Driving device, driving method, and storage medium

Abstract

To provide a driving device and the like that can achieve appropriate deceleration of a driven object without changing a position command.SOLUTION: A linear transport system comprises: a driving module 23 that drives a moving body 3 to a target position xt designated by a position command; a thrust operation unit 43 that operates thrust to be added to the moving body 3 by the driving module 23 on the basis of at least one driving parameter 431, with a deviation Δx between a current position x and the target position xt of the moving body 3 as an input; an acceleration thrust acquisition unit 44 that acquires thrust operated by the thrust operation unit 43 in an acceleration section in which the moving body 3 is accelerated by the driving module 23; and a deceleration driving parameter adjustment unit 46 that adjusts the driving parameter 431 in a deceleration section in which the moving body 3 is decelerated by the driving module 23, in accordance with the thrust acquired by the acceleration thrust acquisition unit 44.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a drive device and the like. [Background technology]

[0002] Patent Document 1 discloses a drive device that uses a motor to drive a coil car that transports coil material. In this drive device, the load weight of the coil material is detected by detecting the motor current when the coil car accelerates. Then, the deceleration start position for stopping the coil car at a predetermined stop position is adjusted according to the detected load weight of the coil material. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 5-27842 Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, it is necessary to update the position command in order to specify a different deceleration start position for each coil car with a different load weight. In this way, in Patent Document 1, the position command itself, which is a basic parameter for position control of the coil car, is rewritten according to the load weight, which may complicate or prolong the control.

[0005] The present disclosure has been made in consideration of these circumstances, and has an object to provide a drive device and the like that can achieve appropriate deceleration of a driven object without changing a position command. [Means for solving the problem]

[0006] In order to solve the above problems, a driving device of one aspect of the present disclosure includes an actuator that drives a driven object to a target position specified by a position command, a thrust calculation unit that uses as input the deviation between the current position and the target position of the driven object and calculates a thrust to be applied to the driven object by the actuator based on at least one driving parameter, an acceleration thrust acquisition unit that acquires the thrust calculated by the thrust calculation unit in an acceleration section in which the driven object is accelerated by the actuator, and a deceleration drive parameter adjustment unit that adjusts drive parameters in a deceleration section in which the driven object is decelerated by the actuator in accordance with the thrust acquired by the acceleration thrust acquisition unit.

[0007] In this embodiment, the drive parameters in the deceleration section are adjusted according to the thrust calculated in the acceleration section, but the target position or the position command is not changed. In this way, according to this embodiment, it is possible to realize appropriate deceleration of the driven object without changing the position command.

[0008] Another aspect of the present disclosure is a driving method for a driving device including an actuator that drives a driven object to a target position specified by a position command, and a thrust calculation unit that uses a deviation between a current position of the driven object and the target position and calculates a thrust to be applied to the driven object by the actuator based on at least one driving parameter, the method performing the steps of: acquiring the thrust calculated by the thrust calculation unit in an acceleration section in which the driven object is accelerated by the actuator; and adjusting the driving parameter in a deceleration section in which the driven object is decelerated by the actuator according to the acquired thrust.

[0009] Yet another aspect of the present disclosure is a storage medium. The storage medium stores a drive program for a drive device including an actuator that drives a driven object to a target position specified by a position command, and a thrust calculation unit that calculates a thrust to be applied to the driven object by the actuator based on at least one drive parameter using a deviation between a current position of the driven object and a target position as an input, the drive program causing a computer to execute the following operations: acquiring the thrust calculated by the thrust calculation unit in an acceleration section in which the driven object is accelerated by the actuator, and adjusting the drive parameter in a deceleration section in which the driven object is decelerated by the actuator according to the acquired thrust.

