CN105378174A - Washing machine - Google Patents
Washing machine Download PDFInfo
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- CN105378174A CN105378174A CN201480040857.4A CN201480040857A CN105378174A CN 105378174 A CN105378174 A CN 105378174A CN 201480040857 A CN201480040857 A CN 201480040857A CN 105378174 A CN105378174 A CN 105378174A
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Classifications
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
- D06F37/42—Safety arrangements, e.g. for stopping rotation of the receptacle upon opening of the casing door
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
- H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
- H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
- H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
- H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
- H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
- H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
- H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
- H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
- H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
- H02M7/53875—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with analogue control of three-phase output
- H02M7/53876—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with analogue control of three-phase output based on synthesising a desired voltage vector via the selection of appropriate fundamental voltage vectors, and corresponding dwelling times
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/36—Arrangements for braking or slowing; Four quadrant control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor
- H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor by short-circuit or resistive braking
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/24—Arrangements for stopping
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/24—Spin speed; Drum movements
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/40—Opening or locking status of doors
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/44—Current or voltage
- D06F2103/46—Current or voltage of the motor driving the drum
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
- D06F2105/44—Opening, closing or locking of doors
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
- D06F2105/46—Drum speed; Actuation of motors, e.g. starting or interrupting
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
- D06F2105/46—Drum speed; Actuation of motors, e.g. starting or interrupting
- D06F2105/48—Drum speed
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
- D06F34/08—Control circuits or arrangements thereof
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
- D06F34/10—Power supply arrangements, e.g. stand-by circuits
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Textile Engineering (AREA)
- Control Of Washing Machine And Dryer (AREA)
- Main Body Construction Of Washing Machines And Laundry Dryers (AREA)
- Stopping Of Electric Motors (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Provided is a washing machine comprising: a drum (106) for storing clothes (105); and a motor (109) equipped with permanent magnets (100, 101), and three-phase windings (102, 103, 104) for driving the drum (106). The washing machine further includes a cover for covering and uncovering the opening of the drum (106), and a cover lock for locking the cover. The washing machine further includes an inverter circuit (117) which receives power from a DC power source (144) and supplies the motor (109) with current using a plurality of switching elements (111, 112, 113, 114, 115, 116). The washing machine further includes a control unit (118) for turning the switching elements (111, 112, 113, 114, 115, 116) on and off.
Description
Technical field
The present invention relates to a kind of washing machine, this washing machine possesses storage clothing and has the cylinder of horizontal or vertical rotating shaft, makes brake goes be used for this cylinder is stopped.
Background technology
In the past, the DC-to-AC converter being used in washing machine was detected by rotor position detection unit such as the Hall IC of motor, and detected the rotation of motor by motor rotary detecting circuit or counter electromotive force detecting unit.When detecting motor rotation by rotor position detection unit or counter electromotive force detecting unit beyond when drive motor, carry out short-circuit braking.
Figure 51 is the circuit diagram (for example, referring to patent document 1) of washing machine in the past.
The winding to motor 940 of washing machine in the past provides the inverter circuit 941 of electric current to have switch element 942 ~ 947, controls its on-off by control part 948.
Washing machine in the past has shunt resistance 950,951 and comprises the amplification biasing circuit 952,953 of operational amplifier etc., to detect the electric current of the winding flowing through motor 940.The output signal of amplifying biasing circuit 952,953 is imported into control part 948, and can detect the current value of U phase and V phase, the current value of W phase also can calculate based on the galvanometer of U phase and V phase, thus can detect the whole electric current of three-phase.
In addition, when overcurrent, over-current detection signal is also input to control part 948 via diode 954,955 from overcurrent probe portion 956.
Flow chart when Figure 52 is washing machine startup in the past.From startup, (step S960) is transferred to short circuit (step S961), makes three all short circuits mutually of the winding of motor 940.
Stop in (step S962) at ensuing rotor, judge that detected winding current is whether more than three-phase consistent by gallon unit, when consistent, be judged as that motor 940 stops.
Afterwards, enter location (step S963), forced commutation (step S964), steady running (step S965), be transferred to steady running from startup.
Winding current waveform figure in short-circuit braking when Figure 53 is being in rotation of washing machine in the past.
In rotation, although the instantaneous value of 2 phase currents in the electric current of 3 phases is sometimes consistent, can not 3 all consistent mutually, be judged as stopping at the time point that the current value of 3 phases is consistent.
In addition, though illustrate, but in the short interval of 1 cycle than current waveform by the current detection value of a phase with reference to more than 2 times, be judged as when it is consistent stopping.
But, in structure in the past, in noisy situation of adulterating in current detection value, although sometimes in rotation the current detection value of 3 phases also consistent, 2 primary current detected values of 1 phase are consistent sometimes.In addition, when have input the fixing signal voltage of such as 0V, 5V etc. in the fault owing to amplifying biasing circuit to control part, be judged to be that the condition stopped is set up.When opening the lid of cylinder in this condition, dangerous.
In addition, the technology of washing machine is in the past disclosed in patent document 2 ~ 5.
Patent document 1: Japanese Unexamined Patent Publication 2005-6453 publication
Patent document 2: Japanese Unexamined Patent Publication 2011-5588 publication
Patent document 3: Japanese Unexamined Patent Publication 2000-175485 publication
Patent document 4: Japanese Unexamined Patent Publication 2012-130111 publication
Patent document 5: Japanese Unexamined Patent Publication 2003-275494 publication
Summary of the invention
The present invention, for solving problem in the past, provides a kind of and does not arrange the washing machine that the position sensors such as Hall IC just can guarantee security.
Washing machine of the present invention has: cylinder, and it receives clothing; Motor, it possesses the winding of permanent magnet and 3 phases, this motor head roll; Lid, it carries out opening and closing to the opening portion of cylinder; And cover lock bonding part, its locking cover.In addition, have inverter circuit and control part, from dc source to this inverter circuit supply electric power, this inverter circuit uses multiple switch element to provide electric current to motor, and this control part carries out on-off control to switch element.The output in gallon portion and received current probe portion that control part possesses probe current carrys out the speed calculating part of the speed of calculating motor.In addition, during the braking of cylinder, control part gauge tap element remains roughly zero to make the input voltage of motor, after speed becomes below setting, makes it possible to open lid by cover lock bonding part.
Thus, although be do not have the simple of the position sensors such as such as Hall IC and the structure of low cost, also under the sufficiently high state of security, user is allowed to open the action of lid.Due to this physical quantity of computational speed, therefore, it is possible to also adjust effectively make use of the successional response of the speed existed because of inertia.Thus, doing one's utmost the impact eliminating the noise that gallon portion exports, and, even if when being independently fixed as fixed value due to gallon portion fault with the current value of reality, also can not be judged to mistakenly to stop.
Washing machine of the present invention does not arrange the position sensors such as Hall IC just can guarantee security.
Accompanying drawing explanation
Fig. 1 is the block diagram of the DC-to-AC converter in embodiments of the present invention 1.
Fig. 2 is the block diagram of the detailed construction in the central control 135 of the DC-to-AC converter represented in embodiments of the present invention 1.
Fig. 3 is DC-to-AC converter in embodiments of the present invention 1 movement oscillogram when becoming short-circuit braking because of anomaly detection signal.
Fig. 4 is the movement oscillogram before and after the cylinder of DC-to-AC converter in embodiments of the present invention 1 stops.
Fig. 5 be DC-to-AC converter in embodiments of the present invention 1 because of the brake request signal from sequential generating unit during entering short-circuit braking when movement oscillogram.
Fig. 6 be during the DC-to-AC converter in embodiments of the present invention 1 is transferred to short-circuit braking because of brake request signal after and cylinder stop before and after the movement oscillogram centered by speed calculating part.
Fig. 7 is the figure of internal structure when representing the tumbling-box washing machine observing the DC-to-AC converter possessed embodiments of the present invention 1 from side.
Fig. 8 is the flow chart of the action after the power supply of the DC-to-AC converter represented in embodiments of the present invention 1 is just connected.
Fig. 9 is the block diagram of the DC-to-AC converter in embodiments of the present invention 2.
Figure 10 is the block diagram of the DC-to-AC converter in embodiments of the present invention 3.
Figure 11 is the block diagram of the detailed construction of the central control of the DC-to-AC converter represented in embodiments of the present invention 3.
Figure 12 is the block diagram of the short-circuit braking control part of DC-to-AC converter in embodiments of the present invention 3.
Figure 13 is the chart of the input-output characteristic of the function generator of the DC-to-AC converter represented in embodiments of the present invention 3.
Figure 14 be represent to observe from side embodiments of the present invention 3 be called as the DC-to-AC converter of tumbling-box washing machine time the figure of internal structure.
Figure 15 is DC-to-AC converter in embodiments of the present invention 3 movement oscillogram when becoming short-circuit braking because of brake request signal.
Figure 16 is the movement oscillogram of the DC-to-AC converter in embodiments of the present invention 3.
Figure 17 is the flow chart in embodiments of the present invention 3, when dehydration action etc. completes and midway enters braking.
Figure 18 is the block diagram of the central processing department of DC-to-AC converter in embodiments of the present invention 4.
Figure 19 is the movement oscillogram of the DC-to-AC converter in embodiments of the present invention 4.
Figure 20 is the flow chart in embodiments of the present invention 4, when dehydration action etc. completes and midway enters braking.
Figure 21 be represent in embodiments of the present invention 5, when braking, the speed of cylinder to become after roughly zero and provides the electric current of electric current to provide the figure of each portion action waveforms before and after period to motor.
Figure 22 is the figure of the phase place of the permanent magnet of motor in the situation (or situation of fracture) representing the normal situation of belt in embodiments of the present invention 5 and belt dropping.
Figure 23 be represent in the DC-to-AC converter of embodiments of the present invention 6, when braking, the speed of cylinder to become after roughly zero and provides the electric current of electric current to provide the figure of the action waveforms in each portion before and after period to motor.
Figure 24 is the block diagram of the DC-to-AC converter in embodiments of the present invention 7.
Figure 25 is the detailed structure view of the central control of DC-to-AC converter in embodiments of the present invention 7.
Figure 26 is the block diagram of the short-circuit braking control part of DC-to-AC converter in embodiments of the present invention 7.
Figure 27 is the chart of the input-output characteristic of the function generator sum functions generator of the DC-to-AC converter represented in embodiments of the present invention 7.
Figure 28 is DC-to-AC converter in embodiments of the present invention 7 movement oscillogram when becoming short-circuit braking because of brake request signal.
Figure 29 is the movement oscillogram of the DC-to-AC converter in embodiments of the present invention 7.
Figure 30 is the movement oscillogram of the DC-to-AC converter in embodiments of the present invention 7.
Figure 31 is the block diagram of the short-circuit braking control part of DC-to-AC converter in embodiments of the present invention 8.
Figure 32 is the chart of the characteristic in the short circuit duration ratio expansion Speed Setting portion of the DC-to-AC converter represented in embodiments of the present invention 8.
Figure 33 is the block diagram of the short-circuit braking control part of DC-to-AC converter in embodiments of the present invention 9.
Figure 34 is the chart of the characteristic in the short circuit duration ratio expansion Speed Setting portion of the DC-to-AC converter represented in embodiments of the present invention 9.
Figure 35 be DC-to-AC converter in embodiments of the present invention 9 enter short-circuit braking during the movement oscillogram of part.
Figure 36 is the block diagram of the short-circuit braking control part of DC-to-AC converter in embodiments of the present invention 10.
