阅读说明：本技术 具有去耦的方位调节器的运动装置 (Motion device with decoupled orientation adjuster ) 是由 J.弗兰根 于 2019-06-12 设计创作，主要内容包括：本发明涉及一种用于运行包括第一和第二组件的运动装置的方法,第一组件包括第一基座和多个第一永磁装置,第一永磁装置通过相应所分配的致动器与第一基座如此连接,使得其相应地作为整体能够在至少一个自由度中借助于相应所分配的致动器相对于第一基座运动,第二组件包括第二基座和第二永磁装置,第二永磁装置相对于第二基座固定地布置。设置了至少两个分别具有唯一的标量的调节参量和唯一的标量的调整参量的方位调节器,调节参量相应地是关于第一和第二组件之间的相对方位的六个可能的自由度之一,调整参量代表着被分配给这个自由度的力或者转矩,从调整参量中计算并且/或者借助于数值表格来获取致动器的致动器-目标位置,相应地调整致动器。(The invention relates to a method for operating a movement device comprising a first and a second assembly, the first assembly comprising a first base and a plurality of first permanent magnet devices, the first permanent magnet devices being connected to the first base by means of a respectively associated actuator in such a way that they can be moved in each case as a whole in at least one degree of freedom relative to the first base by means of the respectively associated actuator, the second assembly comprising a second base and a second permanent magnet device, the second permanent magnet device being arranged fixedly relative to the second base. At least two position controllers are provided, each having a unique scalar control variable and a unique scalar control variable, the control variable being one of six possible degrees of freedom with respect to the relative position between the first and second components, the control variable representing the force or torque assigned to this degree of freedom, the actuator target position of the actuator being calculated from the control variable and/or being determined by means of a table of values, and the actuator being controlled accordingly.)

1. Method for operating a movement device (10) comprising a first and a second assembly (20, 30), wherein the first assembly (20) comprises a first base (21) and a plurality of first permanent magnet devices (22), wherein the first permanent magnet devices (22) are connected to the first base (21) by means of a respectively associated actuator (24) in such a way that they can be moved in each case as a whole in at least one degree of freedom relative to the first base (21) by means of the respectively associated actuator (24), wherein the second assembly (30) comprises a second base (31) and a second permanent magnet device (32), wherein the second permanent magnet device (32) is arranged fixedly relative to the second base (31), wherein at least two orientation controllers (12) are provided which each have a unique scalar control variable and a unique scalar control variable (57), wherein the manipulated variable is one of six possible degrees of freedom with respect to the relative orientation (50, 51) between the first and second components (20, 30), wherein the manipulated variable (57) represents a force or a torque assigned to this degree of freedom, wherein an actuator target position (80) of the actuator (24) is calculated from the manipulated variable (57) and/or is determined by means of a table of values, wherein the actuator (24) is adjusted accordingly.

2. The method of claim 1, wherein the first and second light sources are selected from the group consisting of,

wherein the orientation adjusters (12) are each configured as a continuous linear adjuster.

3. The method according to any one of the preceding claims,

six orientation adjusters (12) are provided therein.

4. The method according to any one of the preceding claims,

wherein the actuators (24) are adjustable by means of an electric current, wherein a position controller (87) is assigned to each actuator (24), the control variable of which is the position (80, 81) of the associated actuator (24), wherein the control variable of the actuator is at least indirectly the associated electric current (83).

5. The method according to any one of the preceding claims,

an orientation-determining device (13) is provided, by means of which an actual relative orientation vector (51) of the second component (30) relative to the first component (20) can be determined, in particular can be measured.

6. The method according to any one of the preceding claims,

wherein the actuator target position (80) is calculated from the manipulated variable (53) by solving a system of nonlinear equations.

7. The method of claim 6, wherein the first and second light sources are selected from the group consisting of,

wherein scalar error parameters (60) are calculated from the actual relative orientation (51) and a predefined target relative orientation (50) or the manipulated variable vector and the target manipulated variable vector within the scope of a solution of the system of nonlinear equations, wherein the error parameters (60) are optimized within the scope of the solution of the system of nonlinear equations.