[0010] Any combination of the above components, or any conversion of these components into a method, device, system, recording medium, computer program, or the like, is also encompassed by the present disclosure. Effect of the Invention

[0011] According to the present disclosure, it is possible to realize appropriate deceleration of a driven object without changing a position command. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a perspective view showing an overall structure of a linear transport system. [Diagram 2] FIG. 2 is a functional block diagram of a control device for the linear transport system. [Diagram 3] 13 is a flowchart of a driving method in a linear transport system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] In the following, a form for carrying out the present disclosure (hereinafter, also referred to as an embodiment) will be described in detail with reference to the drawings. In the description and / or drawings, identical or equivalent components, members, processes, etc. will be given the same reference numerals, and duplicated descriptions will be omitted. The scale and shape of each part shown in the drawings are set for convenience in order to simplify the description, and are not to be interpreted as being limiting unless otherwise specified. The embodiment is an example, and does not limit the scope of the present disclosure in any way. All features and their combinations presented in the embodiment are not necessarily essential to the present disclosure. The embodiment is presented for convenience, decomposed into components for each function and / or each functional group that realizes it. However, one component in the embodiment may actually be realized by a combination of multiple components as separate entities, and multiple components in the embodiment may actually be realized by one component as an integrated entity.

[0014] FIG. 1 is a perspective view showing the overall structure of a linear conveying system 1, which is one embodiment of a driving device according to the present disclosure. The linear conveying system 1 includes a stator 2 forming a circular rail or track, and a plurality of driven objects or movers 3A, 3B, 3C, and 3D (hereinafter collectively referred to as driven objects 3 or movers 3) that are driven relative to the stator 2 and can move along the rail. An electromagnet or coil provided on the stator 2 and a permanent magnet provided on the mover 3 face each other to form a linear motor as an actuator along the circular rail. The rail formed by the stator 2 may have any shape other than a circular shape. For example, the rail may be linear or curved, one rail may branch into multiple rails, or multiple rails may merge into one rail. The installation direction of the rail formed by the stator 2 is also arbitrary. In the example of FIG. 1, the rail is arranged in a horizontal plane, but the rail may be arranged in a vertical plane, or in a plane or curved surface at any inclination angle.

[0015] The stator 2 has a rail surface 21 with the horizontal direction as its normal direction. The rail surface 21 extends in a band shape along the direction in which the rail is formed, and when a ring-shaped rail is formed as in the example of FIG. 1, it becomes an endless band shape with both virtual ends connected. In the rail surface 21 capable of forming a rail of any shape in this way, a plurality of driving modules (not shown) equipped with electromagnets are embedded or arranged continuously or periodically along the rail. The electromagnets in the driving modules generate a magnetic field that exerts a propulsive force or thrust along the rail on the permanent magnet of the mover 3 and / or the electromagnet itself. Specifically, when a driving current such as a three-phase AC current is applied to these numerous electromagnets, a moving magnetic field is generated that linearly drives the mover 3 equipped with the permanent magnet in a desired tangential direction along the rail. In the example of FIG. 1, the normal direction of the rail surface 21 that forms the ring-shaped rail in a horizontal plane is horizontal, but the normal direction of the rail surface 21 may be vertical or any other direction.

[0016] In the stator 2, the positioning unit 22 provided on the upper or lower surface perpendicular to the rail surface 21 has a plurality of magnetic sensors (not shown) embedded continuously or periodically as position detection units capable of measuring the position of a magnetic scale (not shown) as a positioning target or positioning scale attached to the mover 3. A magnetic sensor that measures a magnetic scale formed by a striped magnetic pattern or magnetic graduations with a constant pitch generally has a plurality of magnetic detection heads. By shifting the interval between the plurality of magnetic detection heads with respect to the pitch or period of the magnetic pattern of the magnetic scale, the magnetic sensor can measure the position of the magnetic scale with high accuracy. In a typical magnetic sensor provided with two magnetic detection heads, for example, the interval between the two magnetic detection heads is shifted by 1 / 4 pitch with respect to the magnetic pattern of the magnetic scale (the phase is shifted by 90 degrees). Note that the magnetic sensor may be provided on the mover 3 and the magnetic scale may be provided on the stator 2, inversely to the above. Moreover, by differentiating with respect to time the position of the mover 3 measured by the positioning unit 22, it is possible to detect the speed of the mover 3, and by differentiating the speed with respect to time it is possible to detect the acceleration of the mover 3. Note that, conversely to the above, a magnetic sensor may be provided on the mover 3, and a magnetic scale may be provided on the stator 2.

