U.S. patent application number 14/323449 was filed with the patent office on 2014-10-23 for ironless magnetic linear motors having levitating and transversal force capacities.
The applicant listed for this patent is KONINKLIJKE PHILIPS N.V.. Invention is credited to Georgo Zorz Angelis, David Biloen.
Application Number | 20140312717 14/323449 |
Document ID | / |
Family ID | 37514243 |
Filed Date | 2014-10-23 |
United States Patent
Application |
20140312717 |
Kind Code |
A1 |
Angelis; Georgo Zorz ; et
al. |
October 23, 2014 |
IRONLESS MAGNETIC LINEAR MOTORS HAVING LEVITATING AND TRANSVERSAL
FORCE CAPACITIES
Abstract
A ironless magnetic motor (21-23) employs a magnetic track (30)
and a forcer (40). The forcer (40) is orientated in relations to a
magnetic field (.beta.) across a linear air gap of the magnetic
track (30) to generate a drive force (F.sub.X) parallel to the X
drive axis and orthogonal to the Z levitation axis in response to a
commutation drive current (I.sub.X) and to generate a force
(F.sub.Z, F.sub.Y) orthogonal to the X drive axis in response to a
commutation coil current (I.sub.Z, I.sub.Y) being superimposed on
and phase shifted from the commutation drive current (I.sub.X). To
this end, a set of levitating turns of the coil (41) parallel to
the X drive axis and orthogonal to the Z levitation axis may be
internal or external to magnetic field (.beta.), and the forcer
(40) may be centered or offset from a center X-Z longitudinal axis
(CP) of the linear air gap.
Inventors: |
Angelis; Georgo Zorz; (Oss,
NL) ; Biloen; David; (Rotterdam, NL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
KONINKLIJKE PHILIPS N.V. |
EINDHOVEN |
|
NL |
|
|
Family ID: |
37514243 |
Appl. No.: |
14/323449 |
Filed: |
July 3, 2014 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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12064967 |
Feb 27, 2008 |
8803372 |
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PCT/IB2006/052772 |
Aug 10, 2006 |
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14323449 |
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60712233 |
Aug 29, 2005 |
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Current U.S.
Class: |
310/12.22 |
Current CPC
Class: |
H02K 3/47 20130101; H02K
11/00 20130101; H02K 2201/18 20130101; H02K 41/031 20130101; H02K
16/02 20130101; H02K 41/02 20130101 |
Class at
Publication: |
310/12.22 |
International
Class: |
H02K 41/02 20060101
H02K041/02 |
Claims
1. An ironless magnetic motor, comprising: a magnetic track
generating a magnetic field (.beta.) across a linear air gap having
a X drive axis, a Y transversal axis and a Z levitation axis, the
X, Y and Z axis being mutually orthogonal; and a forcer including a
coil disposed within the linear air gap, the forcer being
positioned in an X-Z plane, and wherein a first set of levitating
turns of the coil parallel to the X drive axis and orthogonal to
the Z levitation axis is internal to magnetic field (.beta.),
wherein a second set of levitating turns of the coil parallel to
the X drive axis and orthogonal to the Z levitation axis is
external to magnetic field (.beta.), wherein an opposing set of
drive turns of the coil orthogonal to the X drive axis and parallel
to the Z levitation axis is substantially internal to magnetic
field (.beta.), wherein a commutation drive current (I.sub.X) is
applied to the coil to generate a drive force (F.sub.X) parallel to
the X drive axis and orthogonal to the Z levitation axis, and
wherein a commutation levitating current (I.sub.Z) is superimposed
on and phase shifted from the commutation drive current (I.sub.X)
to generate a levitating force (F.sub.Z) orthogonal to the X drive
axis and parallel to the Z levitation axis.
2. The ironless magnetic motor of claim 1, wherein the phase
shifting of commutation levitating current (I.sub.Z) from the
commutation drive current (I.sub.X) is such that the levitating
force (F.sub.Z) is at least substantially decoupled from the drive
force (F.sub.X).