8. The method of claim 7, wherein the first and second light sources are selected from the group consisting of,

wherein the optimization of the error parameters (60) is performed iteratively, wherein the orientation adjuster (12) is calculated in a time-discrete manner with a fixed time period, wherein all iteration steps of the optimization are performed within a time period.

9. The method of claim 8, wherein the first and second light sources are selected from the group consisting of,

wherein an actuator-target position (54) from an immediately preceding time period is used as an initial value for the optimization of the iteration.

10. The method according to any one of the preceding claims,

wherein either a plurality of first components (20) or a plurality of second components (30) is provided, wherein the method according to one of the preceding claims is carried out individually for each multiply-present component (20, 30).

11. Movement device (10) comprising a first and a second component (20, 30), wherein the first component (20) comprises a first base (21) and a plurality of first permanent magnet arrangements (22), wherein the first permanent magnet arrangements (22) are connected to the first base (21) by means of a respectively associated actuator (24) in such a way that they can be moved in each case as a whole in at least one degree of freedom relative to the first base (21) by means of the respectively associated actuator (24), wherein the second component (30) comprises a second base (31) and a second permanent magnet arrangement (32), wherein the second permanent magnet arrangement (32) is arranged fixedly relative to the second base (31), wherein at least two orientation controllers (12) are provided which each have a unique scalar adjustment variable and a unique scalar adjustment variable (57), wherein the manipulated variable is one of six possible degrees of freedom with respect to the relative orientation (50, 51) between the first and second components (20, 30), wherein the manipulated variable (57) represents a force or a torque assigned to this degree of freedom, wherein an actuator target position (80) of the actuator (24) can be calculated from the manipulated variable (57), wherein the actuator (24) can be adjusted accordingly.

12. The exercise apparatus in accordance with claim 11,

wherein the movement device is set up for carrying out the method according to one of claims 2 to 10.

Technical Field

The invention relates to a method for operating a movement apparatus according to claim 1 and a movement apparatus set up according to the method according to claim 11. With such a movement device, the second component can be held in a floating state relative to the first component solely by magnetic forces and moved under controlled conditions, wherein the roles of the first and second components can also be exchanged.

Background

From WO 2015/017933 a1 a movement device is known, for which a magnetic force is generated by means of an electromagnet. This results in high energy losses.

In the german patent application with document No. 102016224951.7, the applicant describes a completely novel movement device with which the functions known from WO 2015/017933 a1 can be achieved solely by the use of permanent magnets. As a result, much less waste heat is generated, wherein at the same time a much larger load can be kept in suspension.

An advantage of the invention is that, contrary to the enshaw theorem, a stable relative position between the first and second assembly can be set, despite the use of only permanent magnets. The method according to the invention also makes it possible to realize an arbitrary movement path in which the relative rotational position between the first and second components can be changed simultaneously during the respective translational movement. The method functions in a stable manner such that a stable relative position between the first and second components can be set despite unavoidable measurement errors in the position determination and errors in the computational modeling of the magnetic field. Furthermore, the method requires so little computing power that it can be implemented with digital calculators that are available today at reasonable prices.

Disclosure of Invention

The method according to the invention differs from the method according to DE102016224951.7 in that at least two orientation regulators (positioningregler) are provided, each with a unique scalar regulating variable and a unique scalar regulating variable, wherein the regulating variable (Regelgr ö β e) is in each case one of six possible degrees of freedom with respect to the relative orientation between the first and second components, wherein the regulating variable (Stellgr ö β e) represents the force or torque allocated to this degree of freedom, wherein an actuator target position of the actuator is calculated from the regulating variables and/or is determined by means of a table of values, wherein the actuator is adjusted accordingly, the orientation regulators are operated independently of one another or independently of one another for the purpose of the orientation regulation of different degrees of freedom of movement, and thus separate orientation decouplers are used accordingly.

During operation of the movement device, the first and second assemblies are preferably arranged at such a small distance from each other that a magnetic force can be adjusted between the second permanent magnet device and at least a part of the first permanent magnet device, said magnetic force being strong enough for spacing the two assemblies apart or keeping them in a suspended state against the action of gravity. The second assembly is preferably movable by adjustment of the first permanent magnet means relative to the first assembly.

