control units 21, 41, 61, 81 to communicate with the central control unit 2 and / or the control units 21, 41, 61, 81, a fieldbus can be used, for example based on Ethernet technology, possibly EtherCAT. Other network components, such as switches, hubs, and / or port multipliers, can also be arranged between the control units 21, 41, 61, 81 and the optional central control unit 2.

[0193] Figure 10 A top view of another planar drive system 1 is shown, which has a first planar drive subsystem 11, a second planar drive subsystem 31, a third planar drive subsystem 51, and a fourth planar drive subsystem 71. The planar drive subsystems 11, 31, 51, 71 can have the features already described and are arranged in a 2×2 layout. However, in Figure 10For clarity, only the first stator surface 14 of the first planar drive subsystem 11, the second stator surface 34 of the second planar drive subsystem 31, the third stator surface 54 of the third planar drive subsystem 51, and the fourth stator surface 74 of the fourth planar drive subsystem 71, as well as the first control unit 21, the second control unit 41, the third control unit 61, the fourth control unit 81, and the central control unit 2 are shown. The drive elements and position detectors can be configured as described above. Each of the planar drive subsystems 11, 31, 51, 71 can have a plurality of corresponding stator modules. An object takeover station 110 is shown on the common stator surface 5 of the planar drive system 1 formed by the first stator surface 14, the second stator surface 34, the third stator surface 54, and the fourth stator surface 74, where the rotor 100 can take over an object 103 from another part of the automation system. A plurality of object handling stations 120 are used to handle the object 103. An object transfer station 130 can be used to transfer the object from the rotor 100 back to another part of the automation system. The object takeover station 110 and the object transfer station 130 are arranged diagonally opposite on the common stator surface 5. The object handling stations 120 are distributed on the common stator surface 5, and a plurality of object handling stations 120 are even part of a plurality of planar drive subsystems 11, 31, 51, 71. In Figure 10 In the design shown, it is advantageous if the central control unit 2 predetermines the position of the rotor 100, but the precise control of the drive elements of the planar drive subsystems 11, 31, 51, 71 is achieved by the corresponding control units 21, 41, 61, 81. In particular, the central control unit 2 can be provided here to keep an overview of all rotor positions and rotor set positions and forward them to the corresponding control units 21, 41, 61, 81. This can be particularly advantageous when the planar drive subsystems 11, 31, 51, 71 are arranged as Figure 10 shown in a 2×2 arrangement. In addition, this design also enables different processes to be performed at different object handling stations 120, thus enabling a flexible automation system.

