Abstract: To control movement of a transport unit of a linear motor, a quality functional J(SG) with quality terms JTk(SG) is used as a function of manipulated variables (SG) of active drive coils. The quality functional J(SG) controlling movement of the transport unit along the stator is optimized with regard to the manipulated variable (SG) to determine optimal manipulated variables (SGopt) for the relevant time step of the control of movement, active drive coils are energized according to the determined optimal manipulated variables (SGopt), and at least two movement phases are provided during the movement of the transport unit along the stator. In the at least two movement phases, different quality functionals J(SG) are used for determining the optimal manipulated variables (SGopt), the different quality functionals J(SG) differing by the number k of the quality terms JTk(SG) used and/or by the quality terms JTk(SG) and/or by the weighting Factors kk.

Abstract: For determination of the position of a movable component with a plurality of position magnets relative to a stationary component with a plurality of position sensors, it is provided that the sensor responses are detected for a group of position sensors in the region of the movable component, sensor model responses of the group of position sensors are determined from a sensor model for a plurality of assumed different relative positions of the movable component relative to the stationary component, the sensor model responses are compared with the sensor responses and the assumed relative position with the smallest deviation between the sensor model responses and the sensor responses is used as the relative position of the movable component.

Abstract: Method and device for controlling the electrical variables and/or LLM currents of LLM coils of an LLM stator, the movement of a first transport unit is controlled by an associated first transport controller, the movement of a second transport unit is controlled by an associated second transport controller, and a control unit checks whether the first transport controller intends to specify a first controlled variable for an LLM coil and whether the second transport controller simultaneously intends to specify a second controlled variable to the same LLM coil. In this case, either an additional controlled variable, which is derived from the first controlled variable and/or the second controlled variable using a predetermined function f (Ux=f(Ux?, Ux?), or Ux=f(Ux?) or Ux=f(Ux?)), is specified for the LLM coil, or the coil terminals of the LLM coil (Lx) are short-circuited.

Abstract: Linear motor and method to determine absolute position of a rotor movable with respect to a stationary part in a direction of movement, without movement of rotor, without additional permanent magnets, without a close arrangement of position sensors, and also during large movements of rotor, at least one edge area of an arrangement of drive magnets is determined, and rough position of rotor is derived, and using known geometry of rotor, specific drive magnet of the arrangement of drive magnets is determined whose magnetic field is detected by at least one of the position sensors in the area of the arrangement of drive magnets. At least one position sensor determines a relative position of measured drive magnet with respect to the at least one position sensor, and absolute position of rotor is determined from known mounting position of this at least one position sensor and from determined relative position.

Abstract: In a transition of a transport unit of a long stator linear motor from a first control zone to a following second control zone in a movement direction, a first segment control unit is responsible for controlling the movement of the transport unit and the first control zone is extended, in the movement direction, by a number of virtual drive coils. The first segment control unit, which is assigned to the first control zone, calculates manipulated variables for the virtual drive coils, and transmits the manipulated variables for the virtual drive coils to the second segment control unit, which is assigned to the second control zone. The second segment control unit uses the transmitted manipulated variables for the virtual drive coils in order to energize the drive coils of the second control zone for moving the transport unit.

Abstract: Method and device for controlling the electrical variables and/or LLM currents of LLM coils of an LLM stator, the movement of a first transport unit is controlled by an associated first transport controller, the movement of a second transport unit is controlled by an associated second transport controller, and a control unit checks whether the first transport controller intends to specify a first controlled variable for an LLM coil and whether the second transport controller simultaneously intends to specify a second controlled variable to the same LLM coil. In this case, either an additional controlled variable, which is derived from the first controlled variable and/or the second controlled variable using a predetermined function f (Ux=f(Ux?, Ux?), or Ux=f(Ux?) or Ux=f(Ux?)), is specified for the LLM coil, or the coil terminals of the LLM coil (Lx) are short-circuited.

Abstract: In a transition of a transport unit of a long stator linear motor from a first control zone to a following second control zone in a movement direction, a first segment control unit is responsible for controlling the movement of the transport unit and the first control zone is extended, in the movement direction, by a number of virtual drive coils. The first segment control unit, which is assigned to the first control zone, calculates manipulated variables for the virtual drive coils, and transmits the manipulated variables for the virtual drive coils to the second segment control unit, which is assigned to the second control zone. The second segment control unit uses the transmitted manipulated variables for the virtual drive coils in order to energize the drive coils of the second control zone for moving the transport unit.

Abstract: Linear motor and method to determine absolute position of a rotor movable with respect to a stationary part in a direction of movement, without movement of rotor, without additional permanent magnets, without a close arrangement of position sensors, and also during large movements of rotor, at least one edge area of an arrangement of drive magnets is determined, and rough position of rotor is derived, and using known geometry of rotor, specific drive magnet of the arrangement of drive magnets is determined whose magnetic field is detected by at least one of the position sensors in the area of the arrangement of drive magnets. At least one position sensor determines a relative position of measured drive magnet with respect to the at least one position sensor, and absolute position of rotor is determined from known mounting position of this at least one position sensor and from determined relative position.