The movement device can comprise a single first component and at least one second component, wherein the first component, in particular the first base, is arranged in a stationary manner in the sense of a stator, while the at least one second component can correspondingly itself be moved relative to the first component, so that it can be used, for example, as a workpiece carrier or transport body. The movement device can comprise at least one first component and a single second component, wherein the second component, in particular the second base, is arranged in a stationary manner in the sense of a stator, while the at least one first component can correspondingly itself be moved relative to the second component, so that it can be used, for example, as a workpiece carrier or transport body. The component or the workpiece carrier, which is different from the stator, is preferably movable in a manner spaced apart from the stator or in a freely floating manner.

In general, a manipulated variable is understood to be a variable with respect to which a comparison is made between a target value and an actual value within the scope of the adjustment.

The mentioned relative orientation can comprise the position coordinates of a component other than the stator with respect to a rectangular coordinate system which is fixed with respect to the stator position. The mentioned relative orientation can comprise the relative rotation angle assigned to the coordinate system, in particular the Euler angle of a component different from the stator (https:// de. wikipedia. org/wiki/Eulersche _ Winkel). This can be used here, namely: the X-axis and the Y-axis, which are arranged parallel to the movement surface of the stator, preferably perform only a small rotational movement, while a complete rotation of 360 ° about the Z-axis, which is oriented perpendicularly to the movement surface, is possible.

The assembly serving as a stator preferably consists of a plurality of individual modules, which are substantially identical to one another, wherein each of them forms part of the associated base. For example, differences between modules may arise with respect to the allocation of unambiguous identifiers.

The permanent magnet arrangement preferably comprises at least two magnetic dipoles which are each arranged in pairs at a fixed distance from one another and in a fixed rotational position. It is obvious here that ideal magnetic dipoles can only be achieved approximately technically. In a preferred embodiment of the invention, it is sufficient to be able to use internet addresses, in particular in a computer model of a sports apparatus

The equations for the force and torque between the two magnetic dipoles, or equivalent simplified approximation equations or tables of approximation values, which can be recalled below. The permanent magnet arrangements preferably each consist of a plurality of individual magnets, which each form a unique magnetic dipole. This makes it possible to approach the mentioned formula particularly well in a simple manner. The mentioned forces and torques are preferably based on the center of gravity of components other than the stator.

Preferably, the actuators each have a unique degree of freedom, at most preferably an infinite degree of freedom of rotation. The actuator is preferably designed as an electric motor, at most preferably as a brushless dc motor. The first permanent magnet arrangement is preferably fixedly connected to the drive shaft of the assigned electric motor. The drive shaft or its axis of rotation is preferably oriented perpendicular to the surface of movement of the first base towards the second component. The running surface is preferably closed and/or flat. The running surface can be oriented perpendicular to the direction of gravity, wherein the orientation can be freely selected. The running surface can be curved as freely as possible in space.

It is conceivable that the manipulated variable or the corresponding force or torque is displayed to the user of the movement device. By means of the manipulated variables, it can be determined which load is applied to components other than the stator. By means of the manipulated variables it is also possible to determine where the load is arranged on the relevant component. Furthermore, by means of the manipulated variable, it can be determined whether the moving component has collided with another object.

It is also conceivable to display the relative orientation between the first and second components for the user.

Advantageous developments and improvements of the invention are specified in the dependent claims.

It can be provided that the orientation actuators are each designed as a continuous linear actuator. The corresponding regulator is known from a web page that can be called under the internet address https:// de. The orientation adjuster is preferably calculated digitally. The calculation is preferably carried out in a time-discrete manner, in particular with a constant time period. The orientation controller is preferably designed as a PID controller. Other regulators, such as fuzzy regulators, can also be used. However, the control parameters of the proposed linear continuous controller can be adjusted more easily, which is particularly important if they are to be adjusted during operation of the movement device for achieving an optimum adaptation to the respective operating state.

