In Steps S54 to S55, when a change rate Δτ* of a torque command value to a motor 10 is equal to or greater than a predetermined value, a frequency switching speed Δfc of a carrier frequency fc is set based on the number of rotations N of the motor 10 so that a response frequency ωfc of a frequency switching speed Δfc of the carrier frequency fc becomes faster than a response frequency ωACR of a current control unit 70. In Steps S54 and S56, when the change rate Δτ* of the torque command value to the motor 10 is less than a predetermined value, the frequency switching speed Δfc of the carrier frequency fc is set based on a torque command value τ* to the motor 10 and the number of rotations N of the motor 10 regardless of the response frequency ωACR of the current control unit 70. According to the invention, it is possible to suppress the torque fluctuation at the time of switching the carrier frequency while preventing the response deterioration of the motor control device, and it is possible to stably drive the motor in a wide operating range.

In an electromagnetic transport system, a transport route is divided into transport sections, each including at least one transport segment. A section control unit is assigned to each transport section, and a segment controller is assigned to each transport segment. A logistics unit, specifies a destination of the transport units to the section control units via the logistics network. Section control units are connected to the segment controllers of associated transport segments via a segment network and are designed to; determine a track section for the associated transport section from the destination, determine target values using the track section and to transmit the target values to the segment controllers via the segment network. Segment controllers supply current to drive coils using target values and occurring actual values to generate a magnetic field which interacts with drive magnets of the transport units to move the transport units.

An improved system for preventing collisions between movers while improving throughput in a linear drive system utilizes a continually variable vehicle length for each mover. A vehicle length is assigned to each mover, where the vehicle length is a minimum track length required by the vehicle to avoid physically contacting a neighboring vehicle along the track. The vehicle length for each mover is then determined for each location along the track based on both the track geometry and the mover geometry. The vehicle length is continually variable along the length of the track allowing movers to be positioned as close together as possible for each location along the track based on both the track geometry and the mover geometry. The continually variable vehicle length provides collision prevention between movers while increasing throughput of movers along segments of the track that do not require the largest spacing between movers.

Method for operating a transport apparatus that utilizes a long stator linear motor, the method includes moving a transport unit along a transport route of the long stator linear motor, causing drive magnets arranged on both sides of a main body of the transport unit to interact, at least in a region of a transfer position for transferring the transfer unit between two opposite route portions of the transport route, with drive coils of the opposite route portions of the transport route in order to generate a propulsive force (Fv), utilizing the drive magnets of the transport unit and the drive coils of the transport route of the long stator linear motor as sources of magnetomotive force of a magnetic circuit that develops at least in the region of the transfer position on both sides of the transport unit, and transferring the transport unit between the opposite route portions of the transport route in the transfer position by changing on at least one side of the transfer unit a magnetic flux (Ψ1, Ψ2) of the magnetic circuit of the at least one side during movement of the transport unit along the transport route in order to generate a lateral force acting on the transport unit.

Method for operating a transport apparatus that utilizes a long stator linear motor, the method includes moving a transport unit along a transport route of the long stator linear motor, causing drive magnets arranged on both sides of a main body of the transport unit to interact, at least in a region of a transfer position for transferring the transfer unit between two opposite route portions of the transport route, with drive coils of the opposite route portions of the transport route in order to generate a propulsive force (Fv), utilizing the drive magnets of the transport unit and the drive coils of the transport route of the long stator linear motor as sources of magnetomotive force of a magnetic circuit that develops at least in the region of the transfer position on both sides of the transport unit, and transferring the transport unit between the opposite route portions of the transport route in the transfer position by changing on at least one side of the transfer unit a magnetic flux (Ψ1, Ψ2) of the magnetic circuit of the at least one side during movement of the transport unit along the transport route in order to generate a lateral force acting on the transport unit.

A method and system for characterizing performance of a mover operating in a linear drive system is disclosed, where the linear drive system includes multiple track segments and where each track segment includes a segment controller. Each segment controller is configured to obtain an in-system frequency response for a mover present along the track segment. An injection sequence is generated within the segment controller, where the injection sequence includes harmonic content across a range of frequencies to be evaluated. The injection sequence is added to a control module within the segment controller, and the segment controller samples and records motion of the mover in response to the injection sequence. A frequency response corresponding to the recorded motion of the mover resulting from the injection sequence is obtained, and may be utilized to identify a resonant operating point or an undesirable level of the harmonic content present in the sampled data.

A method and system for characterizing performance of a mover operating in a linear drive system is disclosed, where the linear drive system includes multiple track segments and where each track segment includes a segment controller. Each segment controller is configured to obtain an in-system frequency response for a mover present along the track segment. An injection sequence is generated within the segment controller, where the injection sequence includes harmonic content across a range of frequencies to be evaluated. The injection sequence is added to a control module within the segment controller, and the segment controller samples and records motion of the mover in response to the injection sequence. A frequency response corresponding to the recorded motion of the mover resulting from the injection sequence is obtained, and may be utilized to identify a resonant operating point or an undesirable level of the harmonic content present in the sampled data.

A cargo container loading and unloading system for a transportation system, the cargo container loading and unloading system including a loading zone; and at least one opening connecting the loading zone to a transportation tube of the transportation system.

A cargo container loading and unloading system for a transportation system, the cargo container loading and unloading system including a loading zone; and at least one opening connecting the loading zone to a transportation tube of the transportation system.

A conveying-path rotary switching unit that is a conveying path switching device includes a base, stators arranged along conveying paths for branching for a conveying carriage, a first conveying path provided on the base, and a second conveying path that is provided on the base and is different from the first conveying path. As for a conveying path on which the conveying carriage travels, the first conveying path and the second conveying path are switchable by rotation. The stators are used for both the first conveying path and the second conveying path in a shared manner.