Autonomous Operation of Planar Linear Motors

平面直线电机的自主运行

• 批准号: 9900165
• 负责人: Ralph Hollis
• 金额: $ 30.64万
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1999
• 资助国家: 美国
• 起止时间: 1999-05-01 至 2003-10-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9900165&HistoricalAwards=false
• 关键词: Autonomous; Operation; Planar; Linear; Motors

This project will investigate the set of problems which must be solved to produce a new class of precision motion machines capable of rapidly moving over a planar surface and subsequently positioning to sub-micrometer precision without the need to provide air, power, and signals over a tether as is the case with today's technology. Planar linear motors currently used in industry operate with a tether in an open-loop stepping manner. This mode of operation makes them restricted in range of motion, susceptible to loss of steps, unable to reject external disturbances (such as tugs on the tether), unable to provide controlled forces, and unable to provide high stiffness. A previous NSF-funded project produced technology advances allowing integrated robust position sensing and control for this class of motors, providing improved motion characteristics including better disturbance rejection, better resolution, and reduced energy consumption. Building on these results, the present project will explore optimal energy utilization, innovative frictionless bearing design, and innovative integrated computing and communications technology to eliminate the need for a tether. Elimination of the tether will allow machines based on planar motors to be completely free-roaming over their corresponding stator surfaces. This will enable significant improvement in the operation of a wide range of systems, including manufacturing systems, that are based on these motors.

该项目将研究一系列必须解决的问题，以生产一种新型的精密运动机器，这种机器能够在平面上快速移动，随后定位到亚微米精度，而不需要像今天的技术那样通过系绳提供空气，电力和信号。 目前在工业中使用的平面直线电机以开环步进方式与系绳一起操作。 这种操作模式使得它们的运动范围受到限制，容易失去步幅，无法拒绝外部干扰（例如系绳上的牵引），无法提供受控力，并且无法提供高刚度。 之前NSF资助的一个项目产生了技术进步，允许为这类电机集成鲁棒的位置传感和控制，提供改进的运动特性，包括更好的干扰抑制，更好的分辨率和降低的能耗。 在这些结果的基础上，本项目将探索最佳的能源利用，创新的无摩擦轴承设计，以及创新的综合计算和通信技术，以消除对系绳的需要。 系绳的消除将允许基于平面电机的机器在其相应的定子表面上完全自由漫游。 这将使基于这些电机的各种系统（包括制造系统）的操作得到显著改善。