Six orientation adjusters can be provided. Thereby, an adjustment of the orientation in space in all six possible degrees of freedom of the rigid body is enabled. A particular advantage of the method according to the invention is that so many adjustments can be carried out in parallel without having to worry about problems with the stability of the adjustment.

Provision can be made for the actuators to be adjustable by means of an electric current, wherein a position controller (Stellungsregler) is assigned to each actuator, the control variable of which is the position of the associated actuator, wherein the control variable thereof is at least indirectly the associated electric current. It is conceivable to use a torque adjustment which is subordinate to the position regulator. Preferably, a position determination device is assigned to each actuator, with which the actuator actual position of this actuator can be determined. The actuator actual position is preferably measured directly, wherein it can also be taken into account that the actuator actual position is calculated from the voltage and current in the actuator.

Provision can be made for the actuator actual position to be compared with the actuator target position and for a fault flag to be set in the digital computer if the deviation is not plausible, so that the diagnostic function can take emergency measures and output a status message.

An orientation determining device can be provided, by means of which an actual relative orientation vector of the second component relative to the first component can be determined, in particular can be measured. The actual-relative orientation vector preferably comprises six single values corresponding to six degrees of freedom of the rigid body in space. The position determining means is constituted, for example, according to US 6615155B 2.

Provision can be made for the actuator target position to be calculated from the manipulated variable by solving a system of nonlinear equations. The movement means are preferably designed such that in each relative position between the first and second components there are at least six, preferably at least nine, first permanent magnet means, which are arranged next to the second permanent magnet means, so that a strong magnetic force acts between the mentioned permanent magnet means. As a result, the solvability of the non-linear system of equations is ensured. The advantage of this calculation is that the parameter, i.e. time, is not taken into account at all. Therefore, there is no concern that such calculation will have a profound effect on the stability of the dynamics of the overall adjustment. The dynamic stability is first determined by the adjustment to the orientation adjuster.

It can be provided that, within the scope of the solution of the system of nonlinear equations, scalar error parameters are calculated from the actual relative orientation and the predefined target relative orientation or from the manipulated variable vector and the target manipulated variable vector, wherein the error parameters are optimized within the scope of the solution of the system of nonlinear equations. The error parameter is preferably calculated such that it is positive anyway. For example, the sum of the squares of the differences between six individual target-relative orientations and the respective assigned actual-relative orientations can be calculated. Within the scope of the optimization, the absolute value of the error parameter is preferably minimized. The optimization can be carried out, for example, by means of a gradient method which is known from web pages that can be called at the internet address https:// de. Of course, other equivalent optimization methods can be considered. It is also conceivable to carry out the solution of the system of nonlinear equations at least partially in advance and to store the results in a numerical table used during the operation of the movement apparatus. However, such a numerical table is so extensive that the solution of the system of nonlinear equations is preferred during operation of the movement apparatus.

It can be provided that the optimization of the error parameters is performed iteratively, wherein the orientation regulator is calculated in a time-discrete manner with a fixed time period, wherein all iteration steps of the optimization are performed within the time period. Thereby, a high accuracy and a high dynamics of the adjustment is achieved.

It can be provided that the actuator target position from the immediately preceding time period is used as an initial value for the iterative optimization. Thereby, the optimization requires only a few iteration loops, which can easily be performed in the mentioned time periods.

It is possible to provide either a plurality of first components or a plurality of second components, the method according to the invention being carried out individually for each multiply-present component. This can easily be done if there are multiples of the first component. If there are multiples of the second component, it is preferable to utilize: only the first permanent magnet arrangement arranged next to the second component causes a noteworthy magnetic force. The different second components are thus each influenced by different first permanent magnet arrangements, so that the different methods according to the invention can be carried out independently of one another. The multiple components are preferably designed in the form of work piece carriers or in the form of transport bodies.

It goes without saying that the features mentioned above and those yet to be explained below can be used not only in the respectively specified combination, but also in other combinations or individually, without leaving the scope of the invention.