3. The ironless magnetic motor of claim 1, wherein the phase
shifting of commutation levitating current (I.sub.Z) from the
commutation drive current (I.sub.X) is 90 degrees.
4. The ironless magnetic motor of claim 1, wherein the forcer is
centered on a center X-Z longitudinal plane (CP) of the linear air
gap.
5. The ironless magnetic motor of claim 1, wherein the first set of
levitating turns of the coil is a top set of levitating turns of
the coil.
6. The ironless magnetic motor of claim 1, wherein the second set
of levitating turns of the coil is a top set of levitating turns of
the coil.
7. An ironless magnetic motor, comprising: a magnetic track
generating a magnetic field (.beta.) across a linear air gap having
a X drive axis, a Y transversal axis and a Z levitation axis, the
X, Y and Z axis being mutually orthogonal; and a forcer including a
coil disposed within the linear air gap, the forcer being
positioned in an X-Z plane, and wherein the forcer is offset from a
center X-Z longitudinal plane (CP) of the linear air gap, wherein a
commutation drive current (I.sub.X) is applied to the coil to
generate a drive force (F.sub.X) parallel to the X drive axis and
orthogonal to the Y transversal axis, and wherein a commutation
transversal current (I.sub.Y), which is superimposed on and phase
shifted from the commutation drive current (I.sub.X), is applied to
the coil to generate a transversal force (F.sub.Y) orthogonal to
the X drive axis and parallel to the Y transversal axis.
8. The ironless magnetic motor of claim 7, wherein the phase
shifting of commutation transversal current (I.sub.Y) from the
commutation drive current (I.sub.X) is such that the transversal
force (F.sub.Y) is at least substantially decoupled from the drive
force (F.sub.X).
9. The ironless magnetic motor of claim 7, wherein the phase
shifting of commutation transversal current (I.sub.Y) from the
commutation drive current (I.sub.X) is 90 degrees.
10. The ironless magnetic motor of claim 7, wherein a first set of
levitating turns of the coil parallel to the X drive axis and
orthogonal to the Z levitation axis is external to magnetic field
(.beta.).
11. The ironless magnetic motor of claim 10, wherein a second set
of levitating turns of the coil parallel to the X drive axis and
orthogonal to the Z levitation axis is external to magnetic field
(.beta.).
12. An ironless magnetic motor, comprising: a magnetic track
generating a magnetic field (.beta.) across a linear air gap having
an X drive axis, a Y transversal axis and a Z levitation axis, the
X, Y and Z axis being mutually orthogonal; and a forcer including a
coil disposed within the linear air gap, and wherein the forcer is
offset from a center X-Z longitudinal plane (CP) of the linear air
gap, wherein a commutation drive current (I.sub.X) is applied to
the coil to generate a drive force (F.sub.X) parallel to the X
drive axis and orthogonal to the Y transversal axis, and wherein a
commutation transversal current (I.sub.Y) is superimposed on and
phase shifted from the commutation drive current (I.sub.X) to
generate a transversal force (F.sub.Y) orthogonal to the X drive
axis and parallel to the Y transversal axis.
13. The ironless magnetic motor of claim 12, wherein the
transversal force (F.sub.Y) is at least substantially decoupled
from the drive force (F.sub.X).
14. The ironless magnetic motor of claim 12, wherein the phase
shifting of commutation transversal current (I.sub.Y) from the
commutation drive current (I.sub.X) is 90 degrees.
15. The ironless magnetic motor of claim 12, wherein a first set of
levitating turns of the coil parallel to the X drive axis and
orthogonal to the Z levitation axis is external to the magnetic
field (.beta.).
16. The ironless magnetic motor of claim 15, wherein a second set
of levitating turns of the coil parallel to the X drive axis and
orthogonal to the Z levitation axis is external to magnetic field
(.beta.).