[0194] Figure 11A top view of another planar drive system 1 is shown. The planar drive system 1 includes a first planar drive subsystem 11, a second planar drive subsystem 31, a third planar drive subsystem 51, and a fourth planar drive subsystem 71. The planar drive subsystems 11, 31, 51, 71 may have the features already described and are arranged linearly one after another. In particular, the first planar drive subsystem 11 is adjacent to the second planar drive subsystem 31. The second planar drive subsystem 31 is adjacent to the first planar drive subsystem 11 and the third planar drive subsystem 51. The third planar drive subsystem 51 is adjacent to the second planar drive subsystem 31 and the fourth planar drive subsystem 71. The fourth planar drive subsystem 71 is adjacent to the third planar drive subsystem 51. However, in Figure 11 for clarity, only the first stator surface 14 of the first planar drive subsystem 11, the second stator surface 34 of the second planar drive subsystem 31, the third stator surface 54 of the third planar drive subsystem 51, and the fourth stator surface 74 of the fourth planar drive subsystem 71 are shown, as well as the first control unit 21, the second control unit 41, the third control unit 61, the fourth control unit 81, and the central control unit 2. The drive elements and position detectors may be configured as described above, and each planar drive subsystem 11, 31, 51, 71 may have a plurality of corresponding stator modules. An object takeover station 110 is shown on the common stator surface 5 of the planar drive system 1 formed by the first stator surface 14, the second stator surface 34, the third stator surface 54, and the fourth stator surface 74, where the rotor 100 can take over an object 103 from another part of the automation system. The object takeover station 110 is arranged above the first stator surface 14. A plurality of object handling stations 120 are used for handling the object 103. One of the object handling stations 120 is arranged above the second stator surface 34. One of the object handling stations 120 is arranged above the third stator surface 54. An object transfer station 130 can be used to transfer the object from the rotor 100 back to another part of the automation system. The object transfer station 130 is arranged above the fourth stator surface 74. A predetermined rotor movement path 6 is indicated by a dashed line on the common stator surface 5. The rotor 100 moves along the predetermined rotor movement path 6, which leads from the object takeover station 110 via the object handling stations 120 to the object transfer station 130 and back from there to the object takeover station 110. In Figure 11In the shown design solution, the central control unit 2 can pre-determine the position of the rotor 100, whereupon the drive elements of the planar drive subsystems 11, 31, 51, 71 are then precisely controlled by the respective control units 21, 41, 61, 81. In particular, the central control unit 2 can be provided here to maintain an overview of all rotor positions and rotor set positions and forward them to the respective control units 21, 41, 61, 81. However, in this case, the central control unit 2 is not absolutely necessary. Since the predefined rotor movement path 6 specifies which rotor 100 will be transferred from which of the planar drive subsystems 11, 31, 51, 71 to which of the planar drive subsystems 11, 31, 51, 71, the control units 21, 41, 61, 81 can also cooperate independently for the respective rotor transfers and execute them using the described method. This can reduce the complexity of the planar drive system 1.