[0017] The position detection unit provided on the stator 2 and / or the mover 3 and the target or scale to be positioned on the mover 3 are not limited to the magnetic type as described above, and may be optical or other type. In the case of the optical type, an optical scale formed of stripes or scales with a fixed pitch is attached to the mover 3 (or the stator 2), and an optical sensor capable of optically reading the stripes of the optical scale is provided on the stator 2 (or the mover 3). In the magnetic and optical types, the position detection unit measures the target (magnetic scale or optical scale) without contact, so that the risk of the position detection unit breaking down when the object being transported by the mover 3 is scattered and enters the positioning location (the upper surface of the stator 2) can be reduced. However, in the optical type, if the optical scale is covered by the object being transported, such as liquid or powder, that enters the positioning location, the positioning accuracy deteriorates. Therefore, if the object being transported has negligible magnetism, it is preferable to use the magnetic type, which does not deteriorate the positioning accuracy even if it enters the positioning location.

[0018] The mover 3 comprises a mover body 31 facing the rail surface 21 of the stator 2, a positioned part 32 that extends horizontally from the top of the mover body 31 and faces the positioning part 22 of the stator 2, and a transport part 33 that extends horizontally from the mover body 31 on the opposite side to the positioned part 32 (the side farther from the stator 2) and on which a transported object is placed or fixed. The mover body 31 comprises one or more permanent magnets (not shown) that face multiple electromagnets embedded in the rail surface 21 of the stator 2 along the rail. The moving magnetic field generated by the electromagnets of the stator 2 applies a linear power or propulsion force in the tangential direction of the rail to the permanent magnets and / or the electromagnets themselves of the mover 3, so that the mover 3 is linearly driven along the rail surface 21 relative to the stator 2.

[0019] In the positioned portion 32 of the mover 3, a magnetic scale or an optical scale as a positioning target or a positioning scale is provided so as to face a position detection unit (magnetic sensor or optical sensor) provided in the positioning portion 22 of the stator 2. In the example of Fig. 1 in which the position detection unit is provided on the upper surface of the stator 2, a positioning target such as a magnetic scale is attached to the lower surface of the positioned portion 32 of the mover 3. When the positioning portion 22 and the positioned portion 32 are magnetic, it is preferable that the rail surface 21 and the positioning portion 22 are formed on different surfaces or at separate locations in the stator 2, and that the mover body 31 and the positioned portion 32 are formed on different surfaces or at separate locations in the mover 3, so that the magnetic field between the electromagnets on the rail surface 21 and the permanent magnets in the mover body 31 does not affect the magnetic positioning of the positioning portion 22 and the positioned portion 32.

[0020] FIG. 1 illustrates four movers 3A, 3B, 3C, and 3D as an example, but it is conceivable that, for example, in a linear transport system 1 that transports a large number of transport objects, more than 1,000 movers 3 may be required.

[0021] FIG. 2 is a functional block diagram of the control device 4 of the linear transport system 1 according to this embodiment. The control device 4 includes a command unit 41, a subtractor 42, a thrust calculation unit 43, an acceleration thrust acquisition unit 44, a weight estimation unit 45, and a deceleration drive parameter adjustment unit 46. As long as the control device 4 can achieve at least some of the actions and / or effects described below, some of these functional blocks may be omitted. These functional blocks may be realized by the cooperation of hardware resources such as a central processing unit of a computer, a memory, an input device, an output device, and peripheral devices connected to the computer, and software executed using them. Regardless of the type of computer or the installation location, each of the above functional blocks may be realized by the hardware resources of a single computer, or may be realized by combining hardware resources distributed among multiple computers.