17. An ironless magnetic motor, comprising: a magnetic track
generating a magnetic field (.beta.) across a linear air gap having
an X drive axis, a Y transversal axis and a Z levitation axis, the
X, Y and Z axis being mutually orthogonal; and a forcer including a
coil disposed within the linear air gap, and wherein a commutation
drive current (I.sub.X) is applied to the coil to generate a drive
force (F.sub.Y) parallel to the X drive axis, and wherein the
forcer is orientated within the linear air gap to generate a force
(F.sub.Z, F.sub.Y) orthogonal to the X drive axis in response to a
commutation coil current (I.sub.Z, I.sub.Y) being superimposed on
and phase shifted from the commutation drive current (I.sub.X).
18. The ironless magnetic motor of claim 17, wherein the force
(F.sub.Z, F.sub.Y) is a levitating force (F.sub.Z) that is at least
substantially decoupled from the drive force (F.sub.X).
19. The ironless magnetic motor of claim 17, wherein the force
(F.sub.Z, F.sub.Y) is a transversal force (F.sub.Y) that is at
least substantially decoupled from the drive force (F.sub.X).
20. The ironless magnetic motor of claim 17, wherein the phase
shifting of commutation coil current (I.sub.Z, I.sub.Y) from the
commutation drive current (I.sub.X) is 90 degrees.
21. The ironless magnetic motor of claim 17, wherein a set of
levitating turns of the coil parallel to the X drive axis and
orthogonal to the Z levitation axis is external to magnetic field
(.beta.).
22. The ironless magnetic motor of claim 17, wherein a set of
levitating turns of the coil parallel to the X drive axis and
orthogonal to the Z levitation axis is internal to magnetic field
(.beta.).
23. The ironless magnetic motor of claim 17, wherein the forcer is
centered on a center X-Z longitudinal plane (CP) of the linear air
gap.
24. The ironless magnetic motor of claim 17, wherein the forcer is
offset from a center X-Z longitudinal plane (CP) of the linear air
gap.
Description
[0001] This application claims the benefit or priority of and
describes the relationships between the following applications:
wherein this application is a continuation of U.S. patent
application Ser. No. 12/064,967, filed Feb. 27, 2008, which is the
National Stage of International Application No. PCT/1B2006/052772,
filed Aug. 29, 2005, which claims benefit of U.S. provisional
application 60/712,233 filed Aug. 29, 2005, all of which are
incorporated herein in whole by reference.
[0002] The present invention generally relates to ironless magnetic
linear motors. The present invention specifically relates to
generating two or more controllable orthogonal forces in an
ironless magnetic linear motor.
[0003] FIGS. 1-4 illustrate a ironless magnetic linear motor 20
employing a magnetic track 30 and a forcer 40. Magnetic track 30
includes a linear magnetic array 31 and a linear magnetic array 32
for generating a magnetic field .beta. across a linear air gap as
best shown in FIG. 3. Linear magnetic arrays 31 and 32 have
180.degree. degree spatial separation between adjacent magnets.
[0004] Forcer 40 is disposed within the linear air gap along a
center X-Z longitudinal plane CP of the linear air gap as best
shown in FIG. 2, and includes three (3) coils 41-43 with a
120.degree.+n*360 degree spatial separation (n is an arbitrary
integer) between adjacent coils. As shown in FIG. 4, coil 41 is
represented by its flow path for a commutation drive current
I.sub.X1, coil 42 is represented by its flow path for a commutation
drive current I.sub.X2 and coil 43 is represented by its flow path
for a commutation drive current I.sub.X3.
[0005] Opposing sets of drive turns of coils 41-43 orthogonal to a
X drive axis of linear air gap and parallel to a Z levitation axis
of linear air gap are internal to magnetic field .beta. as best
shown in FIGS. 2 and 4. Opposing sets of levitating turns of coils
41-43 parallel to the X drive axis and orthogonal to the Z
levitation axis are external to magnetic field .beta. as best shown
in FIG. As a result, an application of a 120.degree. phase shift
PS1 of commutation drive currents I.sub.X1, I.sub.X2 and I.sub.X3to
coils 41-43, respectively, exclusively generates a drive force
F.sub.X parallel to the X drive axis as best shown in FIG. 5.