[0195] Figure 12 Fig. shows a top view of another planar drive system 1, which has a first planar drive subsystem 11, a second planar drive subsystem 31, a third planar drive subsystem 51, and a fourth planar drive subsystem 71. The planar drive subsystems 11, 31, 51, 71 can have the features already described. The first planar drive subsystem 11, the second planar drive subsystem 31, and the third planar drive subsystem 51 are arranged linearly one after another. The third planar drive subsystem 51 is connected to the first planar drive subsystem 11 via the fourth planar drive subsystem 71. In Figure 12For clarity, only the first stator surface 14 of the first planar drive subsystem 11, the second stator surface 34 of the second planar drive subsystem 31, the third stator surface 54 of the third planar drive subsystem 51, and the fourth stator surface 74 of the fourth planar drive subsystem 71, as well as the first control unit 21, the second control unit 41, the third control unit 61, the fourth control unit 81, and the central control unit 2 are shown. The drive elements and position detectors can be configured as described above, and each planar drive subsystem 11, 31, 51, 71 can have a plurality of corresponding stator modules. An object takeover station 110 is shown on the common stator surface 5 of the planar drive system 1 formed by the first stator surface 14, the second stator surface 34, the third stator surface 54, and the fourth stator surface 74, where the rotor 100 can take over an object 103 from another part of the automation system. The object takeover station 110 is arranged above the first stator surface 14. A plurality of object handling stations 120 are used to handle the object 103. One of the object handling stations 120 is arranged above the first stator surface 14. Two object handling stations 120 are arranged above the second stator surface 34, and one object handling station 120 is arranged above the third stator surface 54. An object transfer station 130 can be used to transfer the object from the rotor 100 to another part of the automation system again. The object transfer station 130 is arranged above the third stator surface 54. Optionally and not shown in Figure 11 , the object handling stations 120, the object takeover station 110, and / or the object transfer station 130 can also be arranged above a plurality of stator surfaces 14, 34, 54, 74 similar to Figure 10 . A predetermined rotor movement path 6 is indicated by a dashed line on the fourth stator surface 74 and connects the object transfer station 130 to the object takeover station 110. The rotor 100 moves along the predetermined rotor movement path 6, that is, from the object transfer station 130 to the object takeover station 110. This embodiment of the planar drive system 1 can include the fact that not every rotor 100 approaches every object handling station 120. In particular, for example, the object handling stations 120 on the first stator surface 14 and / or the third stator surface 54 can be omitted, and / or optionally one or more object handling stations 120 on the second stator surface 34 can be omitted. However, the rotor 100 always transfers from the first planar drive subsystem 11 to the second planar drive subsystem 31, from the second planar drive subsystem 31 to the third planar drive subsystem 51, from the third planar drive subsystem 51 to the fourth planar drive subsystem 71, and from the fourth planar drive subsystem 71 back to the first planar drive subsystem 11. In Figure 12In the illustrated design, the central control unit 2 can pre-determine the position of the rotor 100, and then the corresponding control units 21, 41, 61, 81 precisely control the drive elements of the planar drive subsystems 11, 31, 51, 71. In particular, the central control unit 2 can be provided here to maintain an overview of all rotor positions and rotor set positions and forward them to the corresponding control units 21, 41, 61, 81. However, as an alternative, the central control unit 2 is not required here either. Since in each case the planar drive subsystems 11, 31, 51, 71 involved in the rotor transfer are predefined, i.e., which rotors 100 will be transferred from which of the planar drive subsystems 11, 31, 51, 71 to which of the planar drive subsystems 11, 31, 51, 71, the control units 21, 41, 61, 81 can also cooperate independently for the corresponding rotor transfer and execute it using the described method. This can reduce the complexity of the planar drive system 1.