[0022] In the illustrated example, one of the movers 3 on which a transported object W such as a beverage bottle is placed on the transport section 33 is moved to an initial position x ofrom target position x t The initial position x o may be the carry-in position where the carried-in transported object W is placed on the transport section 33, or the target position x t may be a carry-out position where the transported object W, which is placed on the transport section 33 and transported by the mover 3, is carried out from the transport section 33.

[0023] In this embodiment, the initial position x o The movable element 3 is controlled to be stationary just before being driven from the target position x t The mover 3 is controlled to be in a stationary state immediately after being driven to the initial position x o Initial velocity and target position x t The final velocity at x is arbitrary and is not limited to zero (i.e., stationary state), but may be, for example, any preferably small value (i.e., low velocity state). As will be described later, the mover 3 moves from the initial position x o In the vicinity of t and accelerates to the target position x t In the vicinity of t The absolute values ​​of the initial and final velocities are the target velocity v t is smaller than the absolute value of

[0024] The command unit 41 determines the initial position x o The position command is a target position x to which the mover 3 should be driven. t The speed command is to set the mover 3 to the initial position x o from target position x t The target speed v while driving t As described later, the target velocity v t is the speed at which the mover 3 should be driven in the constant speed section, and typically, the mover 3 is moved from the initial position x o from target position x t The absolute value of the speed of the mover 3 in the acceleration section before the uniform speed section and in the deceleration section after the uniform speed section is equal to or greater than the target speed v tis less than the absolute value of

[0025] The command unit 41 determines the initial position x based on the position command and the speed command that it generates. o and the target position x t For example, the command unit 41 may divide the section between the first position x a and the second position x where the constant speed section and the deceleration section switch b You may set the initial position x o and the first position x a In the acceleration section between the target speed v t This is the section where the vehicle accelerates to the first position x a and the second position x b In the constant velocity section between the target speed v t The second position x is the section where the motor is driven at a constant speed. b and the target position x t In the deceleration section between the target speed v t This is the section where the speed is decelerated from

[0026] As described above, the first position x a and the second position x b is the initial position x of the mover 3 o from target position x t That is, the driving is maintained until the first position x a and the second position x b In other words, the acceleration section, the constant velocity section, and the deceleration section are o from target position x t The length of the acceleration section (x a -x o ) and the length of the deceleration section (x t -x b ) may be equal to each other or may be different from each other. For example, as described later, in the deceleration section, efficient deceleration driving according to the weight of the transported object W is possible, so that the length of the deceleration section (x t -xb ) is the length of the acceleration section (x a -x o ) may be shorter.

[0027] The command unit 41 may generate an acceleration command in the acceleration section and the deceleration section. The acceleration command in the acceleration section is generated by moving the mover 3 to the initial position x o From the first position x a While driving to the target speed v t Increase the target acceleration to a t The acceleration command in the deceleration section is to move the mover 3 to the second position x b from target position x t While driving to the target speed v t The target acceleration a to reduce to the final velocity t Specify the target acceleration a in each section. t may be constant throughout each section, or may vary. In addition, the target acceleration a t may have the same absolute value with opposite positive and negative signs, or may have different absolute values.

[0028] initial position x o from target position x t The current position x, current speed v, current acceleration a, etc. of the mover 3 while it is being driven to the position are detected by the detection unit 24 such as the above-mentioned magnetic sensor or the positioning unit 22. Typically, the detection unit 24 directly detects the current position x of the mover 3, differentiates it with respect to time to indirectly detect the current speed v of the mover 3, and differentiates it with respect to time to indirectly detect the current acceleration a of the mover 3.