Drawings

The invention is explained in detail below with the aid of the figures. Wherein:

fig. 1 shows a roughly schematic sectional view of a movement device according to the invention;

fig. 2 shows a roughly schematic top view of a second component;

FIG. 3 shows a diagram of a method according to the invention;

FIG. 4 shows a diagram of the orientation adjustment unit of FIG. 3;

FIG. 5 shows a diagram of the computational unit in FIG. 3; and is

Fig. 6 shows a diagram of the actuator in fig. 3.

Detailed Description

Fig. 1 shows a roughly schematic sectional view of a movement device 10 according to the invention. The movement device 10 here comprises a single first module 20, which is embodied in the form of a stationary stator, and a single second module 30, which is embodied in the form of a movable workpiece carrier. The stator is typically constructed much larger than the workpiece carrier with respect to its moving surface 25. The assignment of the first and second components to the stator and the workpiece carrier can also be selected in reverse. The components different from the stator can be present in multiples.

The first component 20 comprises a base 21, which is formed here in the form of a completely closed housing. The upper side of the base 21 forms a closed, flat running surface 25 along which the second component 30 can run in a freely floating manner. The movement surface 25 is oriented perpendicular to the direction of gravity, wherein the orientation can be freely selected. In particular, the arrangement according to fig. 1 can be operated with a 180 ° turn. The running surface 25 can be curved as freely as possible in space.

Inside the first base 21, a plurality of first permanent magnet devices 22 are arranged, which are connected to the first base 21 by means of assigned actuators 24. The first permanent magnet arrangements 22 are of identical construction to one another and each comprise three first individual magnets which are arranged side by side in a row parallel to the running surface 25. The first individual magnets 23 each have a magnetic field which, at least in a distance, approaches the magnetic field of a magnetic dipole. The respective dipole vectors 26 are arranged in a pattern of halbach arrays, thereby generating a particularly intense magnetic field towards the second component. The distance of the first permanent magnet arrangements 22 relative to the moving surface 25 is selected to be the same for all first permanent magnet arrangements 22.

The actuator 24 is designed here as an electric motor, in particular as a brushless dc motor. They therefore have a single infinite degree of freedom of rotation, with the respective axis of rotation 85 oriented perpendicular to the moving surface 25. The drive shaft 84 of the electric motor is fixedly connected with the first single magnet 23 so that they form a substantially rigid unit which is rotatable as a whole with respect to the respective axis of rotation 85. The axis of rotation is arranged in the middle of the assigned first permanent magnet arrangement 22.

The first assembly 20 preferably comprises a plurality of first permanent magnet arrangements 22 with assigned actuators 24, which are arranged distributed in a planar grid over the moving surface 25. The graduation spacing of this grid is preferably of uniform design, so that only a few model parameters (reference number 65 in fig. 5) are required for the geometric description of the arrangement.

The first component 20 is assigned a rectangular coordinate system 11, the X and Y axes of which are oriented parallel to the moving surface 25, and the Z axis of which is oriented perpendicular to the moving surface 25.

The second assembly 30 is constructed in the type of work piece carrier. It comprises a second base, which is embodied here in the form of a flat plate with a constant thickness, wherein it has a flat upper side 35 and a flat lower side 36. The upper side 35 serves to support the payload 34, wherein it can be designed as arbitrarily as possible. The underside 36 facing the first component 20 is preferably adapted to the movement surface 25, wherein in particular the underside 36 should be able to be brought into direct contact with the movement surface 25, so that the second component 30 rests stably on the first component 20, in particular in the currentless state of the movement apparatus 10.

In this case, the second base 31 has a square contour in plan view, wherein a rectangular, circular or any other contour can also be considered. The second assembly 30 comprises a second permanent magnet arrangement 32 fixedly arranged relative to the second base. The second permanent magnet arrangement 32 comprises a plurality of second individual magnets 33, the magnetic field of which at least in a distance approaches the magnetic field of the magnetic dipole. A possible arrangement of the second single magnet 33 is explained in more detail with reference to fig. 2. The second individual magnet 33 is arranged as closely as possible to the underside 36, so that a strong magnetic force can be set towards the first permanent magnet arrangement 22.