[0196] In addition to the design of the planar drive system 1 explained in conjunction with Figures 10 to 12 it is also conceivable to utilize other possibilities of the methods described in the method according to the invention for drive cooperation or for rotor transfer. Generally speaking, this enables a flexible configuration of an automated system using the planar drive system 1 as a transport means. If necessary, parts of the drive cooperation can also be triggered by the central control unit 2, and other parts of the drive cooperation can be triggered by the control units 21, 41, 61, 81.

[0197] The formulas regarding single or multiple manipulated variables used throughout the description are interchangeable. When referring to a single manipulated variable, multiple manipulated variables can also be provided accordingly. When dealing with multiple manipulated variables, only one of the corresponding manipulated variables can always be provided.

[0198] List of reference numerals

[0199] 1 Planar drive system

[0200] 2 Central control unit

[0201] 3 Transition region

[0202] 4 Boundary

[0203] 5 Common stator surface

[0204] 6 Predetermined rotor movement path

[0205] 11 First planar drive subsystem

[0206] 12 First stator module

[0207] 13 First stator unit

[0208] 14 First stator surface

[0209] 15 First drive element

[0210] 16 First position detector

[0211] 21 First control unit

[0212] 31 Second planar drive subsystem

[0213] 32 Second stator module

[0214] 33 Second stator unit

[0215] 34 Second stator surface

[0216] 35 Second drive element

[0217] 36 Second position detector

[0218] 41 Second control unit

[0219] 51 Third planar drive subsystem

[0220] 52 Third stator module

[0221] 54 Third stator surface

[0222] 61 Third control unit

[0223] 71 Fourth planar drive subsystem

[0224] 72 Fourth stator module

[0225] 74 Fourth stator surface

[0226] 81 Fourth control unit

[0227] 100 Rotor

[0228] 101 Rotor drive element

[0229] 102 Rotor center

[0230] 103 Object

[0231] 110 Object takeover station

[0232] 120 Object processing station

[0233] 130 Object transfer station

[0234] 200 Flowchart

[0235] 201 Drive cooperation step

[0236] 202 Cooperative signal output step

[0237] 203 Cooperative signal reception step

[0238] 204 First measurement value output step

[0239] 205 First measurement value reception step

[0240] 206 First determination step

[0241] 207 First comparison and calculation step

[0242] 208 First manipulated variable output step

[0243] 209 First manipulated variable reception step

[0244] 210 First operation step

[0245] 211 Second operation step

[0246] 212 Second measurement value output step

[0247] 213 Second measurement value reception step

[0248] 214 Second determination step

[0249] 215 Second comparison and calculation step

[0250] 216 Second manipulated variable output step

[0251] 217 Second manipulated variable reception step

[0252] 218 First position control sequence

[0253] 219 Second position control sequence

[0254] 220 Inspection step

[0255] 221 Output step

[0256] 222 Control conversion step

[0257] 223 Another first measurement value output step

[0258] 224 Another first measurement value reception step

[0259] 225 Another first determination step

[0260] 226 Another first comparison and calculation step

[0261] 227 Another first manipulated variable output step

[0262] Another first manipulated variable receiving step

[0263] Another second measured value output step

[0264] Another second measured value receiving step

[0265] Another second determination step

[0266] Another second comparison and calculation step

[0267] Another second manipulated variable output step

[0268] Another second manipulated variable receiving step

[0269] Another first position control sequence

[0270] Another second position control sequence

Claims

1. A method for operating a planar drive system (1), wherein, The planar drive system (1) includes a first planar drive subsystem (11) and a second planar drive subsystem (31). Among them, the first planar drive subsystem (11) includes a first stator module (12) that forms a first stator surface (14). Among them, the first stator module (12) includes a first drive element (15) and a first position detector (16). Among them, the first planar drive subsystem (11) also has a first control unit (21), and the first drive element (15) can be controlled by using the first control unit. Among them, the first control unit (21) is also arranged to read a first measurement value from the first position detector (16). Among them, the second planar drive subsystem (31) includes a second stator module (32) that forms a second stator surface (34). Among them, the second stator module (32) includes a second drive element (35) and a second position detector (36). Among them, the second planar drive subsystem (31) also includes a second control unit (41), and the second drive element (35) can be controlled by using the second control unit (41). Among them, the second control unit (41) is also arranged to read a second measurement value from the second position detector (36). Among them, the first stator surface (14) is adjacent to the second stator surface (34). Among them, the planar drive system (1) also has at least one rotor (100), and the rotor can be moved along at least two directions above the first stator surface (14) and the second stator surface (35) by means of the first drive element (15) and the second drive element (35). Among them, the method for operating the planar drive system (1) allows the first planar drive subsystem (11) and the second planar drive subsystem (31) to cooperate to drive the rotor (100), including the following steps: - Trigger drive cooperation by the first control unit (21) based on boundary conditions; - Output a cooperation signal from the first control unit (21) to the second control unit (41); - Receive the cooperation signal by the second control unit (41); - Output the second measurement value from the second control unit (41) to the first control unit (21); - Receive the second measurement value by the first control unit (21); - Determine first rotor position data by the first control unit (21) according to the first measurement value and the second measurement value; - Compare the first rotor position data with first rotor position set data, and calculate a first manipulation variable of one of the first drive elements (15) and / or calculate a second manipulation variable of one of the second drive elements (35) by the first control unit (21) based on the comparison between the first rotor position data and the first rotor position set data; - If the second manipulation variable has been calculated, output the second manipulation variable from the first control unit (21) to the second control unit (41); - The second control unit (41) receives the second manipulated variable; - The first control unit (21) operates the first drive element (15) using the first manipulated variable calculated for the first drive element (15); - The second control unit (41) operates the second drive element (35) using the second manipulated variable calculated for the second drive element (35).

2. The method according to claim 1, wherein, The steps are cyclically repeated: - The second control unit (41) outputs the second measured value to the first control unit (21); - The first control unit (21) receives the second measured value; - The first control unit (21) determines first rotor position data based on the first measured value and the second measured value; - The first rotor position data is compared with first rotor position set data, and a first manipulated variable for one of the first drive elements (15) and / or a second manipulated variable for one of the second drive elements (35) calculated by the first control unit (21) is calculated; - If the second manipulated variable has been calculated, the first control unit (21) outputs the second manipulated variable to the second control unit (41); - The second control unit (41) receives the second manipulated variable; - The first control unit (21) operates the first drive element (15) using the first manipulated variable calculated for the first drive element (15); - The second control unit (41) operates the second drive element (35) using the second manipulated variable calculated for the second drive element (35).