[0029] The subtractor 42 subtracts the current position x of the mover 3 from the target position x t The position deviation Δx of the mover 3, the current speed v and the target speed v t The speed deviation Δv of the mover 3, the current acceleration a and the target acceleration a t The acceleration deviation Δa etc. is calculated.

[0030] The thrust calculation unit 43 receives the position deviation Δx, the velocity deviation Δv, the acceleration deviation Δa, etc. calculated by the subtractor 42, and calculates the thrust to be applied by the drive module 23 to the mover 3 based on at least one drive parameter 431. Although detailed illustration is omitted, the thrust calculation unit 43 may be a feedback control unit having a multi-stage loop configuration including a position control loop receiving the position deviation Δx as an input, a velocity control loop provided inside the position control loop receiving the velocity deviation Δv as an input, and an acceleration control loop provided inside the velocity control loop receiving the acceleration deviation Δa as an input. The drive parameter 431 may be, for example, various control gains such as a proportional gain, an integral gain, a differential gain, etc. that can be set individually in each of the position control loop, the velocity control loop, and the acceleration control loop. Note that information on the thrust calculated by the thrust calculation unit 43 is provided to the drive module 23 as information on a current to be passed through an electromagnet or a coil (not shown) provided in the stator 2.

[0031] The acceleration thrust acquisition unit 44 acquires the thrust calculated by the thrust calculation unit 43 in the acceleration section in which the mover 3 is accelerated by the drive module 23. Specifically, the thrust calculation unit 43 calculates a thrust such that the acceleration deviation Δa etc. input from the subtractor 42 becomes zero, based on the drive parameters 431. The drive parameters used at this time are predetermined standard drive parameters 431. Here, the target acceleration a in the acceleration section specified by the command unit 41 is obtained by setting the acceleration deviation Δa to zero. t The thrust required to achieve the target speed v t The thrust required to realize the target acceleration a varies depending on the weight or mass of the mover 3 including the load W being transported. For example, according to the equation of motion, when the weight of the mover 3 is small, the target acceleration a t The thrust required to achieve the target acceleration a becomes smaller, and when the weight of the mover 3 is large, t The thrust required to achieve this is large.

[0032] In this way, the thrust in the acceleration section acquired by the thrust acquisition unit 44 during acceleration represents the total weight of the mover 3 and the transported load W. In particular, in a typical case, the weights of the multiple movers 3 are equal, so the thrust in the acceleration section acquired by the thrust acquisition unit 44 during acceleration represents the weight of the transported load W. Note that, if the thrust acquired by the thrust acquisition unit 44 during acceleration varies in the acceleration section, the maximum value is considered to best represent the weight of the transported load W. In this way, the weight estimation unit 45 may estimate the weight of the transported load W and / or the mover 3 based on the thrust in the acceleration section acquired by the thrust acquisition unit 44 during acceleration (particularly, the maximum value).

[0033] The deceleration drive parameter adjustment unit 46 adjusts the drive parameters 431 in the deceleration section in which the movable member 3 is decelerated by the drive module 23 in accordance with the thrust in the acceleration section acquired by the acceleration thrust acquisition unit 44 and / or the weight of the transported object W, etc. estimated by the weight estimation unit 45.

[0034] Specifically, when the thrust in the acceleration section acquired by the thrust acquisition unit 44 during acceleration and / or the weight of the transported object W estimated by the weight estimation unit 45 is large and the responsiveness to the drive command is poor, the deceleration drive parameter adjustment unit 46 adjusts the drive parameters 431 such as control gains so that the thrust applied by the drive module 23 to the mover 3 in the deceleration section is large. On the other hand, when the thrust in the acceleration section acquired by the thrust acquisition unit 44 during acceleration and / or the weight of the transported object W estimated by the weight estimation unit 45 is small and the responsiveness to the drive command is good, the deceleration drive parameter adjustment unit 46 may adjust the drive parameters 431 such as control gains so that the thrust applied by the drive module 23 to the mover 3 in the deceleration section is small.