[0006] A drawback of the structural configuration of ironless
magnetic linear motor 20 is its inability to generate a
substantially independent levitating force F.sub.Z parallel to the
Z levitating axis as best shown in FIG. 5 and its inability to
generate a substantially independent transversal force F.sub.Y
parallel to the Y transversal axis of the linear air gap as best
shown in FIG. 5. To overcome these drawbacks, the present invention
provides a new and improved ironless magnetic linear motor
implementing a new orientation of forcer 40 within the linear air
gap of magnetic track 30 to thereby facilitate a superimposition of
a commutation levitation current I.sub.Z and/or a commutation
transversal current I.sub.Y on the commutation drive current
I.sub.X for each coil of forcer 40.
[0007] In a first form of the present invention, one set of
levitating turns of a coil parallel to the X drive axis and
orthogonal to the Z levitation axis is internal to magnetic field,
and an opposing set of levitating turns of a coil parallel to the X
drive axis and orthogonal to the Z levitation axis is external to
magnetic field. A commutation drive current is applied to the coil
to generate a drive force parallel to the X drive axis and
orthogonal to the Z levitation axis. A commutation levitating
current is superimposed on and phase shifted from the commutation
drive current to generate a levitating force orthogonal to the X
drive axis and parallel to the Z levitation axis.
[0008] In a second form of the present invention, a coil of the
forcer is offset from a center X-Z longitudinal plane of the linear
air gap. A commutation drive current is applied to the coil to
generate a drive force parallel to the X drive axis and orthogonal
to the Y transversal axis. A commutation transversal current is
superimposed on and phase shifted from the commutation drive
current to generate a transversal force orthogonal to the X drive
axis and parallel to the Y transversal axis.
[0009] In a third form of the present invention, a commutation
drive current is applied to a coil of the forcer to generate a
drive force parallel to the X drive axis. The forcer is orientated
with the linear air gap to generate a force orthogonal to the X
drive axis in response to an additional commutation coil current
being superimposed on and phase shifted from the commutation drive
current.
[0010] The foregoing forms and other forms of the present invention
as well as various features and advantages of the present invention
will become further apparent from the following detailed
description of various embodiments of the present invention read in
conjunction with the accompanying drawings. The detailed
description and drawings are merely illustrative of the present
invention rather than limiting, the scope of the present invention
being defined by the appended claims and equivalents thereof.
[0011] FIG. 1 illustrates a view of an ironless magnetic linear
motor in a X-Z plane as known in the art;
[0012] FIG. 2 illustrates a view of the ironless magnetic linear
motor of FIG. 1 in a Y-Z plane;
[0013] FIG. 3 illustrates a view of a linear air gap of a magnetic
track of FIG. 1 in a X-Y plane;
[0014] FIG. 4 illustrates a view of an application of commutation
drive currents to coils of a forcer of FIG. 1 in a X-Z plane;
[0015] FIG. 5 illustrates exemplary commutation drive currents
applied to a forcer of FIG. 1 and an exemplary drive force
generated by the forcer in response to the commutation drive
currents as known in the art;
[0016] FIG. 6 illustrates a view of an ironless magnetic linear
motor in a Y-Z plane in accordance with a first embodiment of the
present invention;
[0017] FIG. 7 illustrates a view of an application of commutation
levitating currents to a forcer of FIG. 6 in a X-Z plane in
accordance with the present invention;
[0018] FIG. 8 illustrates exemplary commutation levitating currents
applied to the forcer of FIG. 7 and an exemplar levitation force
generated by the forcer in response to the commutation levitating
currents in accordance with the present invention;