Furthermore, the movement device 10 comprises a position-determining device 13 constructed according to US 6615155B 2, which is arranged partly in the first component 20 and partly in the second component 30. This orientation determining means 13 operates in an inductive manner. It comprises planar coils in the first assembly 20, which are arranged distributed over the entire moving surface 25. Further, a coil is provided in the second module 30. With this position-determining means 13, for example, three position coordinates X, Y, Z of the second component 30 can be acquired in relation to the coordinate system 11, wherein in addition, for example, three euler angles (https:// de. The six parameters mentioned are combined in the range of fig. 3 to 6 into a true-relative orientation vector (reference numeral 51 in fig. 3).

Fig. 2 shows a roughly schematic top view of the second component 30. The plane of the drawing is oriented parallel to the lower side (reference number 36 in fig. 1) of the second component, with the viewing direction pointing towards the first component. The second single magnets 33 are arranged distributed over the entire lower side surface of the second base 31. Their dipole vectors each have one of six different possible arrangements, oriented vertically or parallel in pairs. The dipole vector of the second individual magnet 33, which is provided with the symbol according to reference numeral 33a, is directed perpendicularly away from the lower side. The dipole vector of the second individual magnet 33, which is provided with the symbol according to reference numeral 33b, is directed perpendicularly towards the lower side. The dipole vector of the second individual magnet 33, which is provided with the symbol according to reference numeral 33c, points parallel to the lower side in the direction of the arrow. The arrangement and orientation of the second individual magnet 23 is preferably selected in such a way according to a halbach array that a particularly strong magnetic field is generated towards the first component.

Furthermore, the precise arrangement of the second individual magnet 33 is rather of minor importance. Above all, the arrangement and orientation of the second individual magnet 33 relative to the second base 31 is known, wherein said arrangement and orientation is preferably used as a model parameter (reference numeral 65 in fig. 5) within the scope of the method according to the invention.

It goes without saying that instead of the second single magnet 33, a single-piece permanent magnet arrangement magnetized in a similar manner can also be used. The permanent magnet arrangement can be produced, for example, in a 3D printing method, wherein the corresponding plastic forms a binder for the permanent magnet particles. However, in the context of mass production, it is much easier to generate a magnetic field that can be reproduced with small tolerances and is also very strong with a single magnet. Furthermore, with a single magnet, it is much easier to generate a magnetic field which can be described in the scope of the calculation model (reference numeral 64 in fig. 5) by a formula for an ideal magnetic dipole with good approximation.

Fig. 3 shows a diagram of the method according to the invention. The user of the movement device specifies a target relative orientation vector 50 which describes the desired position of the second component relative to the first component. The target-relative orientation vector 50 is here based on the same coordinate system as the actual-relative orientation vector 51, which is measured by the orientation determining means 13 as described above. The target-relative orientation vector 50 can change over time, preferably continuously, so that the second component moves along the trajectory.

In a first step, an adjustment difference vector 52 is obtained by: the actual-relative orientation vector 51 is subtracted, component-wise, from the target-relative orientation vector 50 or vice versa. The adjustment difference vector 52 is fed to the orientation adjustment unit 14, which is described in detail with reference to fig. 4. The orientation adjustment unit 14 obtains an adjustment parameter vector 53 from the adjustment difference vector 52. The manipulated variable vector 53 represents the magnetic force and torque that must be applied by the first component to the second component in order for the actual-relative orientation vector 51 to approach the target-relative orientation vector 50.

From the manipulated variable vector 53, an actuator target position vector 54 is calculated by the calculation unit 15, which contains the positions of the various actuators, which are to be adjusted in order to generate forces and torques in accordance with the manipulated variable vector 53. The calculation unit 15 is described in detail with reference to fig. 5. For ease of calculation, the actuator-target-position vector 54 preferably only describes actuators that are in the vicinity of the second component. It goes without saying that this can be a different actuator depending on the actual-relative orientation vector 51.