[0035] For example, the deceleration drive parameter adjustment unit 46 may determine whether or not to adjust the drive parameters 431 based on a predetermined large thrust threshold or large weight threshold. Specifically, when the thrust in the acceleration section acquired by the acceleration thrust acquisition unit 44 and / or the weight of the transported object W, etc. estimated by the weight estimation unit 45 exceeds the large thrust threshold and / or the large weight threshold, the deceleration drive parameter adjustment unit 46 adjusts the drive parameters 431 such as the control gain so that the thrust applied by the drive module 23 to the mover 3 in the deceleration section becomes large. On the other hand, when the thrust in the acceleration section acquired by the acceleration thrust acquisition unit 44 and / or the weight of the transported object W, etc. estimated by the weight estimation unit 45 falls below the large thrust threshold and / or the large weight threshold, the deceleration drive parameter adjustment unit 46 may not change the drive parameters 431 in the deceleration section from the standard drive parameters 431 in the acceleration section.

[0036] Regardless of the specific value of the drive parameter 431, the thrust calculation unit 43 will sooner or later reach the target acceleration a t or the final velocity can be achieved. However, the target acceleration a t The time required to realize the target acceleration a or the responsiveness to the drive command varies depending on the specific values ​​of the drive parameters 431. According to the deceleration drive parameter adjustment unit 46, the target acceleration a can be quickly achieved, particularly when the thrust in the acceleration section acquired by the acceleration thrust acquisition unit 44 and / or the weight of the transported load W estimated by the weight estimation unit 45 is large. t In order to realize this, a large thrust can be easily achieved by increasing the drive parameters 431 such as the control gain.

[0037] As described above, according to this embodiment, even if the weight of the transported object W is large and the responsiveness to the drive command is poor, making it difficult to decelerate the load W, the mover 3 can be decelerated and driven quickly and efficiently by adjusting the drive parameters 431 by the deceleration drive parameter adjustment unit 46. Note that in this embodiment, the drive parameters 431 in the deceleration section are adjusted in accordance with the thrust and weight calculated in the acceleration section, but the target position x designated by the command unit 41 is not necessarily required.t , target speed v t , target acceleration a t In this manner, according to the present embodiment, appropriate deceleration of the mover 3 can be achieved without changing various commands from the command unit 41.

[0038] Furthermore, according to this embodiment, since information indicating the weight of the transported object W can be acquired by the thrust calculation unit 43, the acceleration thrust acquisition unit 44, the weight estimation unit 45, etc., it is not necessary to provide, for example, a weight sensor in each transport unit 33 for measuring the weight of the transported object W. Thus, according to this embodiment, even when each transport unit 33 transports each transported object W which may have a different weight, an appropriate deceleration drive in accordance with the weight of each transported object W can be realized with an inexpensive configuration that does not require an additional weight sensor.

[0039] 3 is a flowchart of a driving method for the linear transport system 1 according to this embodiment. In the flowchart, "S" denotes a step or process.

[0040] In S1, the command unit 41 sets the initial position x o For the mover 3 at the target position x t As described above, this drive command includes the target speed v t The speed command that specifies the target acceleration a in the acceleration and / or deceleration sections t An acceleration command specifying

[0041] In S2, the command unit 41 sets at least a deceleration section. Specifically, in S2, the command unit 41 sets the second position x b In S2, the command unit 41 may set the acceleration section and the constant velocity section. However, in the example of FIG. 3, the first position x a However, this is not specifically specified in S2. In this case, in S6 described later, the velocity v of the mover 3 is set to the target velocity v tWhen this point is reached, the acceleration section switches to a constant speed section.