[0019] FIG. 9 illustrates a view of an application of superimposed
commutation drive currents and commutation levitating currents to
the forcer of FIG. 7 in a X-Z plane in accordance with the present
invention;
[0020] FIG. 10 illustrates exemplary phase shifting of commutation
drive currents and commutation levitating currents as applied to
the forcer of FIG. 9 in accordance with the present invention;
[0021] FIG. 11 illustrates a view of an ironless magnetic linear
motor in a Y-Z plane in accordance with a second embodiment of the
present invention;
[0022] FIG. 12 illustrates a view of an application of superimposed
commutation drive currents and commutation levitating currents to a
forcer of FIG. 11 in a X-Z plane in accordance with the present
invention;
[0023] FIGS. 13 and 14 illustrate views of an ironless magnetic
linear motor in a Y-Z plane in accordance with a third embodiment
of the present invention;
[0024] FIG. 15 illustrates a view of an application of commutation
transversal currents to a forcer of FIGS. 13 and 14 in a X-Z plane
in accordance with the present invention;
[0025] FIG. 16 illustrates exemplary commutation transversal
currents applied to a forcer of FIG. 15 and an exemplary
transversal force generated by the forcer in response to the
commutation transversal currents in accordance with the present
invention;
[0026] FIG. 17 illustrates a view of an application of superimposed
commutation drive currents and commutation transversal currents to
the forcer of FIG. 2 in a X-Z plane in accordance with the present
invention;
[0027] FIG. 18 illustrates exemplary phase shifting of commutation
drive currents and commutation transversal currents as applied to
the forcer of FIG. 17;
[0028] FIG. 19 illustrates a commutation current
superimposition/phase shifting control system in accordance with a
fourth embodiment of the present invention;
[0029] FIG. 20 illustrates a first exemplary mechanical coupling of
a pair of ironless magnetic linear motor of the present invention
to an object;
[0030] FIG. 21 illustrates a second exemplary mechanical coupling a
pair of ironless magnetic linear motor of the present invention to
an object;
[0031] FIG. 22 illustrates a view of an ironless magnetic linear
motor of FIG. 21 in a X-Z plane;
[0032] FIG. 23 illustrates a third exemplary mechanical coupling a
pair of ironless magnetic linear motor of the present invention to
an object; and
[0033] FIG. 24 illustrates a view of a mechanical coupling of a
pair of ironless magnetic linear motor of FIG. 23 in a X-Z
plane.
[0034] Referring to FIG. 6, an ironless magnetic linear motor 21 of
the present invention employing magnetic track 30 and forcer 40
with forcer 40 having a new and unique orientation within the
linear air gap. Specifically, forcer 40 is disposed within the
linear air gap along a center X-Z longitudinal plane CP of the
linear air gap as best shown in FIG. 6. As shown in FIG. 7, coil 41
of forcer 40 is represented by its flow path for a commutation
levitating current I.sub.Z1, coil 42 is of forcer 40 is represented
by its flow path for a commutation levitating current I.sub.Z2,
coil 43 of forcer 40 is represented by its flow path for a
commutation levitating current I.sub.Z3.
[0035] Opposing sets of drive turns of coils 41-43 orthogonal to
the X drive axis and parallel to the Z levitation axis are internal
to magnetic field .beta. as best shown in FIG. 7. One set of
levitating turns of coils 41-43 parallel to the X drive axis and
orthogonal to the Z levitation axis from a bottom perspective of
FIG. 7 is external to magnetic field .beta., while the opposing set
of levitating turns of coils 41-43 parallel to the X drive axis and
orthogonal to the Z levitation axis from a top perspective of FIG.
7 is internal to magnetic field .beta.. As a result, an application
of a 120.degree. phase shift PS1 of commutation levitating currents
I.sub.Z1, I.sub.Z2 and I.sub.Z3 to coils 41-43, respectively,
generates a levitating force F.sub.Z parallel to the Z levitating
axis as best shown in FIG. 8.