Figure 37 is the chart of the characteristic in the short circuit duration ratio expansion speed command portion of the DC-to-AC converter represented in embodiments of the present invention 10.
Figure 38 be represent to observe from side embodiments of the present invention 11 be called as the DC-to-AC converter of tumbling-box washing machine time the figure of internal structure.
Figure 39 is the flow chart after the power supply of DC-to-AC converter in embodiments of the present invention 11 is just connected.
Figure 40 is the block diagram of the DC-to-AC converter of embodiments of the present invention 12.
Figure 41 is the figure of the current phasor during the short-circuit braking of the DC-to-AC converter represented in embodiments of the present invention 12.
Figure 42 is the movement oscillogram during the short-circuit braking of DC-to-AC converter in embodiments of the present invention 12.
Figure 43 is the block diagram of the DC-to-AC converter in embodiments of the present invention 13.
Figure 44 is the flow chart of the microcomputer of DC-to-AC converter in embodiments of the present invention 13.
Figure 45 is the movement oscillogram of the microcomputer of DC-to-AC converter in embodiments of the present invention 13.
Figure 46 represents the figure of the double situation lower than setting of the size of current phasor in Figure 45.
Figure 47 is the flow chart of the DC-to-AC converter in embodiments of the present invention 14.
Figure 48 is the chart of the characteristic of the load stopping estimator of the DC-to-AC converter represented in embodiments of the present invention 14.
Figure 49 is the figure of internal structure when representing the Water Extraction Machinery observed from side embodiments of the present invention 15.
Figure 50 is the movement oscillogram of the Water Extraction Machinery in embodiments of the present invention 15.
Figure 51 is the circuit diagram of washing machine in the past.
Flow chart when Figure 52 is washing machine startup in the past.
Winding current waveform figure in short-circuit braking when Figure 53 is being in rotation of washing machine in the past.
Detailed description of the invention
Below, with reference to accompanying drawing, embodiments of the present invention are described.In addition, the present invention is not limited to this embodiment.
(embodiment 1)
Fig. 1 is the block diagram of the DC-to-AC converter in embodiments of the present invention 1.
The DC-to-AC converter of Fig. 1 has the winding 102,103,104 of permanent magnet 100,101 and 3 phase.In addition, be there are the cylinder 106 of storage clothing 105, the motor 109 being carried out rotary actuation by belt pulley 107 and belt 108 and 6 switch elements 111,112,113,114,115,116.In addition, have and provide the inverter circuit 117 of alternating current Iu, Iv, Iw to motor 109 and switch element 111,112,113,114,115,116 is carried out to the control part 118 of on-off control.In addition, the output in the control part 118 gallon portion 119 and received current probe portion 119 with detection alternating current Iu, Iv, Iw carrys out the speed calculating part 120 of the speed of calculating motor 109.Gallon portion 119 have 3 mutually respective current transformations be voltage shunt resistance 121,122,123 and during the switch element 114,115,116 of low potential side is connected, carry out the A/D converter 124 of A/D conversion.Speed calculating part 120 has phase error probe portion 126 and amplifier 128 sum-product intergrator 129 as variable frequency oscillating portion 127.
In the present embodiment, as gallon portion 119, employ each corresponding 3 the shunt resistance resistance 121,122,123 with 3 phases.They are the structures being called as 3 shuntings.During the switch element 114,115,116 of low potential side is connected, detect the voltage produced at each shunt resistance two ends.But, also can based on 1 shunt resistance each current value Iu, Iv, the Iw in detection timing detection 3 phases being called as 1 shunting.Or, 2 ~ 3 can also be used as being called as the current sensor that can carry out detecting based on direct-current component DCCT (DirectCurrent-CurrentTransformer: DC current transformer).
At this, amplifier 128 has P component (proportional component) and I component (time integral component relative to input.With make to the input of amplifier 128, i.e. phase error probe portion 126 stable output be zero mode carry out action.
Control part 118 has low speed detection unit 130, and this low speed detection unit 130 judges that the output signal ω of variable frequency oscillating portion 127 has become abundant low speed.Low speed detection unit 130 comprises threshold generator 131, comparing section 132.
Further, control part 118 has central control 135.Control part 118 carries out generating for the signal of the control of inverter circuit 117, accept from the output signal Iua in gallon portion 119, the signal of Iva, Iwa, accept from the signal of signal ω, θ of speed calculating part 120, the J signal of low speed detection unit 130 accepts.These various signal transacting all carry out by control part 118 in a digital manner.
Pwm circuit 136 receives Duty from central control 135, exports and carries out the signal B after pulsewidth modulation (PWM) with the triangular wave of cycle 64 microsecond to Duty.About the signal S1 ~ S6 of central control 135, provide signal via the switching part 137 be arranged between this central control 135 and inverter circuit 117, drive circuit 138 to switch element 111,112,113,114,115,116.When the K signal of central control 135 is high, switching part 137 becomes the state shown by Fig. 1, adopts S1 ~ S6.On the other hand, when K signal is low, each switch become in the switching part 137 of Fig. 1 is connected to the state of downside.
Dc source 144 comprises the AC power 141 of AC230V50Hz, full-wave rectifier 142 and capacitor 143.Dc source 144 provides DC voltage VDC to the DC voltage detection circuit 148 in inverter circuit 117.DC voltage detection circuit 148 comprises resistance 146 and 147.The output A of DC voltage detection circuit 148 is output to central control 135 as analog voltage signal.In the inside of central control 135, A/D conversion is carried out to output A, is subsequently processed as digital value.
Fig. 2 is the block diagram of the detailed construction of the central control 135 of the DC-to-AC converter represented in embodiments of the present invention 1.
In addition, the parts forming central control 135 are in most cases the microcomputers of single-chip.But, the structure also comprising the part in the outside of central control 135 of Fig. 1 also can be realized by the software of 1 microcomputer.In addition, can also realize by several hardware the parts forming central control 135.In addition, also can be realized by various processors such as DSP (DigitalSignalProcessor: digital signal processor).That is, both can be realized by single-chip, also can be realized by multi-chip, in addition, both can be realized by hardware, and also can be realized by software.
In fig. 2, signal Iua, Iva, Iwa corresponding to 3 phase current Iu, Iv, Iw are imported into the first coordinate converting section 150 together with calculated phase theta signal.In the first coordinate converting section 150, use (formula 1) to carry out to the conversion of Id and Iq, namely from static coordinate to the conversion of rotational coordinates, export Id and Iq.Be provided with subtraction portion 151,152, calculate the error of setting value Idr and Id and the error of setting value Iqr and Iq respectively.The output of subtraction portion 151,152 is imported into the error enlarging section 153,154 that the gain of PI (ratio, integration) is played a role, and the output of this error enlarging section 153,154 is imported into switching part 156 as Vd1 and Vq1.Output Vd with Vq of switching part 156 is imported into the second coordinate converting section 158 together with phase theta signal, uses (formula 2) to carry out the conversion of the value of voltage instruction value from dq coordinate to 3 phases Vu, Vv, Vw from.Voltage instruction value Vu, Vv, Vw are imported into PWM portion 159, relative to the ratio of a-signal, the triangular wave carrier of cycle 64 μ s are played a role with the voltage instruction value of 3 phases.Voltage instruction value Vu, Vv, Vw are carried out instantaneous value with this carrier wave compare and add idle time, generate upper and lower drive singal S1 ~ S6.
[formula 1]
[formula 2]
In addition, in the present embodiment, gallon portion 119 is configured to detect the electric current of whole 3 phases.But, as long as the electric current of 2 phases in the winding 102,103,104 of the three-phase of detection motor 109, just remaining 1 phase can be calculated according to Kirchhoff's law.Thus, also 2 phases can only be detected.
In the present embodiment, in subtraction portion 160, calculate the difference of speed setting value ω r and ω.In error enlarging section 161, the output of gain to subtraction portion 160 of PI (ratio, integration) is played a role.In Idr configuration part 162, decide setting value Idr based on computational speed ω.Detect abnormal in short-circuit braking control part 163, abnormity detection portion 165.In delay portion 166, export Z signal based on J signal with the time delay of 0.3 second.In sequential generating unit 167, setting speed ω r during generation drive motor 109 and brake request signal B4RQ.In voltage instruction limiting unit 168, receiving brake request signal B4RQ, to start Vd1 and Vq1 when changing to short-circuit braking for inputting, exporting the value close to zero.
DC-to-AC converter carries out action as washing machine, therefore the various signal of transmission and reception (stop button signal Sstop, water-supply valve signal Skb, draining valve signal Shb, lid locking signal Srk, lid shutdown signal Scl etc.) between sequential generating unit 167 and the structural element of outside, and the various signals that transmission and reception are relevant with the running of motor 109.
Some more than making Cl signal for high when 1.7A in the absolute value of the instantaneous value of short circuit current detection unit 170 signal Iua, Iva, Iwa in the short-circuit state, when absolute value whole in making Cs signal for high when 0.6A of instantaneous value.
When ω value is scaled the speed of cylinder 106 and is below 400r/min, Idr configuration part 162 exports 0A as setting value Idr.When the speed that ω value is scaled cylinder 106 is more than 400r/min, Idr configuration part 162 makes Idr<0A, and its absolute value is increased gradually with the increase of ω.Accompany therewith, when the speed being scaled cylinder 106 is 1200r/min, make Idr=-5A.This is to apply weak magnetics detect at high speeds.
When certain exception occurs washing machine and at some splitting time of action, short-circuit braking control part 163 controls motor 109 with on-position.When each portion exists overcurrent, overvoltage, vibration etc. superfluous in addition, short-circuit braking control part 163 receives anomaly detection signal B99RQ from abnormity detection portion 165, receives brake request signal B4RQ from sequential generating unit 167.In these cases, the switch element 111,112,113,114,115,116 in short-circuit braking control part 163 pairs of inverter circuits 117 carry out grid control with make the input of motor 109 gradually for short-circuit condition, i.e. 3 phases input terminal between voltage be roughly zero.In the present embodiment, when receiving the situation of anomaly detection signal B99RQ and receiving brake request signal B4RQ, be short-circuit braking, but specifically differ widely to the signal of inverter circuit 117.
Fig. 3 is DC-to-AC converter in embodiments of the present invention 1 movement oscillogram when becoming short-circuit braking because of anomaly detection signal B99RQ.In figure 3, (a) is the oscillogram of anomaly detection signal B99RQ, and (b) is the oscillogram of K signal, and (c) is the oscillogram of Duty.
From power run duration, the brake request signal BRQ of central control 135 becomes height at moment T1.K signal is from high to low simultaneously.At this time point, Duty is zero, and therefore IGBT (InsulatedGateBipolarTransistor: the insulated gate bipolar transistor) part of switch element 111,112,113,114,115,116 all becomes disconnection.This is whole off periods of 5ms.
In addition, in whole off period, when motor 109 is low speed, become the state that electric current is almost nil, but in situation (state that induced electromotive force is high) at a high speed, to be circulated regenerative current to dc source by the diode section of switch element 111,112,113,114,115,116.
C the ratio (Duty) of the turn-on time of the low potential side switch element 114,115,116 shown in () is short circuit duration ratio.Then, after whole off period, T2 to T5 is during the short circuit duration ratio of Duty increase expands.On the other hand, hot side switch element 111,112,113 remains open state due to the effect of switching part 137.