3. The method according to claim 1 or 2, further comprising the following steps: - The first control unit (21) outputs the first measured value to the second control unit (41); - The second control unit (41) receives the first measured value; - The second control unit (41) determines second rotor position data based on the second measured value and the first measured value; - The second rotor position data is compared with second rotor position set data, and a first redundant manipulated variable for one of the first drive elements (15) and / or a second redundant manipulated variable for one of the second drive elements (35) calculated by the second control unit (41) is calculated; - The second control unit (41) outputs the first redundant manipulated variable to the first control unit (21); - The first control unit (21) receives the first redundant manipulated variable.

4. The method according to any one of claims 1 to 3, wherein, The cooperation signal is a transfer signal, and the second control unit (41) checks whether rotor transfer is possible after receiving the transfer signal, wherein if rotor transfer is possible, an acknowledgement is output to the first control unit (21), and if rotor transfer is impossible, an error message is output to the first control unit (21).

5. The method according to claim 4, wherein The second control unit (41) checks whether rotor transfer is possible by evaluating the idle computing power of the second control unit (41).

6. The method according to any one of claims 4 or 5, wherein A rotor conversion from the first planar drive subsystem (11) to the second planar drive subsystem (31) and a control conversion from the first control unit (21) to the second control unit (41) occur, and after the control conversion, the following steps are performed: - The first control unit (21) outputs the first measurement value to the second control unit (41); - The second control unit (41) receives the first measurement value; - The second control unit (41) determines the second rotor position data based on the first measurement value and the second measurement value; - The second rotor position data is compared with the second rotor position set data, and a first manipulated variable of one of the first drive elements (15) is calculated and / or a second manipulated variable of one of the second drive elements (35) is calculated by the second control unit (41); - If the first manipulated variable has been calculated, the second control unit (41) outputs the first manipulated variable to the first control unit (21); - The first control unit (21) receives the first manipulated variable; - The first control unit (21) operates the first drive element (15) using the first manipulated variable calculated for the first drive element (15); - The second control unit (41) operates the second drive element (35) using the second manipulated variable calculated for the second drive element (35).

7. The method according to claim 6, wherein The steps are repeatedly executed in a loop: - The first control unit (21) outputs the first measurement value to the second control unit (41); - The second control unit (41) receives the first measurement value; - The second control unit (41) determines the second rotor position data based on the second measurement value and the first measurement value; - The second rotor position data is compared with the second rotor position set data, and a first manipulated variable of one of the first drive elements (15) is calculated and / or a second manipulated variable of one of the second drive elements (35) is calculated by the second control unit (41); - If the first manipulated variable has been calculated, the second control unit (41) outputs the first manipulated variable to the first control unit (21); - The first control unit (21) receives the first manipulated variable; - The first control unit (21) operates the first drive element (15) using the first manipulated variable calculated for the first drive element (15); - The second control unit (41) operates the second drive element (35) using the second manipulated variable calculated for the second drive element (35).

8. The method according to claim 6 or 7, further comprising the following steps performed after the control conversion: - The second control unit (41) outputs the second measurement value to the first control unit (21); - The first control unit (21) receives the second measurement value; - The first control unit (21) determines first rotor position data based on the first measurement value and the second measurement value; - Compare the first rotor position data with first rotor position set data, and calculate a first redundant manipulation variable for one of the first drive elements (15) and / or calculate a second redundant manipulation variable for one of the second drive elements (35) by the first control unit (21); - The first control unit (21) outputs the second redundant manipulation variable to the second control unit (41); - The second control unit (41) receives the second redundant manipulation variable.

9. The method according to any one of claims 1 to 8, wherein, Rotor-specific data is transmitted between the first control unit (21) and the second control unit (41).