[0036] The present invention provides for a phase shifting of a
superimposition of commutation levitating currents I.sub.Z1,
I.sub.Z2 and I.sub.Z3 on commutation drive currents I.sub.X1,
I.sub.X2 and I.sub.X3, respectively, to facilitate a maximum
decoupling, if not a complete decoupling, of drive force F.sub.X
(FIG. 5) and levitating force F.sub.Z (FIG. 8). Specifically, as
shown in FIG. 9, coil 41 of forcer 40 is represented by its flow
path for a superimposition of commutation levitating current
I.sub.Z1 on commutation drive coil I.sub.X1, coil 42 of forcer 40
is represented by its flow path for a superimposition of
commutation levitating current I.sub.Z2 on commutation drive coil
I.sub.X2, and coil 43 of forcer 40 is represented by its flow path
for a superimposition of commutation levitating current I.sub.Z3 on
commutation drive coil I.sub.X3. As shown in FIG. 10, commutation
levitating current I.sub.Z1 is phase shifted from commutation drive
coil I.sub.X1 by a 90.degree. phase shift PS2, commutation
levitating current I.sub.Z2 is phase shifted from commutation drive
coil I.sub.X2 by 90.degree. phase shift PS2, and commutation
levitating current I.sub.Z3 is phase shifted from commutation drive
coil I.sub.X3 by 90.degree. phase shift PS2.
[0037] Referring to FIG. 11, an ironless magnetic linear motor 22
of the present invention employing magnetic track 30 and forcer 40
with forcer 40 having a opposite orientation within the linear air
gap as compared to the forcer 40 orientation of the linear air gap
of motor 21 (FIG. 6). Specifically, opposing sets of drive turns of
coils 41-43 orthogonal to the X drive axis and parallel to the Z
levitation axis are internal to magnetic field .beta. as best shown
in FIG. 12. One set of levitating turns of coils 41-43 parallel to
the X drive axis and orthogonal to the Z levitation axis from a top
perspective of FIG. 12 is external to magnetic field .beta., while
the opposing set of levitating turns of coils 41-43 parallel to the
X drive axis and orthogonal to the Z levitation axis from a bottom
perspective of FIG. 12 is internal to magnetic field .beta.. As a
result, an application of a 120.degree. phase shift PS1 of
commutation levitating currents I.sub.Z1, I.sub.Z2 and I.sub.Z3 to
coils 41-43, respectively, generates a levitating force F.sub.Z
parallel to the Z levitating axis as best shown in FIG. 8.
[0038] The present invention provides for a phase shifting of a
superimposition of commutation levitating currents I.sub.Z1,
I.sub.Z2 and I.sub.Z3 on commutation drive currents I.sub.X1,
I.sub.X2 and I.sub.X3, respectively, to facilitate a minimal
decoupling, if not a complete decoupling, of drive force F.sub.X
(FIG. 5) and levitating force F.sub.Z (FIG. 8). Specifically, as
shown in FIG. 12, coil 41 of forcer 40 is represented by its flow
path for a superimposition of commutation levitating current
I.sub.Z1 on commutation drive coil I.sub.X1, coil 42 of forcer 40
is represented by its flow path for a superimposition of
commutation levitating current I.sub.Z2 on commutation drive coil
I.sub.X2, and coil 43 of forcer 40 is represented by its flow path
for a superimposition of commutation levitating current I.sub.Z3 on
commutation drive coil I.sub.X3. As shown in FIG. 10, commutation
levitating current I.sub.Z1 is phase shifted from commutation drive
coil I.sub.X1 by a 90.degree. phase shift PS2, commutation
levitating current I.sub.Z2 is phase shifted from commutation drive
coil I.sub.X2 by 90.degree. phase shift PS2, and commutation
levitating current I.sub.Z3 is phase shifted from commutation drive
coil I.sub.X3 by 90.degree. phase shift PS2.
[0039] Referring to FIGS. 13-15, an ironless magnetic linear motor
23 of the present invention employing magnetic track 30 and forcer
40 with forcer 40 having a new and unique orientation within the
linear air gap. Specifically, forcer 40 is disposed within the
linear air gap at an offset to center X-Z longitudinal plane CP of
the linear air gap as best shown in FIGS. 13 and 14. As shown in
FIG. 15, coil 41 of forcer 40 is represented by its flow path for a
commutation levitating current I.sub.Y1, coil 42 is of forcer 40 is
represented by its flow path for a commutation levitating current
I.sub.Y2, coil 43 of forcer 40 is represented by its flow path for
a commutation levitating current I.sub.Y3.