Afterwards, each through T3, T4, pass through along with the time relative to the expansion speed of the slope of time, i.e. short circuit duration ratio (Duty) and reduce.In addition, short circuit duration ratio is more close to 100%, then the expansion speed of short circuit duration ratio (Duty) is lower.
About the input voltage of motor 109, repeated as positive/negative with instantaneous value by the induced electromotive force owing to rotating generation.But it is forced to zero in short circuit duration, absolute value is suppressed.
Therefore, in the present embodiment, T2 ~ T5 short circuit duration ratio expand during for gauge tap element 114,115,116 with the voltage that the absolute value of voltage is reduced along with the increase of short circuit duration reduce during.
Reach the time point of 100% at T5, Duty, control part 118 makes the low potential side switch element 114,115,116 in inverter circuit 117 be on-state.After during expanding the short circuit duration ratio making the short circuit duration ratio (Duty) of input terminal U, V, W short circuit of 3 phase windings and expanding, during changing short-circuit braking into.During short-circuit braking, short circuit duration ratio Duty to be remained to greatest extent, namely 100%, absorb the kinergety of load.
Become the time point of 100% at Duty, the IGBT in low potential side switch element 114,115,116, the amount of pressure drop of diode and the amount of pressure drop that causes to the wiring of motor 109 because of inverter circuit 117 as motor 109 input voltage and such as remain about 2V ~ 3V.But this voltage is the category of roughly zero.
By making the Duty as short circuit duration ratio increase gradually like this, can prevent transient current in the process during being transferred to short-circuit braking from rising sharply, thus can overcurrent be prevented.Thereby, it is possible to the fault preventing the breakage of each structural element of inverter circuit 117 and cause because of the overcurrent of motor 109.
Particularly, in the present embodiment, by making the expansion speed of short circuit duration ratio reduce gradually, even if the velocity conditions of the time point motor 109 during entering short-circuit braking rises and falls on a large scale, also can prevent transient current from rising sharply.Thus, correspondence can be carried out with the design of the expansion speed of the Duty near T2 ~ T3 under fast condition, and correspondence can be carried out with the design of the expansion speed of the Duty near T4 ~ T5 under the condition that speed is low.
In addition, particularly, in order to suppress the overvoltage caused because of the regeneration to dc source 144 at a high speed, being designed to the short circuit duration ratio (Duty) improved in the later half T3 ~ T5 during expanding as short circuit duration ratio and expanding speed.Thereby, it is possible to be Min. by Overvoltage suppressing.
Thus, the overcurrent of line current time during can preventing entering short-circuit braking under the condition that the velocity interval of motor 109 is large.The overvoltage caused because regenerating to dc source 144 can be suppressed.In addition, do not need velocity information, therefore, it is possible to make motor 109 be the structure of the low cost without the sensor of position sensing and the sensor of speed detection.This structure is called as without sensor.
Further, even the direction of rotation of motor 109 is not a direction but the DC-to-AC converter of turning right or turning left as washing machine, the control during also can independently carrying out changing short-circuit braking into phase sequence.
Fig. 4 is the movement oscillogram before and after the cylinder 106 of DC-to-AC converter in embodiments of the present invention 1 stops.Fig. 4 represents from the action waveforms through the more time during shown in Fig. 3.
In the diagram, (a) illustrates the speed of cylinder 106, and (b) illustrates the current waveform of Iu, Iv, Iw, and (c) illustrates the Cs signal that short circuit current detection unit 170 exports.
Motor 109 speed becoming short-circuit braking reduces gradually.Meanwhile, the frequency of line current roughly proportionally reduces with the speed of motor 109, and the amplitude of line current also finally reduces, and the time point being zero in the speed of motor 109 converges to zero.
In the present embodiment, the output in the gallon portion 119 during zero current is roughly median and about the 2.5V of 5V power supply.The value that switch element 114,115,116 before running starts stores under off-state is in advance used as the bias suitable with zero current, is used as the critical value of the line current of each phase.
Be driven from the time of the time point entering short-circuit braking to stopping by the voltage (VCE (SAT)) etc. under the on-state of the inductance of the inertia of the speed of the motor 109 time point entering short-circuit braking, load, motor 109, resistance value, switch element 114,115,116.In the present embodiment, gallon portion 119, by detecting the current value of the physical phenomenon occurred as the reduction because of speed, carrys out the state that speed of detection fully reduces.
Specifically, in the present embodiment, at the absolute value of the instantaneous value of three line current Iu, Iv, Iw all lower than the time point Tja of 0.6A, Cs signal becomes height, and cylinder 106 speed is reduced to about 7r/min.
Short-circuit braking control part 163 receives and becomes high Cs signal, proceed short-circuit braking, thus cylinder 106 stops based on above-mentioned 7r/min.Such as be judged as stopping at the time point of the time delay that have passed through 0.15 second.According to the instruction etc. from sequential generating unit 167, be transferred to the next operation needed as washing machine.
In addition, in order to make every effort to perfectly safe, also can be set to following structure: in short circuit current detection unit 170, after also reaffirming out that after time point Tja line current fully reduces, Cs signal being exported for high.Or also can be set to following structure: in short circuit current detection unit 170, when the absolute value of the instantaneous value of online electric current I u, Iv, Iw all continues more than the stipulated time lower than the state of 0.6A, Cs signal be exported for high.
As described above, although present embodiment is non-use position sensor, the low cost of velocity sensor and simple structure, can by using short-circuit braking and by suitably judging that security is guaranteed in stopping based on the electric current during this.
Fig. 5 be DC-to-AC converter in embodiments of the present invention 1 because of the brake request signal B4RQ from sequential generating unit 167 during entering short-circuit braking when the oscillogram of movement oscillogram.In Figure 5, a () illustrates brake request signal B4RQ, (b) illustrates the value of the input value Vq (solid line) of the second coordinate converting section 158 and Vd (dotted line), (c) illustrates the speed omega (solid line) and actual angular speed (dotted line) that calculate.
In the power run duration before the T1 time point that brake request signal B4RQ rises, the contact of switching part 156 and downside.Therefore, output Vd1 and Vq1 of error enlarging section 153,154 is connected to Vd and Vq.That is, the Current Control becoming Id and Iq plays the state of function by subtraction portion 151,152.
Become high time point, i.e. T1 at brake request signal B4RQ, voltage instruction limiting unit 168 keeps Vd1 and Vq1 in inside.After T1, the absolute value of Vd and Vq reduced with fixing voltage change speed (dV/dt) relative to the time.The contact of switching part 156 and upside, signal Vd and Vq from voltage instruction limiting unit 168 is output.
In the example as shown in fig. 5, be positive value at T1, Vq1, Vd1 is negative value on the other hand.Therefore, voltage instruction limiting unit 168 makes Vq close to zero by making Vq from Vq1 minimizing, makes Vd close to zero by making Vd from Vd1 increase.Thus, change to the direction making absolute value little.
In Figure 5, the absolute value showing Vd1 is less than the situation of the absolute value of Vq1.In the limit movement of the voltage instruction limiting unit 168 after T1, absolute value is reduced gradually with regular time ratio.In (b), the absolute value of the slope of Vd and Vq that T1 is later is equal, is zero at T2 place Vd, is zero further at T3 place Vd and Vq.The absolute value of the input voltage of motor 109 is reduced to roughly zero, during motor 109 enters the short-circuit braking absorbing kinergety.
The input voltage of motor 109 is determined by voltage instruction value Vu, Vv, the Vw of the output as the second coordinate converting section 158.During T1 to T3, even if with voltage between lines also, by controlling switch element 111,112,113,114,115,116, voltage reduces, therefore for during voltage minimizing.
In addition, in the present embodiment, Vd and Vq be simultaneously vanishing not, but voltage reduces period T1 ~ T3 to carry out within the shorter time of about tens ms, therefore significantly can not present the different and harmful effect that causes of curve because of Vd with Vq.Be unlikely to the overvoltage producing overcurrent because of the rising sharply of line current of transition or produce DC voltage because of the regenerated electric power to dc source 144, thus can not problem be become.
In addition, in the present embodiment, about the ω shown in (c), only the output ω of amplifier 128 is fixed as the computational speed ω 1 under the T1 time point started at brake request signal B4RQ during voltage reduces.Thus, the stability fed back is guaranteed.
Vd and Vq during voltage reduces in change also can be other change, such as also can the tuned slope vanishing etc. make Vd and Vq while.
In addition, also can according to during entering short-circuit braking time the speed of motor 109 change the size (absolute value of slope) of the time variations of Vd and Vq.When making the slope of Vd and Vq little under the low speed, large at high speeds, rise sharply (overcurrent) of the transient current in during voltage no matter can both be suppressed under which speed to reduce, particularly can also do one's utmost to suppress to produce overvoltage because of the regenerative current to dc source at high speeds.
In addition, also can change the slope a of Vd and Vq in during voltage reduces, initially make slope large, make slope little afterwards, thus tackle large-scale speed.
In any case when brake request signal B4RQ becomes high, voltage instruction value Vd and Vq is restricted to zero gradually along with the time.Therefore, voltage reduce during in, to make the input of motor 109 gradually for short-circuit condition, namely to the voltage made between the input terminal of 3 phases be roughly zero direction the switch element 111,112,113,114,115,116 in inverter circuit 117 is controlled.Afterwards, enter that voltage instruction value Vd and Vq is zero, during the input voltage of motor 109 is the short-circuit braking of roughly zero.
But there is following situation: even if be in the state of the equal vanishing of voltage instruction value Vd and Vq, the input voltage of motor 109 does not have complete vanishing yet.Particularly when carrying out 3 phase modulation, centered by the half current potential of DC voltage VDC, correspondingly can produce the upper and lower of current potential within the time of idle time with the line current Iu of instantaneous each phase, the polarity of Iv, Iw.In addition, the pressure drop also produced sometimes caused by IGBT, diode is the situation of 2V ~ below 3V.
Also sometimes use the structure being called as dead-time compensation to reduce these voltage.Particularly when being applied to washing machine, from the view point of preventing noise, carrier frequency is high to tens kilo hertzs of degree, although therefore leave the input voltage of the motor 109 of a few about V sometimes, the input voltage of a few about V is the category of roughly zero.
Fig. 6 be using after during the DC-to-AC converter in embodiments of the present invention 1 is transferred to short-circuit braking because of brake request signal B4RQ in time through and movement oscillogram centered by motor 109 and the speed calculating part 120 before and after stopping as the cylinder 106 of load.In figure 6, (a) illustrates line current Iu, and (b) illustrates angular velocity omega, and (c) illustrates the phase theta of Iu, and (d) illustrates the waveform of J signal.
During short-circuit braking, motor current Iu, Iv, Iw flowing of sizable amount.Therefore, in the present embodiment, the signal Iua corresponding to U phase in the signal in gallon portion 119 is taken into phase error probe portion 126, produces the signal that same U phase current Iu waveform is corresponding to the phase difference of the output θ of variable frequency oscillating portion 127.
Specifically, being multiplied of the comparison of the phase difference from the timing at zero point or two input signals is used.It exports and forms a kind of Phase synchronization ring (PLL) comprising the control loop that make use of amplifier 128 sum-product intergrator 129.Thus, in during short-circuit braking, produce the phase locked phase theta with Iu, obtain the value of the angular velocity omega corresponding to the speed of motor 109, i.e. computational speed (or calculated value of angular speed).
Like this, the speed in during the ω output of amplifier 128 can be used as short-circuit braking.Therefore, at the time point T1 of ω lower than the value ω th of threshold generator 131, export the J signal of comparing section 132.In the present embodiment, speed time point T1 being set to cylinder 106 becomes the time point of 35r/min, and J signal uprises at ω th place.