10. The method according to any one of claims 1 to 9, wherein, The planar drive system (1) further includes a central control unit (2), wherein the central control unit (2) receives first rotor position data from the first control unit (21), receives second rotor position data from the second control unit (41), and wherein the central control unit (2) issues a cooperation command to the first control unit (21), wherein the cooperation command represents boundary conditions.

11. The method according to claim 10, wherein The central control unit (2) queries the second control unit (41) whether rotor transfer is possible, wherein the second control unit (41) checks whether rotor transfer is possible, and wherein if rotor transfer is possible, it outputs an acknowledgement to the central control unit (2), and if rotor transfer is not possible, it outputs an error message to the central control unit (2).

12. The method according to claim 10 or 11, wherein, The central control unit (2) identifies that the rotor transfer has been completed based on the first rotor position data and the second rotor position data, and outputs a termination signal to the first control unit (21) and / or the second control unit (41).

13. The method according to any one of claims 10 to 12, wherein The central control unit (2) issues a control transfer command to the first control unit (21) and / or the second control unit (41), and wherein a control conversion is performed based on the control transfer command.

14. The method according to any one of claims 10 to 13, wherein, The central control unit (2) outputs first rotor position set data to the first control unit (21) and / or outputs second rotor position set data to the second control unit (41).

15. The method according to any one of claims 1 to 14, wherein, When the rotor (100) is within a predetermined distance from the edge region of the first planar drive subsystem (11), the drive cooperation is started.

16. A method for operating a first control unit (21) of a planar drive system (1) according to claims 1 to 15, comprising the following steps: - Trigger drive cooperation based on boundary conditions; - Output a cooperation signal to the second control unit (41); - Receive the second measurement value from the second control unit (41); - Determine first rotor position data according to the first measurement value and the second measurement value; - Compare the first rotor position data with the first rotor position set data and calculate a first manipulated variable for one of the first drive elements (15) and / or calculate a second manipulated variable for one of the second drive elements (35) based on the comparison between the first rotor position data and the first rotor position set data; - If the second manipulated variable has been calculated, output the second manipulated variable to the second control unit (41); - Run the first drive element (15) using the first manipulated variable calculated for the first drive element (15).

17. A first control unit (21) for a first planar drive subsystem (11), which is arranged to carry out the method according to claim 16.

18. A method for a second control unit for operating a planar drive system (1) according to claims 1 to 15, comprising the following steps: - Receive a cooperation signal; - Output the second measured value to the first control unit (21); - Receive a second manipulated variable; - Run the second drive element (35) by the second control unit (41) using the second manipulated variable calculated for the second drive element (35).

19. A second control unit (41) for a second planar drive subsystem (31), which is arranged to carry out the method according to claim 18.

20. A planar drive system (1), wherein, The planar drive system (1) comprises a first planar drive subsystem (11) and a second planar drive subsystem (31), wherein the first planar drive subsystem (11) comprises a first stator module (12) with a first stator unit (13) forming a first stator surface (14), wherein the first stator module (12) comprises first drive elements (15) and a first position detector (16), wherein the first planar drive subsystem (11) further comprises the first control unit (21) according to claim 17, wherein the second planar drive subsystem (31) comprises a second stator module (32) with a second stator unit (33) forming a second stator surface (34), wherein the second stator module (32) comprises second drive elements (35) and a second position detector (36), wherein the second planar drive subsystem (31) further comprises the second control unit (41) according to claim 19, wherein the first stator surface (14) is adjacent to the second stator surface (34), wherein the planar drive system (1) further has at least one rotor (100), which can be moved in at least two directions above the first stator surface (14) and the second stator surface (34) by means of the first drive elements (15) and the second drive elements (35), and wherein the method for operating the planar drive system (1) according to claims 1 to 15 allows the rotor (100) to be driven in cooperation with the first planar drive subsystem (11) and the second planar drive subsystem (31).

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