In the context of fig. 3 to 6, a vector comprising a plurality of scalar individual variables is illustrated by a double arrow, wherein the scalar individual variables are illustrated by simple arrows. The division of the vector, here the actuator-target-position vector 54, into its individual components, here the individual actuator-target positions 80, is symbolically represented by a thick black line with the reference numeral 89. The actuator target positions 80 are each delivered to an assigned adjusting unit 16, which respectively comprises the assigned actuator. The adjusting unit 16 is described in detail with reference to fig. 6.

The arrangement according to fig. 3 together with the arrangement according to fig. 1 forms a closed orientation adjustment ring for the relative orientation between the first and second components. The control unit 14 can be designed in a simple manner, wherein in particular a particularly simple PID controller is used, which is not easily adaptable to nonlinear control systems, such as current control systems. Only the extreme non-linearity of the regulating system is taken into account in the calculation unit 15.

Fig. 4 shows a diagram of the orientation adjusting unit 14 in fig. 3. The horizontal black bold line 55 symbolically represents the division of the adjustment difference vector 52 into its individual scalar adjustment differences. These control differences are each supplied to an associated position controller 12, which is designed here as a continuous linear controller, in particular as a PID controller. Therefore, no interaction occurs between the six degrees of freedom of the adjustment difference vector 52 within the range of the orientation adjusting unit 14. The interaction is only performed in the calculation unit 15.

Each orientation adjuster 12 receives a respective allocated scalar adjustment variable 57. The manipulated variable represents a force or a torque associated with the respective degree of freedom. The black horizontal thick line with reference numeral 56 symbolically represents the case where the individual adjustment parameters 57 are combined into an adjustment parameter vector 53.

The preferred PID controller 12 has three control parameters each. These adjustment parameters can be fixedly set. However, the control parameters are preferably set during operation, for example for adapting the movement device to a time-varying payload (reference numeral 34 in fig. 1) or to a direction of action of the gravitational force that varies as a result of a varying operating position. If the moving surface (reference numeral 25 in fig. 1) extends curved in space, it is advantageous to adjust the adjustment parameter depending on the relative orientation between the first and second components. Depending on whether the second component or the workpiece carrier is moved slowly or dynamically along a predetermined trajectory, it can also be advantageous to change the mentioned control parameters during operation.

Fig. 5 shows a diagram of the calculation unit 15 in fig. 3. The core of the computation unit 15 is a computation model 64 of the movement apparatus, with which it can be computed which magnetic forces and torques act between the first and second components, based on the actual relative orientation vector 51 and based on the temporary actuator-target-position vector 61. The movement device can be designed such that it comprises only individual magnets, each having a magnetic field which is very close to the magnetic field of a magnetic dipole. Thus, the force and torque between two individual magnets can be calculated using a formula for an ideal magnetic dipole, which can be found at an internet address

And then called. The total force or total torque acting on the center of gravity of the second component, which results from the summation over the range of all possible pairings of the first and second individual magnets, taking into account all the active magnetic and moment forces, lever forces and inertial forces, is combined into the calculated manipulated variable vector 62. In addition to the mentioned input variables 51, 61, model parameters 65 are required for this calculation, which do not change during operation of the movement apparatus, in particular the arrangement and orientation of the second individual magnet relative to the second base, the arrangement of the actuator relative to the first base and the weight and center of gravity of the second component. Furthermore, the strength or magnetic dipole moment of the first and second individual magnets is included in the calculation.

In addition, model parameters that change during the operation of the movement device are taken into account, in particular the weight and the center of gravity of the second component, the direction of the gravity force or the inertial forces that act when the entire system is accelerated. It can be provided that this information is calculated from its input variables in the model and is supplied via a data interface to the position control unit 14 or to a user for adjusting control parameters, for example for monitoring the load state or for carrying out a process control.

It goes without saying that, in addition to the mentioned formulae, it is also possible to use a numerical table which is obtained, for example, by measuring the magnetic fields of the first and second permanent magnet arrangement. Here, interpolation can be performed between the respective numerical values in the numerical value table.

Fig. 5 furthermore depicts the solution of the nonlinear system of equations on which the calculation model 64 is based, for which the temporary actuator target position vector 61 is selected such that the calculated adjustment variable vector 62 is equal to the adjustment variable vector 53 of the azimuth adjustment unit. In the present case, a gradient method is used here, wherein fig. 5 shows a corresponding iteration loop.