When the instantaneous value only based on each line current of motor 109 determines whether to reach the state close to the low speed stopped, being easy to the impact of the noise happened suddenly.Even if when such as rotating under quite high high speed, also often there will be the situation of the output valve chance coincidence in the gallon portion 119 of 3 phases.In addition, even if when detecting the current detection value of a phase of more than 2 times in the interval shorter than the one-period of electrical angle, the current detection value possibility consistent because of noise also can be elongated and increase along with the time, thus erroneous judgement is decided to be enough low speed sometimes.
In addition, even if the number of times of increase detection is to prevent the impact of noise, the situation that effectively cannot reduce the impact of noise is also a lot.Otherwise, also there is following situation: even if be in halted state, but due to the impact of noise, determine the state being in abundant low speed and will expend the very long time.
On the other hand, in the present embodiment, introduce speed or judge with its physical quantity that frequency is so one to one.Thus, particularly when the tumbling-box washing machine of present embodiment, effective utilization, because the inertia of cylinder 106 is for above about 0.3kg square meter and produce the boundary this point of speed fluctuation (acceleration), can also use low pass key element in the scope that fully can realize the response of ω.Thus, the impact that the noise of the output in gallon portion 119 brings can be suppressed low especially.Thus, until be about to stop obtaining the high ω signal of reliability.
After J signal enters central control 135, postpone after 0.3 second in delay portion 166, Z signal becomes height.This is equivalent to cylinder 106 for 0.3 second and stops the required time from speed 35r/min to the continuation because of short-circuit braking.
In addition, about Cl signal, when having the amplitude being enough to carry out look-in frequency based on electric current, Z signal is made to become height more than 1.7A at any one absolute value.Thus, by making J signal and Cl signal multiplication, the detection of speed is made to obtain sufficient reliability.
As described above, in the present embodiment, when becoming short-circuit braking according to the brake request signal B4RQ from sequential generating unit 167, operating speed calculating part 120.Thus, even if when electric current I u etc. is loaded with temporary noise, as long as be in the scope of the normal work of phase error probe portion 126, the impact of noise just can not be subject to completely.In addition, as long as be in the scope do not had an impact to the action as Phase synchronization ring, even if so there is the misoperation of phase error probe portion 126 of moment, the impact that also can suppress as speed calculating part 120 by the storage gain in amplifier 128.Thus, judge to guarantee security by the stopping that reliability is high.
In addition, when under the impact of above-mentioned idle time, the input voltage of motor 109 deviates from zero, according to circumstances different, produce the regenerative current to dc source 144 sometimes.Thus, because of the charging of capacitor 143, the rising of DC voltage VDC can become problem sometimes.But, also there is the repressed situation by dead-time compensation.
Thus, from prevent DC voltage VDC superpotential viewpoint and from the view point of until the speed of low speed calculating motor 109 accurately as far as possible, suitable dead-time compensation plays a role effectively.
As described above, in the present embodiment, control part 118 is during absorbing the short-circuit braking from the kinergety of cylinder, the control carrying out switch element 111,112,113,114,115,116 remains roughly zero to make the input voltage of motor 109, after computational speed ω becomes setting below ω th, carry out stopping and judging.
Thus, although be the simple structure without position sensors such as such as Hall IC, the stopping of motor 109 can suitably be judged.Thus, security can be guaranteed.
In addition, in the present embodiment, when brake request signal B4RQ, in stopping judges, do not use Cs signal, but can use Cs signal simultaneously yet.After producing Z signal, the state of Cs signal such as also after 0.3 second, can be reaffirmed, carry out stopping afterwards and judge.
In addition, also there is following situation: the situation that deceleration very sharply occurs in contingency is inferior, and electric current diminishes before the judgement carrying out 35r/min, Cl signal step-down, thus do not carry out stopping judgement always, cause DC-to-AC converter not work.But, also sometimes by using or suitably use timer etc. to carry out the judgement stopped together with Cs signal simultaneously, after the sufficient time, carrying out stopping judgement.Thereby, it is possible to enter next program with the form of the convenience of compromise between security, DC-to-AC converter.
In addition, also can be, the instantaneous value of three line current Iu, Iv, Iw absolute value all lower than regulation value, such as 0.6A time point Tja, speed calculating part 120 is judged to be that computational speed is below setting thus is judged to be that motor 109 stops.
Fig. 7 be represent to observe from side present embodiment be commonly referred to as the DC-to-AC converter of tumbling-box washing machine time the figure of internal structure.
In the figure 7, DC-to-AC converter have storage clothing 105 cylinder 106, by belt pulley 182 and belt 108 motor 109 of rotary actuation is carried out to cylinder 106 and the inverter circuit 117 of alternating current of 3 phases is provided to motor 109.
Inverter circuit 117 operates according to 6 control signals from control part 118.DC-to-AC converter correspond to the anomaly detection signal B99RQ of above-mentioned explanation and brake request signal B4RQ and during reducing respectively through the voltage based on B99RQ signal shown in Fig. 3 and the voltage based on brake request signal B4RQ shown in Fig. 5 reduce during after, during being transferred to short-circuit braking.
About the judgement stopped too, be no matter carry out short-circuit braking by the structure of the anomaly detection signal B99RQ of above-mentioned explanation during in stopping judge or during carrying out short-circuit braking by the structure of the brake request signal B4RQ of above-mentioned explanation in stopping judge, all can guarantee security.
In the present embodiment, cylinder 106 rotates in the inside of resinous receiving barrel 190.According to water-supply valve signal Skb, draining valve signal Shb from control part 118, opening and closing is carried out to water-supply valve 193, draining valve 194, thus to plumbing in receiving barrel 190, carry out washing and dewatering together with the other washing agent thrown in.
Being provided with in the front of cylinder 106 can the lid 196 of opening and closing, is provided with the handle 197 for user's open-close lid 196.When washing and dehydration intermediate roll 106 rotates, lid 196 is closed, and to guarantee the safety of user, anti-sealing disperses.
Show in phantom the state that lid 196 is opened by the operation of handle 197.
If lid 196 carries out opening and closing centered by the hinge fraction be connected with main body, but lid 196 also can be sliding door structure, foldable structure, shutter, can also be the structure etc. that can take off.
The state that cover lock bonding part 200 is closed for keeping lid 196, comprises solenoid 201, plunger 202, spring 203 and lock control circuit 204.Under the illustrated state be not energized to solenoid 201, lid 196 is in the lock state.Therefore, even if user pulls handle 197 or carry out other and operate arbitrarily, also lid 196 cannot be opened.
Lock control circuit 204 is energized to solenoid 201 based on the lid locking signal Srk from control part 118, enters line-locked releasing.Such user can pull handle 197 to open lid 196.
In addition, lid shutdown signal Scl, for detecting the open and-shut mode of lid 196, is delivered to control part 118 by lid search switch 206.When lid 196 is opened, lid shutdown signal Scl becomes low, safe from the view point of guaranteeing, does not provide signal to inverter circuit 117, does not provide alternating current to motor 109, does not carry out the running that cylinder 106 is rotated.
In addition, also can provide DC current to motor 109 in this condition, the state making cylinder 106 become fixing more reliably in a rotational direction, can guarantee sufficient security thus.
Then, when running of dewatering waits end, control part 118 sends lid locking signal Srk after carrying out stopping and judging.Cover lock bonding part 200 is by carrying out being energized and the state that unlocks to solenoid 201, thus user can open lid 196.
Except reaching the situation of the dewatering time of regulation, when user operates stop button 208 and produces stop button signal Sstop, dehydration running stops.In addition, in inverter circuit 117, when producing the exceptions such as overload, also can produce the abnormal signal in control part 118, thus carrying out the braking of motor 109.At the time point that cylinder 106 stops, in control part 118, make based on brake request signal B4RQ and stop judging, thus to be unlocked state by cover lock bonding part 200.User 197 can open lid 196 by pulling handle.Therefore, ensure that security.
In addition, in the present embodiment, also can be that, at the absolute value of the instantaneous value of three line current Iu, Iv, Iw all lower than the value of regulation, the time point Tja of such as 0.6A, speed calculating part 120 is judged to be that computational speed is below setting and is unlocked state by cover lock bonding part 200.
Fig. 8 is the flow chart of the action after the power supply of the DC-to-AC converter represented in embodiments of the present invention 1 is just connected.
Carried out the stage of action at control parts 118 such as the situations that the power switch of DC-to-AC converter is switched on, the program forming the microcomputer of control part 118 starts (step S210).Be transferred to short-circuit braking (anomaly detection signal B99RQ) from startup, carry out the action (step S211) when the generation anomaly detection signal B99RQ shown in Fig. 3.Like this, during then voltage enters short-circuit braking during reducing afterwards.
After during entering short-circuit braking and shown in Fig. 4 as stopping the Cs signal judged to become high time point, be transferred to latch-release (step S213).The energising carrying out solenoid 201 at this opens lid 196 to enable user.Which ensure that security.
User can power supply connect after stage, such as last time running brake the state not yet completed under open lid 196 when, likely due to remaining revolving force, danger is produced to user.
In the present embodiment, power supply connect after during short-circuit braking.Further, by stopping judging to guarantee that the Cs signal of security unlocks after becoming height, can eliminate danger thus.Thus, the high washing machine of security can be realized.
Like this, in the present embodiment, after the stopping that suitably determined motor, carry out the latch-release covered, enable user open lid 196.Thus, the high washing machine of security can be realized.
Particularly, the braking (step S211) based on anomaly detection signal B99RQ is carried out, even therefore the structure be called as without sensor of operating speed sensor, position sensor is very ineffective yet in short-circuit braking (anomaly detection signal B99RQ).Its reason is as follows: though when after power supply is just connected still more than have a rotation of cylinder 106, also inverter circuit 117 independently can be suppressed to produce overcurrent, overvoltage with its speed and position (phase place).
In addition, in the present embodiment, the output valve in the gallon portion 119 under correct zero current condition is processed as bias.Thus, such as, in short-circuit braking, gallon portion 119 breaks down, the possibility that output signal is independently fixed as 0V, 5V etc. with actual current value is high.In this case, the possibility that Cs signal uprises is extremely low, ensure that high security.
In addition, in the present embodiment, the rotating shaft of cylinder 106 is level, but also can be vertical or inclination.
Power transfer path for the rotary actuation of cylinder 106 employs belt pulley 182, belt 108, but is not limited to this.Gear (gear) can be used, also can on the axle of cylinder 106, directly motor is set as being called as Direct driver and rotate etc. with same speed.
In addition, the structure of cover lock bonding part 200 is also not limited to the structure described in present embodiment.Multiple cover lock bonding part also can be set.Such as, also can be configured to use the first cover lock bonding part and the second cover lock bonding part, this first cover lock bonding part can unlock at any time based on the handle operation of user simultaneously, and this second cover lock bonding part to unlock state based on the signal from control part.Or, also can be configured to be always lock-out state under the state of closing cap, carry out latch-release based on the signal from control part.In addition, also can make based on the signal from control part to carry out handle operation.No matter in which situation, whether can open cover as long as user can be changed based on the signal from control part.