[0040] Opposing sets of drive turns of coils 41-43 orthogonal to
the X drive axis and parallel to the Z levitation axis are internal
to magnetic field .beta. as best shown in FIG. 15. Opposing sets of
levitating turns of coils 41-43 parallel to the X drive axis and
orthogonal to the Z levitation axis are external to magnetic field
.beta. as best shown in FIG. 15. As a result, an application of a
120.degree. phase shift PS1 of commutation transversal currents
I.sub.Y1, I.sub.Y2 and I.sub.Y3 to coils 41-43, respectively,
generates a transversal force F.sub.Y parallel to the Y transversal
axis as best shown in FIG. 16.
[0041] The present invention provides for a phase shifting of a
superimposition of commutation transversal currents I.sub.Y1,
I.sub.Y2 and I.sub.Y3 on commutation drive currents I.sub.X1,
I.sub.X2 and I.sub.X3, respectively, to facilitate a minimal
decoupling, if not a complete decoupling, of drive force F.sub.X
(FIG. 5) and transversal force F.sub.Y (FIG. 16). Specifically, as
shown in FIG. 17, coil 41 of forcer 40 is represented by its flow
path for a superimposition of commutation transversal current
I.sub.Y1 on commutation drive coil I.sub.X1, coil 42 of forcer 40
is represented by its flow path for a superimposition of
commutation transversal current I.sub.Y2 on commutation drive coil
I.sub.X2, and coil 43 of forcer 40 is represented by its flow path
for a superimposition of commutation transversal current I.sub.Y3
on commutation drive coil I.sub.X3. As shown in FIG. 18,
commutation transversal current I.sub.Y1 is phase shifted from
commutation drive coil I.sub.X1 by a 90.degree. phase shift PS2,
commutation transversal current I.sub.Y2 is phase shifted from
commutation drive coil I.sub.X2 by 90.degree. phase shift PS2, and
commutation transversal current Y.sub.Y3 is phase shifted from
commutation drive coil I.sub.X3 by 90.degree. phase shift PS2.
[0042] In practice, the present invention does not impose any
limitations or any restrictions as a system for controlling a
ironless magnetic linear motor of the present invention. In one
embodiment as illustrated in FIG. 19, a commutation current
superimposition/phase shifting control system 50 of the present
invention employing M number of forcer position sensors 51, where
M.gtoreq.1, and a commutation current generator 52. Sensor(s) 51
operate to measure the relative position (up to 360 spatial
degrees) of coils of a forcer within the magnetic field generated
by the linear arrays of magnets within the linear air gap of the
magnetic track. In one embodiment, sensor(s) 51 are position
transducers strategically positioned relative to the forcer to
thereby provide signals FPS indicative of a position of coils of a
forcer within the magnetic field in view of the structural
configurations of the magnetic track and the force. In a second
embodiment, sensor(s) 51 are magnetic flux sensors (e.g., Hall
sensors) strategically positioned relative to the forcer within the
magnetic field to thereby provide signals FPS indicative of a
position of coils of a forcer within the magnetic field in view of
the structural configurations of the magnetic track and the
forcer.
[0043] Commutation current generator 52 operates to provide a phase
shifting of a N number of superimposition of commutation levitating
currents I.sub.Z on respective commutation drive currents I.sub.X
and/or a phase shifting of a N number of superimposition of
commutation transversals currents I.sub.Y on respective commutation
drive currents I.sub.X as shown in FIG. 19. This operation of
generator 52 is in accordance with new and unique
superimposition/phase shifting commutation algorithm designed in
view of the structural configurations and relative orientations of
the magnetic track, the forcer and sensors 51.