As an initial value for the temporary actuator target position vector 61, the actuator target position vector 54 calculated during the last time period of the orientation adjustment is used. The calculated manipulated variable vector 62 is thus obtained by means of the calculation model 64. From the component-wise difference between the manipulated variable vector 53 and the calculated manipulated variable vector 62, a scalar error parameter 60 is calculated by means of an error function 66. Within the scope of the error function 66, for example, the squares of the differences mentioned can be summed.

If the error parameter 60 falls below a predetermined limit value, which is slightly different from zero, or a predetermined number of iterations is reached, the iteration loop is terminated and the temporary actuator target position vector 61 stored in the intermediate memory 68 is output as the actuator target position vector 54. This association is indicated by an arrow having reference numeral 63.

If the aforementioned conditions are not met, a new temporary actuator target position vector 61 is calculated from the intermediately stored temporary actuator target position vector 61 and the error parameter 60 according to the calculation rules of the gradient method that can be called under the internet address https:// de. In this case, in particular, a gradient of the calculation model 64 is used, which can optionally be calculated numerically or in accordance with a formula.

Fig. 6 shows a diagram of the adjustment unit 16 in fig. 3. All the elements described previously with reference to fig. 3 to 6, with the exception of the orientation-determining means, are preferably calculated digitally using a digital calculator, wherein the calculation is preferably carried out in a time-discrete manner over a fixed time period. The digital calculator can comprise a plurality of individual calculation units which are in data-exchange connection with one another.

The diagram according to fig. 6 contains mainly physically implemented components. In particular, this relates to an actuator 24 with a first permanent magnet arrangement 22, which has already been explained with reference to fig. 1. The actuator is equipped with a position determination device 86 in the form of a rotary encoder which transmits the actuator actual position 81 to the digital calculator. Furthermore, a current regulator 88, which is also referred to as a drive amplifier, is assigned to the actuator 24. This driver amplifier supplies a current 83 to the actuator 24, which current is required for setting the actuator target torque 82 predetermined by the digital calculator.

The position adjuster 87 is preferably calculated digitally by the digital calculator. Preferably, it is a continuous linear regulator, in particular a PID regulator. The difference formed by the relevant actuator target position 80 and the relevant actuator actual position 81 is supplied to the position controller 87. The actuator target torque 82 already mentioned is obtained therefrom. As a result, there is a closed adjusting ring which brings the actuator actual position 81 close to the actuator target position 80.

List of reference numerals:

10 exercise device

11 coordinate system

12 direction regulator

13 orientation determining device

14 azimuth adjusting unit

15 calculation unit

16 adjustment unit

20 first component

21 first base

22 first permanent magnet device

23 first single magnet

24 actuator

25 surface of motion

26 dipole vector

30 second component

31 second base

32 second permanent magnet device

33 second single magnet

33a second single magnet with dipole vector facing perpendicularly away from the lower side

33b second single magnet with dipole vector directed perpendicularly to the lower side

33c second single magnet with dipole vector parallel to the lower side in the direction of the arrow

34 payload

35 upper side

36 underside

50 target-relative orientation vector

51 true-to-relative orientation vector

52 adjusting the difference vector

53 adjusting the parameter vector

54 actuator-target-position vector

Splitting of 55 adjustment difference vectors into individual adjustment differences

56 individual manipulated variables are combined to a manipulated variable vector

57 scalar adjustment parameters

Error parameter of 60 scalar

61 temporary actuator-target-position vector

62 calculated adjustment parameter vector

63 trigger the trigger if the error parameter is sufficiently small or a predetermined number of iteration steps have been performed

64 calculation model of motion device

65 model parameters

66 error function

67 method of optimization

68 intermediate memory

80 actuator-target position

81 actuator-actual position

82 actuator-target Torque

83 current of

84 drive shaft

85 axis of rotation of the drive shaft

86 position determining device

87 position regulator

88 current regulator

89 the actuator-target-position vector is split into individual actuator-target positions.