As described above, the washing machine of present embodiment has cylinder 106 and motor 109, and this cylinder 106 receives clothing 105, and this motor 109 possesses the winding 102,103,104 of permanent magnet 100,101 and 3 phase, this motor 109 head roll 106.In addition, have the lid 196 of opening and closing and the cover lock bonding part 200 of locking cover 196 are carried out to the opening portion of cylinder 106.In addition, have inverter circuit 117, supply electric power from dc source 144 to this inverter circuit 117, this inverter circuit 117 uses multiple switch element 111,112,113,114,115,116 to provide electric current to motor 109.In addition, there is the control part 118 switch element 111,112,113,114,115,116 being carried out to on-off control.The output in gallon portion 119 and received current probe portion 119 that control part 118 possesses probe current carrys out the speed calculating part 120 of the speed of calculating motor 109.Control part 118 is during the braking of cylinder 106, gauge tap element 111,112,113,114,115,116 remains roughly zero to make the input voltage of motor 109, after speed becomes below setting, make it possible to open lid 196 by cover lock bonding part 200.Thus, although be simple structure, also security can be guaranteed.
In addition, the gallon portion 119 of the control part 118 of the washing machine of present embodiment detects the electric current of more than 2 phases in 3 phases, and speed calculating part 120 carrys out computational speed based on the value of electric currents more than 2 phases in this 3 phase.Thus, although be simple structure, also security can be guaranteed.
In addition, the control part 118 of the washing machine of present embodiment possesses variable frequency oscillating portion 127, phase error probe portion 126 and coordinate converting section 150, and this variable frequency oscillating portion 127 output packet is containing the phase place of the permanent magnet 100,101 of the time integral value of speed.In addition, coordinate converting section 150 uses phase place the output in gallon portion 119 to be exported after static coordinate is transformed to rotational coordinates, and the current value signals that speed calculating part 120 receives under rotational coordinates carrys out computational speed.Thus, although be simple structure, also security can be guaranteed.
In addition, the washing machine of present embodiment during braking before, have during gauge tap element 114,115,116 reduces with the voltage making the absolute value of the input voltage of motor 109 and reduce.Thereby, it is possible to avoid the input overvoltage of motor.
In addition, during the washing machine of present embodiment had braking before making it possible to open lid 196 by cover lock bonding part 200.Thus, although be simple structure, also security can be guaranteed.
In addition, the washing machine of present embodiment be motor 109 do not have position sensor without approach sensor.Thereby, it is possible to provide the stopping that suitably can not only judging motor 109 and the low washing machine of cost.
(embodiment 2)
Fig. 9 is the block diagram of the DC-to-AC converter in embodiments of the present invention 2.
In the present embodiment, particularly computational speed is different from the first embodiment with the structure of phase place.Other is equal, the part that therefore only special instruction is different from embodiment 1.
In fig .9, speed calculating part 221 has variable frequency oscillating portion 127 and receives from the phase error probe portion 223 of Vd, Vq, Id, Iq signal of central control 135.Variable frequency oscillating portion 127 has amplifier 128 sum-product intergrator 129 in the same manner as embodiment 1, and this amplifier 128 has P component and I component, and export computational speed ω, this integrator 129 carries out the time integral of computational speed ω to export calculating phase theta.
In the present embodiment, computational speed ω is also imported into phase error probe portion 223.The parameter (resistance value, maximum induction, minimum inductance) of the prior store electricity motivation 109 of phase error probe portion 223, calculates phase error based on voltage instruction value and detected current value.The ε >0 when calculating phase theta and being advanced relative to actual phase, the ε <0 when calculating phase theta and being delayed relative to actual phase.
At steady state, the control loop of amplifier 128 and phase error probe portion 223 carries out action, makes the input of amplifier 128 and the output ε of phase error probe portion 223 be zero.As speed calculating part 221, receive current value signals Id and Iq under rotational coordinates and voltage value signal Vd and Vq under rotational coordinates, computational speed ω and phase theta also export.
In addition, use the ω of the last time calculated by each carrier frequency of the inverter circuits 117 such as such as 64 μ s to calculate computational speed ω.Thus, the circulation of having no limits of above-mentioned control loop is avoided.
Structure and the embodiment 1 of other parts are equal, and action when producing brake request signal B4RQ is also equal with embodiment 1.
By above structure, in the DC-to-AC converter of present embodiment, when produce brake request signal B4RQ, with embodiment 1 comparably, be after zero in making the absolute value of Vd and Vq during voltage reduces, in during short-circuit braking, make Vd and Vq be zero.
In this stage, there is sizable Id and Iq, therefore in phase error probe portion 223, they are added in computational element.Therefore, the calculating phase theta in during short-circuit braking is retained as equal with actual phase, the i.e. phase place of permanent magnet 100,101, also can obtain the high ω of precision in during short-circuit braking.
Become the time point of the speed suitable with 35r/min in the speed of cylinder 106, computational speed ω < ω th, J signal rise to high after to stop judge during action identical with embodiment 1.
In the present embodiment, as the structure of phase error probe portion 223, and need slightly complicated calculating correspondingly, the computing power needing to realize the processors such as its microcomputer is high.But it is possible to calculating phase theta to suppress very little relative to the error of actual phase and the error of actual speed and computational speed ω.Further, the reliability of the speed omega calculated is high.Thus, the DC-to-AC converter that the reliability that can realize stopping judging is also high.The DC-to-AC converter that security is high can be realized.
In addition, even if in the power run duration beyond during short-circuit braking, be in motor 109 do not have position sensor, velocity sensor be called as the action of " without sensor " time, DC-to-AC converter also can carry out action as the outstanding high-performance washing machine of the response of the speed omega calculated and phase theta.Thus, the DC-to-AC converter of present embodiment also can be used for that speed in power run action calculates, phase calculation.
In addition, following condition is had in during short-circuit braking: the input voltage of motor 109 is roughly zero, Vd, Vq is all fixed as zero.Therefore, it is different when some control structures are run from power.Thus, also can get it right for the purpose of required more low speed etc. to make speedometer, the gain being used for using in the error amplifier of the error of feedback phase (proportional component with, quadrature components with etc.) is switched to values different when running from power.
Certainly, also the DC-to-AC converter possessing the position sensors such as Hall IC can be used.When contingency is in the past for stopping the position sensor judging to break down, multiple security can be guaranteed.
In addition, in the present embodiment, in phase error probe portion 223, phase error is calculated, namely as the physical quantity of the dimension of angle.But, many times only use the component of voltage in the direction of the magnetic flux calculated also can obtain enough characteristics.Thereby, it is possible to cut down the number of times of the various calculating such as addition subtraction multiplication and division, trigonometric function, exponential function, complex operation.Thus, can more simply to calculate.
In addition, the side being many times commonly referred to as the orthogonal diaxon of vector controlled is consistent with the direction of the magnetic flux that permanent magnet 100,101 produces.But orthogonal diaxon is not particularly limited in the structure fitted like a glove with the d axle as magnetic flux axle.Orthogonal diaxon such as also can to use the axle of the value different from the inductance value of the reality that motor 109 has and phase places more advanced than d axle as benchmark.Thus, be deeply buried in the motor 109 of the structure in rotor at permanent magnet 100,101, also exist and reasonably can cut down the advantages such as electric current.
In the present embodiment, also can based on the voltage equation of general motor with permanent magnet, contrast error of calculation ε with the error of voltage, the error of electric current, the error of speed, the error of inductance value, the error etc. of resistance.Also numerical expression basis that error ε converges to zero omitting the little project of performance impact during real-world operation etc. is simplified can be used in.No matter in which kind of situation, all can correspondingly ability be low, cost is low, inhibit the microcomputer of power consumption to be formed used microcomputer to reduce with amount of calculation.
(embodiment 3)
Figure 10 is the block diagram of the DC-to-AC converter in embodiments of the present invention 3.
In Fig. 10, the DC-to-AC converter in embodiment 3 has the winding 342,343,344 of permanent magnet 340,341 and 3 phase as the neodymium of telescope structure.In addition, be there are the motor 349 as prime mover and 6 switch elements 351,352,353,354,355,356 that are carried out rotary actuation by belt pulley 347 and belt 348 cylinder 346 to storage clothing 345.In addition, have carry out from direct current to exchange inverse transformation and provide the inverter circuit 357 of alternating current Iu, Iv, Iw to motor 349 and switch element 351,352,353,354,355,356 carried out to the control part 358 of on-off control.In addition, control part 358 has the gallon portion 359 of detection alternating current Iu, Iv, Iw.Gallon portion 359 has amplifier 364 and is the shunt resistance 361,362,363 of voltage by 3 mutually respective current transformations.The voltage that the two ends that amplifier 364 is received in shunt resistance 361,362,363 during the switch element 354,355,356 of low potential side is connected produce, exports the line current Iu of-10A ~+10A, Iv, Iw after being transformed to the analog voltage of 0V ~ 5V.
In the present embodiment, as gallon portion 359, employ each corresponding 3 shunt resistances 361,362,363 with 3 phases.They are the structures being called as 3 shuntings.But, also can based on 1 shunt resistance each current value Iu, Iv, the Iw in detection timing detection 3 phases being called as 1 shunting.Or, 2 ~ 3 can also be used to be called as the such current sensor that can carry out detecting based on direct-current component of DCCT.
Further, control part 358 has central control 366.Control part 358 generates for the signal of the control for inverter circuit 357, accepts from the output signal Iua in gallon portion 359, the signal of Iva, Iwa, is all undertaken by digital form.
Pwm circuit 367 receives Duty from central control 366, exports and carries out the signal B after pulsewidth modulation (PWM) with the triangular wave of cycle 64 microsecond.About the signal S1 ~ S6 of central control 366, provide signal via the switching part 369 be arranged between this central control 366 and inverter circuit 357, drive circuit 370 to switch element 351,352,353,354,355,356.When the K signal of central control 366 is high, switching part 369 becomes the state shown by Figure 10, adopts S1 ~ S6.On the other hand, when K signal is low, each switch become in the switching part 369 of Figure 10 is connected to the state of downside.
Dc source 374 comprises the AC power 371 of AC230V50Hz, full-wave rectifier 372 and capacitor 373.Dc source 374 provides DC voltage VDC to the DC voltage detection circuit 378 in inverter circuit 357.DC voltage detection circuit 378 comprises resistance 376 and 377.The output A of DC voltage detection circuit 378 is output to central control 366 as analog voltage signal.In the inside of central control 366, A/D conversion is carried out to output A, processes as digital value.
Figure 11 is the block diagram of the detailed construction of the central control 366 of the DC-to-AC converter represented in embodiments of the present invention 3.
In addition, the parts forming central control 366 are in most cases the microcomputers of single-chip.But, the structure also comprising the part in the outside of central control 366 of Figure 10 also can be realized by the software of 1 microcomputer.In addition, can also realize by several hardware the parts forming central control 366.In addition, also can be realized by various processors such as DSP.That is, both can be realized by single-chip, also can be realized by multi-chip, in addition, both can be realized by hardware, and also can be realized by software.
In fig. 11, signal Iua, Iva, Iwa corresponding to 3 phase current Iu, Iv, Iw are imported into the first coordinate converting section 380 together with calculated phase theta signal.In the first coordinate converting section 380, use (formula 3) to carry out to the conversion of Id and Iq, namely from static coordinate to the conversion of rotational coordinates, export Id and Iq.Be provided with subtraction portion 381,382, calculate the error of setting value Idr and Id and the error of setting value Iqr and Iq respectively.The output of subtraction portion 381,382 is imported into the error enlarging section 383,384 that the gain of PI (ratio, integration) is played a role.Output Vd with Vq of this error enlarging section 383,384 is imported into the second coordinate converting section 388 together with phase theta signal, uses (formula 4) to carry out the conversion of the value of voltage instruction value from dq coordinate to 3 phases Vu, Vv, Vw from.Voltage instruction value Vu, Vv, Vw are imported into PWM portion 389, make the carrier wave of the triangular wave of cycle 64 μ s play a role with the voltage instruction value of 3 phases relative to the ratio of a-signal.Voltage instruction value Vu, Vv, Vw are carried out instantaneous value with this carrier wave and compare and add idle time by PWM portion 389, generate upper and lower drive singal S1 ~ S6.