[0044] Referring to FIGS. 6-19, those having ordinary skill in the
art will appreciate numerous advantages of the present invention
including, but not limited to, addressing the drawbacks of the
background art previously described herein. Furthermore, those
having ordinary skill in the art will appreciate how to apply the
phase shifting/superimposition inventive principles of the present
invention to ironless magnetic liner motors in addition to motors
21-23 shown in FIGS. 6, 11, 13 and 14, respectively. In particular,
those having ordinary skill in the art will appreciate how to apply
the phase shifting/superimposition inventive principles of the
present invention in the context of (1) the numerous variations in
a structural configuration of a magnetic track, (2) the numerous
variations in a structural configuration of a forcer, (3) the
numerous variations in the orientation of a forcer in a linear air
gap of a magnetic track in accordance with the present invention,
(4) the numerous variations in a structural configuration of forcer
position sensors, (5) the phase shifting range for commutation coil
currents of the same type, (6) the phase shifting range for
commutation coil currents of a dissimilar types and (7) the
implementation of a positive slope and/or a negative slope for the
commutation coil currents. The result is numerous variations of
combinations of ironless magnetic linear motors in accordance with
the inventive principles of the present invention, such as, for
example, the utilization of one or more magnetic tracks to build a
more degree of freedom (position and/or orientation)
stage/manipulator as will now be exemplary described herein in the
context of FIGS. 20-24.
[0045] Referring to FIG. 20, a pair of ironless magnetic linear
motors 23 (FIGS. 13-15) are mechanically coupled in an eccentric to
opposing sides of an object 60 whereby motors 23 can be operated to
selectively move object 60 in an X drive direction of their
respective linear air gaps and in a Y transversal direction of
their respective linear air gaps.
[0046] Referring to FIGS. 21 and 22, a pair of ironless magnetic
linear motors 24 are mechanically coupled in an eccentric to
opposing sides of an object 61. Each motor 24 includes a pair of
magnetic tracks 30 mechanically coupled to align their respective
linear air gaps as an integrated linear air gap. Each motor 24
further includes pair of outside forcers 40(O) within the
integrated linear air gap to selectively generate a drive force
F.sub.X, a levitation force F.sub.Z, a drive torque R.sub.X, a
levitating torque R.sub.Y and a transversal torque R.sub.Z. Each
motor 24 further includes an internal forcer 40(I) within the
integrated linear air gap to selectively generate a drive force
F.sub.X, a transversal force F.sub.Y, and levitating torque
R.sub.Z. The result is a six (6) degree of freedom control of
object 61 relative to a coordinate system of object 61 with a long
stroke of object 61 along the X drive axis of the integrated linear
air gaps of motors 24 and shorts strokes of object 61 along the Z
levitating axes and the Y transversal axes of the integrated linear
air gaps of motors 24.
[0047] Referring to FIGS. 23 and 24, a pair of ironless magnetic
linear motors 25 of the present invention are mechanically coupled
in an eccentric to opposing sides of an object 62 with each motor
25 having an ironless magnetic linear motor 26 of the present
invention being mechanically coupled thereto. Each motor 25 and
motor 26 includes a pair of magnetic tracks 30 mechanically coupled
to align their respective linear air gaps as a an integrated linear
air gap. Each motor 25 further includes pair of forces 40 within
the integrated linear air gap to selectively generate a drive force
F.sub.X, a levitation force F.sub.Z, a drive torque R.sub.X, a
levitating torque R.sub.Y and a transversal torque R.sub.Z. Each
motor 26 further includes a single forcer 40 within the integrated
linear air gap to selectively generate a drive force F.sub.X, and a
transversal force F.sub.Y. The result is a six (6) degree of
freedom control of object 62 relative to a coordinate system of
object 62 with a long stroke of object 62 along the X drive axis of
the integrated linear air gaps of motors 24 and shorts strokes of
object 62 along the Z levitating axes and the Y transversal axes of
the integrated linear air gaps of motors 24.
While the embodiments of the invention disclosed herein are
presently considered to be preferred, various changes and
modifications can be made without departing from the spirit and
scope of the invention. The scope of the invention is indicated in
the appended claims, and all changes that come within the meaning
and range of equivalents are intended to be embraced therein.
* * * * *