[0042] In S3, the driving module 23 starts accelerating the mover 3 in the acceleration section. In S4, the thrust calculation unit 43 calculates the thrust to be applied to the mover 3 in the acceleration section by the driving module 23 based on a group of predetermined standard driving parameters 431. In S5, the acceleration thrust acquisition unit 44 acquires the thrust in the acceleration section calculated in S4. In S6, the velocity v of the mover 3 is accelerated to a target velocity v t If the determination in S6 is "No", the process returns to S4, and the calculation and application of the thrust in the acceleration section (S4) and the acquisition of the thrust (S5) are repeated.

[0043] If the result of S6 is "Yes", the process proceeds to S7. In S7, the maximum thrust value during acceleration acquired in S5 is recorded. In S8, the weight estimation unit 45 estimates the weight of the transported object W based on the maximum thrust recorded in S7.

[0044] In S9, the driving module 23 starts driving the mover 3 at a constant speed in the constant speed section. In S10, the thrust calculation unit 43 calculates the thrust to be applied to the mover 3 by the driving module 23 in the constant speed section based on the same standard driving parameters 431 as in S4. In S11, the mover 3 reaches the deceleration start position x b If the determination in S11 is "No", the process returns to S10, and the calculation and application of the thrust in the constant velocity section (S10) is repeated.

[0045] If the answer in S11 is "Yes", the process proceeds to S12. In S12, the deceleration drive parameter adjustment unit 46 determines whether the maximum thrust in the acceleration section recorded in S7 and / or the weight of the transported load W estimated in S8 exceeds a threshold value such as a large thrust threshold value and / or a large weight threshold value.

[0046] If the result of the determination in S12 is "Yes," in other words, if the weight of the load W carried by the mover 3 is greater than the threshold value, the process proceeds to S13. In S13, the deceleration drive parameter adjustment unit 46 updates the group of drive parameters 431 such as control gains so that the thrust applied by the drive module 23 to the mover 3 in the deceleration section becomes greater.

[0047] The processes in S12 and S13 are performed when the mover 3 reaches the deceleration start position x b In this case, the group of drive parameters 431 used in S10 will change, but since the various deviations Δx, Δv, and Δa output by the subtractor 42 are small during the constant speed period, the influence on the travel of the mover 3 is small.

[0048] In the following S14, the driving module 23 starts deceleration driving of the mover 3 in the deceleration section. In S15, the thrust calculation unit 43 calculates the thrust to be applied by the driving module 23 to the mover 3 in the deceleration section based on the driving parameters 431 updated in S13.

[0049] In S16, the mover 3 moves to the target position x set in S1. t If the determination in S16 is "No", the process returns to S15, and the calculation and application of the thrust in the deceleration section (S15) is repeated.

[0050] If the answer is "Yes" in S16, the process proceeds to S17. In S17, the deceleration drive parameter adjustment unit 46 adjusts the deceleration parameter when the mover 3 reaches the target position x t (after being determined as "Yes" in S16), the group of drive parameters 431 is returned to the values ​​before the adjustment in S13, that is, the values ​​of the group of standard drive parameters 431 used in S4 and S10. Therefore, in the subsequent acceleration drive (S4) and constant speed drive (S10) of the mover 3, the group of standard drive parameters 431 returned in S17 is used.

[0051] If the result of S12 is "No," in other words, if the weight of the load W being carried by the mover 3 is smaller than the threshold value, the process proceeds to S18 via S14. In S18, the thrust calculation unit 43 calculates the thrust to be applied to the mover 3 by the drive module 23 in the deceleration section based on the same standard drive parameters 431 as in S4 and S10. In S19, the mover 3 moves to the target position x t If the determination in S19 is "No", the process returns to S18, and the calculation and application of the thrust in the deceleration section (S18) is repeated. If the determination in S19 is "Yes", the process ends.

[0052] The present disclosure has been described above based on the embodiments. Various modifications are possible to the combinations of the components and processes in the exemplary embodiments, and it will be obvious to those skilled in the art that such modifications are included within the scope of the present disclosure.