[formula 3]
[formula 4]
In addition, in the present embodiment, gallon portion 359 is configured to detect the electric current of whole 3 phases.But, as long as the electric current of 2 phases in the winding 342,343,344 of the three-phase of detection motor 349, just remaining 1 phase can be calculated according to Kirchhoff's law.Thus, also 2 phases can only be detected.
The parameter (resistance value, maximum induction, minimum inductance) of the prior store electricity motivation 349 of speed estimation portion 390, although do not have velocity sensor, uses the voltage equation of motor 349 to carry out the velocity estimation of motor 349.Speed estimation portion 390 receives output Id, Iq of the first coordinate converting section 380 and input Vd, Vq of the second coordinate converting section 388, output estimation speed omega, ω 2.
In addition, in speed estimation portion 390, the ε corresponding with phase error is calculated based on the voltage value of motor 349 and current value.The error carrying out possessing integration or proportional integral key element etc. is amplified and feeds back, and converges to zero to make ε.
The output ω 2 of integrator 392 inbound pacing estimator 390, carries out time integral to ω 2, exports at the time point becoming 2 π the phase theta signal being reset to zero.
Central control 366 also has subtraction portion 394, error enlarging section 395, Idr configuration part 396, short-circuit braking control part 398 and sequential generating unit 399.The difference of subtraction portion 394 computational speed setting value ω r and ω.Error enlarging section 395 makes the gain effect of PI (ratio, integration) in the output of subtraction portion 394.Setting value Idr is decided based on computational speed ω in Idr configuration part 396.Sequential generating unit 399 carries out speed setting value ω r, the signal of brake request signal BRQ produces.
When the speed that ω value is scaled cylinder 346 is below 400r/min, Idr configuration part 396 exports 0A as setting value Idr.When the speed being scaled cylinder 346 is more than 400r/min, Idr configuration part 396 makes Idr<0A, and its absolute value is increased gradually with the increase of ω.When the speed being scaled cylinder 346 is 1200r/min, Idr configuration part 396 exports Idr=-5A.Thus, weak magnetics detect is applied when high speed.
DC-to-AC converter carries out action as washing machine, therefore the various signal of transmission and reception between sequential generating unit 399 and the structural element of outside.Various signal refers to stop button signal Sstop, water-supply valve signal Skb, draining valve signal Shb, lid locking signal Srk, lid shutdown signal Scl etc.The sequential generating unit 399 various signals that also transmission and reception are relevant with the running of motor 349 simultaneously.
When braking, the speed of cylinder 346 becomes after roughly zero, and switching part 400 receives the signal Ka from sequential generating unit 399, and each contact is switched to b from a.Thus, the value of setting value Idr, setting value Iqr, phase theta is switched to output Idr0, Iqr0, θ 0 of signal generator 401 by switching part 400.
When the absolute value of the instantaneous value of current signal Iua, Iva, Iwa of 3 phases is in the short-circuit state all lower than 0.6A, short circuit current detection unit 403 makes Cs signal for high.
Figure 12 is the block diagram of the short-circuit braking control part 398 of DC-to-AC converter in embodiments of the present invention 3.
In fig. 12, short-circuit braking control part 398 has function generator 405, integrator 406, delay portion 407.Delay portion 407 makes brake request signal BRQ carry out the time delay of Td1=5ms time delay and produce the INTEG of integrator 406.
In integrator 406, under the state that INTEG is low, integrated value Duty is as initial value zero.Rise to the high time from INTEG to light, the action of time started integration, exports Duty thus.
In the present embodiment, the Duty of the output as integrator 406 is used as the input of function generator 405.Thus, although be eliminate the simple structure from the time counting started integration, the expansion speed of the short circuit duration ratio that the time starting to during expanding from short circuit duration ratio of can changing is corresponding.
At this, integrator 406 is built-in with following functions: the restriction being carried out Duty by the upper amplitude limit applying restriction with 100%.By this limit movement, Duty finally reaches as higher limit 100%, in this stage, is transferred to on-state all the time from PWM.
In addition, the time point of 100% is become, the IGBT in low potential side switch element 354,355,356, the amount of pressure drop of diode and such as remain about 2V ~ 3V as the input voltage of motor 349 because of the amount of pressure drop that causes from inverter circuit 357 to the wiring of motor 349 at Duty.Think that this voltage is in the category of roughly zero.
Figure 13 is the chart of the input-output characteristic of the function generator 405 of the DC-to-AC converter represented in embodiments of the present invention 3.Get and be input as transverse axis, get and export as the longitudinal axis.The output of function generator 405 is the input of integrator 406, therefore has the implication that short circuit duration ratio expands speed dDuty/dt.
In the present embodiment, in during the expansion of short circuit duration ratio Duty, replace counting the time from starting during this period and calculating the function of the dDuty/dt that gathers way for Duty.
Thereby, it is possible to cut down the quantity of the variable used in the calculation.Thus, even cheap and small-sized microcomputer also can calculate.
But, be not the special pattern of wants be this structure, also can use following structure: the time is from the outset counted, this time is exported as function.
In addition, as long as sufficient characteristic can be obtained, then also can replace the curve shown in Figure 13 (curve) and use straight line, stair-stepping line.Thereby, it is possible to alleviate the computation burden in microcomputer.
When certain exception occurs washing machine and at some splitting time of action, short-circuit braking control part 398 makes motor 349 become on-position and stop.Short-circuit braking control part 398, when receiving the brake request signal BRQ from sequential generating unit 399, makes the input of motor 349 gradually become short-circuit condition.That is, the grid voltage of the switch element 351,352,353,354,355,356 in control inverter circuit 357 is roughly zero to make the voltage between the input terminal of 3 phases.
Figure 14 be represent to observe from side embodiments of the present invention 3 be called as the DC-to-AC converter of tumbling-box washing machine time the figure of internal structure.
In fig. 14, transmit power by belt 348 to belt pulley 410 from motor 349, thus rotary actuation is carried out to the cylinder 346 of storage clothing 345.The inverter circuit 357 that the alternating current of 3 phases is provided to motor 349 is controlled by control part 358.
Cylinder 346 rotates in the inside of resinous receiving barrel 411.Control according to from the water-supply valve signal Skb of control part 358, the opening and closing of draining valve signal Shb to water-supply valve 413, draining valve 414.Thus, to plumbing in receiving barrel 411, carry out washing and dewatering together with the other washing agent thrown in.
At this, being provided with in the front of cylinder 346 can the lid 416 of opening and closing.Lid 416 is provided with the handle 417 for user's open-close lid 416.When washing and dehydration intermediate roll 346 rotates, lid 416 is closed, and to guarantee the safety of user, anti-sealing disperses.
In addition, a part for lid 416 is made up of transparent glass, also can see the state of the washing in cylinder 346 in washing action.
Show in phantom the state that lid 416 is opened by the operation of handle 417.
In the present embodiment, cover 416 and carry out opening and closing centered by the hinge fraction be connected with main body.But also can be sliding door structure, foldable structure, shutter, can also be the structure etc. can taken off from main body.
Lid 416 is remained closed state by cover lock bonding part 419.Cover lock bonding part 419 comprises solenoid 420, plunger 421, spring 422 and lock control circuit 423.Under the illustrated state of not carrying out to solenoid 420 being energized, lid 416 is in the lock state.Thus, even if user pulls handle 417 or carry out other and operate arbitrarily, also lid 416 cannot be opened.
Lock control circuit 423 is energized to solenoid 420 based on the lid locking signal Srk from control part 358, enters line-locked releasing.When the releasing locked, user can pull handle 417 to open lid 416.
Lid search switch 425 detects the open and-shut mode of lid 416.When lid 416 is opened, lid shutdown signal Scl becomes low, is passed to control part 358.Safe from the view point of guaranteeing, do not provide alternating current from inverter circuit 357 to motor 349.Thus, cylinder 346 does not rotate.
When wait after terminating in running of dewatering have sent lid locking signal Srk from control part 358 to lock control circuit 423 time, cover lock bonding part 419 to unlock state by carrying out energising to solenoid 420.Thus, user can open lid 416.
As the situation that dehydration running stops, except reaching the situation of the dewatering time of regulation, also there is user and operate stop button 426 and produce the situation of stop button signal Sstop by stop button 426 and produce the situation of the exceptions such as overload.In any one situation, all can produce the abnormal signal in control part 358, carry out the braking of motor 349 and cylinder 346 is stopped.At the time point that cylinder 346 stops, the brake request signal BRQ based on control part 358 make stop judging after to be unlocked state by cover lock bonding part 419.When lock-out state is removed, user 417 can open lid 416 by pulling handle.
Figure 15 be DC-to-AC converter in embodiments of the present invention 3 become short-circuit braking because of brake request signal BRQ when movement oscillogram.In fig .15, (a) illustrates brake request signal BRQ, and (b) illustrates K signal, and (c) illustrates Duty.
From power run duration, become height at the brake request signal BRQ of moment T1 central control 366, K signal is from high to low simultaneously.Be zero at this time point Duty, therefore the IGBT part of switch element 351,352,353,354,355,356 is transferred to whole off period Td1 of the 5ms all becoming disconnection.
In addition, in whole off period Td1, when motor 349 is low speed, electric current is almost nil.When motor 349 is high speed (state that induced electromotive force is high), circulated to the regenerative current of dc source 374 by the diode section of switch element 351,352,353,354,355,356.
C the ratio (Duty) of the turn-on time of the low potential side switch element 354,355,356 shown in () is short circuit duration ratio.Then, after whole off period, T2 to T3 is during the short circuit duration ratio of Duty increase expands.On the other hand, hot side switch element 351,352,353 remains open state due to the effect of switching part 369.
The expansion speed of the short circuit duration ratio (Duty) in during short circuit duration ratio expands is passed through along with the time and reduces, and short circuit duration ratio is more close to 100%, then its expansion speed is lower.
About the input voltage of motor 349, repeat as positive/negative by the induced electromotive force owing to rotating generation with instantaneous value, but it is forced to zero in short circuit duration, absolute value is suppressed.
Therefore, T2 ~ T3 short circuit duration ratio expand during for gauge tap element 354,355,356 with the voltage that the absolute value of voltage is reduced along with the increase of short circuit duration reduce during.
At T3, short circuit duration ratio Duty becomes maximum limit, namely 100%, during entering the short-circuit braking of the kinergety absorbing load.
Become the time point of 100% at Duty, the IGBT in low potential side switch element 354,355,356, the amount of pressure drop of diode as motor 349 input voltage and such as remain about 2V ~ 3V.In addition, the amount of pressure drop caused to the wiring of motor 349 because of inverter circuit 357 is also equal.But, this voltage be roughly zero category, namely think short circuit.
By making short circuit duration ratio Duty increase gradually like this, can prevent transient current in the process during being transferred to short-circuit braking from rising sharply.In addition, overcurrent can be prevented.Thus, the fault that can prevent the breakage of each structural element of inverter circuit 357 and cause because of the overcurrent of motor 349.
Particularly, in the present embodiment, the expansion speed dDuty/dt of short circuit duration ratio is made to reduce gradually.Thus, even if the velocity conditions of the motor 349 under the time point during entering short-circuit braking rises and falls on a large scale, also can prevent transient current from rising sharply.Correspondence can be carried out with the design of the expansion speed of the Duty near T2 under fast condition, and, correspondence can be carried out with the design of the expansion speed of the Duty near T3 under the condition that speed is low.
In addition, the superpotential viewpoint caused from suppressing to regenerate to dc source 374 at a high speed, can expand speed dDuty/dt using the short circuit duration ratio near the later half T3 during the expansion of short circuit duration ratio and suppress for Min..It can be realized by this design that rises sharply improving the transient current under middling speed ~ low-speed conditions in the scope of allowing.
The overcurrent of line current time during can preventing entering short-circuit braking under the condition that the velocity interval of motor 349 is large.In addition, the overvoltage that the regeneration because of dc source 374 can also be suppressed to cause produces.Owing to not needing velocity information, therefore, it is possible to use the motor 349 be called as without sensor without the sensor of position sensing and the sensor of speed detection, therefore, it is possible to form the structure of low cost.
Even the direction of rotation of motor 349 is not a direction but the DC-to-AC converter of turning right or turning left as washing machine, also can independently change short-circuit braking (short-circuitbrake) period into phase sequence.
Figure 16 is the movement oscillogram of the DC-to-AC converter in embodiments of the present invention 3.Figure 16 show from during shown in Figure 15 through the more time, motor 349 and as load cylinder 346 stop before and after action waveforms.
In figure 16, a () is the movement oscillogram of the speed representing cylinder 346, b () is the movement oscillogram of the current waveform representing Iu, Iv, Iw, (c) is the movement oscillogram representing the Cs signal that short circuit current detection unit 403 exports.D () is the movement oscillogram of the K signal represented as the input signal to switching part 369, (e) is the movement oscillogram representing the lid locking signal Srk being input to cover lock bonding part 419.
The speed becoming the motor 349 of short-circuit braking state reduces gradually, and meanwhile, the frequency of line current roughly proportionally reduces with speed.The amplitude of line current finally also reduces, and converges to zero at the time point of speed vanishing.
In the present embodiment, the output in the gallon portion 359 during zero current is roughly middle about the 2.5V of 5V power supply.Switch element 354,355,356 before running the starts value stored in advance under off-state is used as the bias suitable with zero current and uses, and processes with the critical value of the line current of each phase.
Be driven from the time of the time point entering short-circuit braking to stopping by the speed of motor 349 time point entering short-circuit braking, the inertia of load.In addition, be driven by the voltage (VCE (SAT)) etc. under the on-state of the inductance of motor 349, resistance value, switch element 354,355,356.Not the set time from the time of the time point entering short-circuit braking to stopping, therefore in the present embodiment, by being used as the current value of the physical phenomenon occurred because of the reduction of speed, carrying out the state that speed of detection is reduced to enough low speed.
Specifically, in the present embodiment, at the absolute value of the instantaneous value of three line current Iu, Iv, Iw all lower than the time point T1 of 0.6A, Cs signal becomes height.The speed of cylinder 346 is reduced to about 7r/min.
Short-circuit braking control part 398, after T1 reception becomes high Cs signal, makes K and Ka signal for high at the T2 time point after the time delay of 0.15 second.Change the state of switching part 369, switching part 400, the on-off of 6 switch elements 351,352,353,354,355,356 is controlled effectively.Further, since the form that effectively plays a role of Idr0, Iqr0, θ 0 of automatic signal generator 401, the winding 342,343,344 from dc source 374 to motor 349 provides controlled electric current.
That is, when braking, the speed of cylinder 346 becomes roughly zero.Afterwards, control part 358 gauge tap element 351,352,353,354,355,356 is to provide electric current from dc source 374 to winding 342,343,344.
Output Idr0, Iqr0, θ 0 of signal generator 401 is 0 at T2 time point, but at the T3 after 20ms, only Idr0 becomes 3A, and it continues 300ms.
Therebetween, in motor 349, non rotating is produced by the electric current of winding 342,343,344 and the also fixing static magnetomotive force of size.Then, under the state that can be called location, speed vanishing, stabilizes to completely static state.
Afterwards, as shown in (e), send cover lock from control part 358 to cover lock bonding part 419 with height and determine signal Srk.Cover lock bonding part 419 becomes the state be energized to solenoid 420, and user can open lid 416.
In addition, also sometimes after being judged to stop, according to the instruction from sequential generating unit 399, the next operation needed as washing machine is transferred to.
As described above, although be non-use position sensor, the low cost of velocity sensor and simple structure, can by using short-circuit braking and judging to guarantee security by carrying out suitable stopping based on the electric current during this.
Figure 17 is the flow chart when dehydration action etc. completes and midway enters braking in embodiments of the present invention 3.
In fig. 17, when entering braking maneuver and starting (step S430), be transferred to short-circuit braking (BRQ) (step S431), as shown in Figure 15, during then voltage enters short-circuit braking during reducing afterwards.
Being judged to slow down the time point proceeded to close to the speed stopped by Cs (step S432), being transferred to and electric current (step S434) is provided.In the present embodiment, become height to apply in a flexible way the form of the Current Control function also used when power runs to make Ka signal, the electric current of direct current is provided from U terminal to V terminal and W terminal in during 300ms (=0.3 second).Under the action of this time point inverter circuit 357 and the normal situation of wiring to motor 349, the absolute value of the line current of all phases of U, V, W is all more than 0.6A.
When Current Control is effective, carry out the absolute value of line current whether more than the judgement (step S435) of 0.6A.Be transferred to latch-release (step S437) when "Yes", at this, be energized to solenoid 420 and enable user open lid 416.
On the other hand, when "No", the absolute value of the line current of standby until all phases is more than 0.6A.Be not transferred to latch-release, because this ensure that the security of user.
In addition, in the present embodiment, the stage of connecting at the power supply of DC-to-AC converter also carries out the action shown in a Figure 17.Such as, in cylinder 346, there is remaining rotation when the running braking of last time not yet completes, in this case in order to do one's utmost the danger avoiding user, keeping the state of cover lock bonding part 419 cannot open lid 416 to make user.
Particularly, in the present embodiment, during being provided with short-circuit braking, therefore, it is possible to realize control part 358 with simple program structure.Further, about the electric current in the terminal stage during short-circuit braking, also using the output valve in the gallon portion 359 under correct zero current condition as bias, process with critical current value.Therefore, such as, in short-circuit braking, gallon portion 59 breaks down, the possibility that output signal is independently fixed as 0V, 5V etc. with actual current value is high.In this case, the possibility that Cs signal uprises is extremely low, ensure that high security.
There is provided period at electric current, gauge tap element 351,352,353,354,355,356 is to provide electric current from dc source 374 to winding 342,343,344.According to this electric current provide whether effectively complete judge connect up broken string etc.Therefore, when there is broken string in during short-circuit braking, cover lock bonding part 419 also makes user cannot open lid 417.Thus, ensure that security.
In the present embodiment, provide the current value to motor 349 in period as electric current, in each winding 342,343,344, be all set to the value more than 0.6A, but also can be below 0.6A.As long as the electric current more than minimum resolution in gallon portion 359, will effectively set up as Current Control.When there is not the broken string etc. of wiring, this gallon portion 359 responds, therefore, it is possible to the situation of broken string etc. and the difference of normal condition occur in detection.Thus, also can use based on executing alive judgement in Current Control simultaneously.
In addition, provide period and the size of electric current about electric current, when cylinder 346 reliably will be carried out built with location action under the state of clothing 345, need to make period grow or make current value larger.
But it is not necessary for positioning action, as long as can whether effectively work according to Current Control merely determine whether disconnection fault occurs, just enough effective.Although the energising of the DC current of more than 1 second reliably can position action, the wasting of resources that the long life of the duration of runs and power consumption cause can be caused.
The electric current used in present embodiment provides the length of period to be 300ms, current value is above the degree of 0.6A, be smaller value, thus, the rotation that electric current provides period just to start the cylinder 346 caused by torque of rear generation is suppressed to less than 1 turn per minute.
Particularly, in the present embodiment, be confirmed whether to there is broken string under the stage that the enough little and motor 349 of the electric current under the state of the input short of motor 349 roughly stops.So, even if the phase difference that must not position D.C. magnetic field that action produces and d axle becomes the action of enough little value.Therefore, by making electric current provide period for minimal period of below 500ms, this period cylinder 346 can not produce new motion.Thus, can realize can carrying out at short notice stopping judging and there is no the DC-to-AC converter that the quality of useless motion is high.
Electric current provides the current value of period to be also more increase, and the torque of locating is larger.But when being provided by electric current period such as to shorten to as 1ms etc., the torque putting on cylinder 346 long-pending (produce torque and time amass) is little.The new motion (angular acceleration) that caused cylinder 346 is amassed in this torque is suppressed to the degree that can ignore.Thus, the kinergety providing period to produce due to the friction of the bearing etc. of cylinder 346 etc. at electric current is absorbed in very short time, and cylinder 346 is static.Therefore, it is possible to whether there is the judgement of broken string more reliably based on the current value of the minimum resolution significantly exceeding gallon portion 359.Thus, can the short time be realized and there is no the DC-to-AC converter of the high-quality of useless motion.
According to the discussion of inventor, when electric current provide provide electric current in period, if within 500ms and the absolute value of the current value of each line current is below 1.5A, then can suppress to be less than 1 turn per minute within 10 seconds.Particularly, if within 300ms, 1A, then can suppress for less than 1 turn per minute within 2 seconds.Thus, the DC-to-AC converter of present embodiment is guaranteed from the safety of user and the angle of quality is effective.
Like this, provide period owing to there is electric current, produce torque, can fully suppress cylinder 346 to carry out rotating such undesirable condition on the contrary.Thus, under the state at least opening lid 117 user after cover lock bonding part 419 is just removed, also can not due to provide period to produce at electric current torque caused by cylinder 346 rotation and cause danger.
In addition, in the present embodiment, the rotating shaft of cylinder 346 is level, but also can be vertical or inclination.
About the power transfer path of the rotary actuation for cylinder 346, also show the power transfer path using belt pulley 410, belt 348.This power transfer path can use gear (gear), also can on the axle of cylinder 346, directly arrange motor as being called as Direct driver and rotate etc. with same speed.
In addition, the structure of cover lock bonding part 419 is also not limited to the structure described in present embodiment.Multiple cover lock bonding part also can be set.Such as, also can be configured to use the first cover lock bonding part and the second cover lock bonding part, this first cover lock bonding part can unlock at any time based on the handle operation of user simultaneously, and this second cover lock bonding part to unlock state based on the signal from control part.Or, also can be configured to be always lock-out state under the state of closing cap, carry out latch-release based on the signal from control part.In addition, also can make based on the signal from control part to carry out handle operation.No matter in which situation, whether can open cover as long as user can be changed based on the signal from control part.
As described above, the speed of control part 358 cylinder 346 when motor 349 is braked of the washing machine of present embodiment becomes after roughly zero, controls to provide electric current from dc source 374 to winding 342,343,344 to switch element 354,355,356.Then, make it possible to open lid 417 by cover lock bonding part 419.Thus, although be simple structure, security can be guaranteed.