[0053] In the embodiment, a linear conveying system is illustrated in which a mover is driven based on the magnetic force between a permanent magnet provided on the mover and an electromagnet provided on the stator, but the present disclosure is applicable to any drive device based on any principle other than magnetism (e.g., electricity or fluid).

[0054] The configuration, action, and function of each device and method described in the embodiments can be realized by hardware resources or software resources, or by the cooperation of hardware resources and software resources. For example, a processor, ROM, RAM, and various integrated circuits can be used as hardware resources. For example, programs such as an operating system and applications can be used as software resources. [Explanation of symbols]

[0055] 1 Linear conveying system, 2 Stator, 3 Driven object (mover), 4 Control device, 23 Drive module, 24 Detection unit, 33 Conveying unit, 41 Command unit, 42 Subtractor, 43 Thrust calculation unit, 44 Thrust acquisition unit during acceleration, 45 Weight estimation unit, 46 Drive parameter adjustment unit during deceleration, 431 Drive parameters.

Claims

1. an actuator that drives a driven object to a target position designated by a position command; a thrust calculation unit that calculates a thrust to be applied to the driven object by the actuator based on at least one drive parameter using a deviation between a current position of the driven object and the target position as an input; an acceleration thrust acquisition unit that acquires the thrust calculated by the thrust calculation unit in an acceleration section in which the driven object is accelerated by the actuator; a deceleration drive parameter adjustment unit that adjusts the drive parameters in a deceleration section in which the driven object is decelerated by the actuator in accordance with the thrust acquired by the acceleration thrust acquisition unit; A drive unit comprising:

2. 2. The drive device according to claim 1, wherein when the thrust acquired by the thrust acquisition unit during acceleration exceeds a predetermined large thrust threshold, the deceleration drive parameter adjustment unit adjusts the drive parameters so that the thrust applied by the actuator to the driven object in the deceleration section is increased.

3. The drive device according to claim 2 , wherein the deceleration drive parameter adjustment unit does not change the drive parameters in the deceleration section from those in the acceleration section when the thrust acquired by the acceleration thrust acquisition unit falls below the large thrust threshold value.

4. a weight estimation unit that estimates a weight of the driven object based on the thrust acquired by the acceleration thrust acquisition unit, the deceleration drive parameter adjustment unit adjusts the drive parameters in the deceleration section in accordance with the weight estimated by the weight estimation unit. A drive device according to any one of claims 1 to 3.

5. The actuator drives the driven object to the target position at a target speed specified by a speed command, the acceleration section is a section in which the driven object is accelerated to the target speed by the actuator, the deceleration section is a section in which the driven object is decelerated from the target speed by the actuator; A drive device according to any one of claims 1 to 3.

6. 4. The drive device according to claim 1, wherein the deceleration drive parameter adjustment unit returns the drive parameter to a value before adjustment after the driven object reaches the target position.

7. The driving device according to claim 1 , wherein the driven object is a conveying section that conveys objects having different weights.

8. A driving method for a driving device including an actuator that drives a driven object to a target position specified by a position command, and a thrust calculation unit that uses a deviation between a current position of the driven object and the target position as an input and calculates a thrust to be applied to the driven object by the actuator based on at least one driving parameter, comprising: acquiring a thrust calculated by the thrust calculation unit in an acceleration section in which the driven object is accelerated by the actuator; adjusting the drive parameters in a deceleration section in which the driven object is decelerated by the actuator according to the acquired thrust; Driving method to perform.

9. A drive program for a drive device including an actuator that drives a driven object to a target position specified by a position command, and a thrust calculation unit that uses a deviation between a current position of the driven object and the target position as an input and calculates a thrust to be applied to the driven object by the actuator based on at least one drive parameter, comprising: acquiring a thrust calculated by the thrust calculation unit in an acceleration section in which the driven object is accelerated by the actuator; adjusting the drive parameters in a deceleration section in which the driven object is decelerated by the actuator according to the acquired thrust; A storage medium storing a driving program for causing a computer to execute the above.

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