In addition, the speed of control part 358 cylinder 346 when braking of the washing machine of present embodiment becomes after roughly zero, controls to make the output in gallon portion 359 for setting to switch element 354,355,356.Then, make it possible to open lid 417 by cover lock bonding part 419.Thus, although be simple structure, security can be guaranteed.
In addition, after the speed of the control part 358 of the washing machine of the present embodiment cylinder 346 when braking becomes roughly zero and the output in gallon portion 359 is less than setting, make not continue to the state opening lid 417 by cover lock bonding part 419.Thus, although be simple structure, security can be guaranteed.
(embodiment 4)
Figure 18 is the block diagram of the central processing department 440 of DC-to-AC converter in embodiments of the present invention 4.
In the present embodiment, a part for the structure of central processing department 440 is different from embodiment 3.Other is equal.Only the structural element different from embodiment 3 is described.
In figure 18, control part 440 has short-circuit braking control part 441, sequential generating unit 442, switching part 443, signal generator 444.When being connected to b side terminal according to the Kb signal from sequential generating unit 442, input signal Vd, Vq and θ of the second coordinate converting section 388 are switched to Vd0, Vq0, θ 0 of automatic signal generator 444.In addition, the input signal θ of the first coordinate converting section 380 is switched to come the θ 0 of automatic signal generator 444.Thus, motor 349 is applied to the voltage of regulation.
Structure and the embodiment 3 of other parts are equal.
Figure 19 is the movement oscillogram of the DC-to-AC converter in embodiments of the present invention 4.
In Figure 19, (a) illustrates the speed of cylinder 346, and (b) illustrates the current waveform of Iu, Iv, Iw, and (c) illustrates the Cs signal that short circuit current detection unit 403 exports.In addition, (d) illustrates the K signal as the input signal to switching part 369, and (e) illustrates the lid locking signal Srk being input to cover lock bonding part 419.
The action that the T3 time point of present embodiment is later is different from the first embodiment.The length of period is provided by electric current to be set to this short time span of 20ms.As current value, be set to close to can there is no noise problem in gallon portion 359 do not carry out the lower limit detected, just over the value of 0.6A.
Figure 20 is the flow chart when dehydration action etc. completes and midway enters braking in embodiments of the present invention 4.
In fig. 20, when entering braking maneuver and starting (step S450), be transferred to short-circuit braking (BRQ) (step S451), as shown in Figure 15, during then voltage enters short-circuit braking during reducing afterwards.
Being judged to slow down the time point (step S452) proceeded to close to the speed stopped by Cs, being transferred to and voltage (step S454) is provided.Kb signal becomes height, in during 20ms, applies positive voltage from dc source 374 by switch element 351,352,353,354,355,356 pairs of U terminals, applies common negative voltage to V and W two terminals.
At this time point, under the action of inverter circuit 357 and the normal situation of wiring to motor 349, the absolute value of the line current of all phases of U, V, W is all more than 0.6A.
In the present embodiment, judged by current value, the minimum of a value of the peak value of the absolute value of the line current of each phase during 20ms is exceeded with comparing (step S455) to judge whether as the 0.6A of threshold value.Be transferred to latch-release (step S457) in the case of exceeding, be energized to solenoid 420 at this and enable user open lid 416.
On the other hand, when not exceeding, becoming mistake display (step S458), keeping user cannot open the state of lid 416, and there occurs mistake to user's notice, thus guarantee the security of user.
In addition, do not using in the DC-to-AC converter of vector controlled, as long as carry out the setting of the voltage value of U, V, W phase.Although be simple structure, can reliably determine electric current when breaking and not flow.
In addition, because electric current provides period to be as short as 20ms, therefore provide the torque produced in period long-pending (torque with time amass) little at electric current.Therefore, under the inertia 0.3kg square meter when cylinder 46 is empty, angular speed 1rad becomes very little, is per minute less than 1 turn.Thus, due to the friction etc. of bearing etc., static in about 100ms.
Particularly, a part for lid 417 is transparent, user can see in the structure of the rotation of cylinder 346, after cylinder 346 stops, occurring the new motion of cylinder 346, and user can be made to entertain uneasy sense, not believe sense.Thus, the DC-to-AC converter of present embodiment eliminates this sensation, thus can realize DC-to-AC converter also outstanding in quality.
As described above, about the washing machine of present embodiment, when braking, the speed of cylinder 346 becomes after roughly zero, and the speed of cylinder 346 is per minute less than 1 turn.Thereby, it is possible to realize the high security of user.
(embodiment 5)
Figure 21 is that the speed of cylinder 346 when braking represented in embodiments of the present invention 5 to become after roughly zero and to provide the electric current of electric current to provide the figure of each portion action waveforms before and after period to motor 349.In figure 21, (a) illustrates electric current I u that each winding 342,343,344 to motor 349 provides, Iv, Iw, and (b) illustrates Cs signal, and (c) illustrates K signal.
In the present embodiment, from the waveform difference of the electric current that inverter circuit 359 provides to motor 349, other parts and embodiment 3 and 4 are equal.As the power transfer path between motor 349 and cylinder 346, employ belt 348.In the present embodiment, provide in period at electric current, T3 ~ T4 is set to 500ms and electric current will be provided also to establish greatly.Thus, even if under the state being placed with clothing 345 in cylinder 346, also reliably location action can be completed at T4 time point.Action later to T4 is below described.
During the 80ms of T5 ~ T6, provide electric current from V terminal to W terminal.Relative to the magnetic pole of the permanent magnet 340,341 under the T5 time point after T3 ~ T4 positions action, produce the weak magnetomotive force of the phase place of advanced 90 degree of electrical angle at T5 ~ T6.
Figure 22 is the figure of the phase place of the permanent magnet 340,341 of the motor 349 of the situation (or situation of fracture) that the normal situation of the belt 348 represented in embodiments of the present invention 5 and belt 348 come off.In fig. 22, (a) is the phase place under T4 time point, and (b) and (c) is the phase place under T6 time point, and (d) and (e) is the phase place under T8 time point.
In addition, the quantity of permanent magnet 340,341 is number of poles, in fig. 22, is set to 2 pole machines and makes mechanical angle equal to electrical angle should be readily appreciated that.Also can be 4 poles, 6 poles, 8 poles etc. in reality.
In (a), in during T3 ~ T4, provide large electric current with sufficiently long period.Therefore, be no matter in the normal situation of belt 348 or when coming off at belt 348, represent the permanent magnet 340 of N pole towards, namely d axle towards be roughly the same with current phasor Ia towards, become the state after having located.
In addition, about location action, also sometimes suppose to be difficult to avoid the situation at dead point when a generation D.C. magnetic field and carry out making stagger the repeatedly electric current of 90 degree etc. of electrical angle to provide this method of rotating excitation field etc. that provides also effective.
Then, the detent force during the 80ms of T5 ~ T6 dies down.Thus, with regard to T6 time point, under the state that belt 348 normally connects, the Friction essentiality at the bearing place of the large inertia J d that cylinder 346 has and cylinder 346 also will add.Therefore, as shown in (b), having almost no change towards relative to (a) of d axle.
On the other hand, the belt 348 shown in (c) came off before T5, only has the minimum friction of the bearing in the inertia J m of motor 349 and motor 349.Thus, the situation that the location becoming T5 ~ T6 effectively plays a role, becomes electrical angle roughly differs 90 degree phase place relative to (a).
In addition, as the inertia of the cylinder of equivalence during the seeing of the axle from motor 349, for the inertia J d at the axle place of cylinder 346 is divided by the value of square gained of pulley decelerates ratio.But, in common tumbling-box washing machine, even if under the state that cylinder 346 is empty, be also sizable value compared with Jm.That is, the difference caused with or without belt 348 is very large.
If provide large electric current for a long time in T5 ~ T6, even if then belt 348 is normal, also effectively carry out location action cylinder 346 being rotated by belt 348.In the present embodiment, following state is in: provided by electric current time and current value to be defined as the value of the degree do not positioned under the state having belt 348.
In T7 ~ T8, again in the such pole short-term of 2ms, provide electric current with the phase place same with during T3 ~ T4.In the present embodiment, based on the relation of electric current rate of climb dI/dt during this period and voltage V, inductance value L is obtained by (formula 5).
[formula 5]
Permanent magnet 341,342 is telescope structure, therefore there is the relation of Lq>Ld.
In fig. 22, in belt 348 normal (d), relative to the phase place of provided electric current I a, L is roughly Ld.On the other hand, (e) is roughly Lq, can grasp the phase place (T6, T7 are also roughly equal) under T8 time point.Thus, according to whether effectively having carried out the location action of T5 ~ T6, can judge that whether belt 348 is normal.
T7 ~ T8 is that final electric current before disarm state (user opens the state of lid 417) provides period for enabling cover lock bonding part 419.By being set to the such very short time of 2ms, the new motion of cylinder 346 can not be there is when belt 348 normal presence.Thus, the DC-to-AC converter of present embodiment is outstanding at secure context, and can not produce useless motion, therefore, it is possible to make quality high.
Thus, can not only confirm that motor 349 stops, can also confirming that the belt 348 forming power transfer path in this stage does not come off or do not rupture.
Particularly, when under the state of the terminal stage close to braking, belt 348 comes off or ruptures, cylinder 346 can continue due to inertia (inertia) to rotate.Thus, when the stopping of only motor 349 judges correct, the problem in safety can be remained.
In this regard, in the present embodiment, can detect that belt 348 is normal and wiring to motor 349 does not also exist broken string.In addition, can detect all normal from inverter circuit 359 to the path of cylinder 346 and be in halted state.When not meeting them, be judged to be the fracture etc. of fault, the i.e. belt 348 detecting power transfer path.Thus, make cover lock bonding part 419 continue state that user can not open lid 417.Thus, the higher DC-to-AC converter of security can be realized.
In addition, in the present embodiment, provide by being carried out by the current source of Current Control the electric current carried out for obtaining inductance L.But, be not particularly limited to current source.Also can apply the voltage V specified, calculate based on the size of electric current or gather way (dI/dt) of electric current.In addition, also can replace and provide curtage with fixing phase place, but along with the electric current that the time changes phase place, the size of current value provides the short time on one side intermittently, or faint electric current etc. is provided continuously.As long as provide at least at the curtage of the normal state bottom roll 346 of belt 348 and motor 349 almost non-rotary degree, to find d axle, q axle towards being exactly effective.In addition, also can be following structure etc.: except detection self-induction L, also on electrically, depart from the voltage of the component of 90 degree, the value of electric current based on the phase place relative to provided voltage, electric current, detect the rotor-position using mutual inductance.
In the present embodiment, with belt 348 for power transfer path, therefore compared with the power transfer path of other form, slightly unfavorable in the reliability such as belt dropping, belt fracture.But the validity suitably detecting the structure of the present embodiment of belt dropping is high.
But, as power transfer path, except belt 348, also sometimes use gear etc., when the structure of present embodiment is used for them, also there is the effect solved because of the problem in the safety of fault generation.
As described above, the washing machine of present embodiment has power transfer path 348 between motor 349 and cylinder 346, it is rear when providing the electric current of electric current to provide to detect the fault of power transfer path 348 to motor 349 in period that the speed of control part 358 cylinder 346 when braking becomes roughly zero, and the state making user can not open lid 417 by control part 358 continues.Thus, for the drum rotating that can produce when power transfer path 348 breaks down, also high security can be realized.
(embodiment 6)
Figure 23 is that when representing the braking in the DC-to-AC converter of embodiments of the present invention 6, the speed of cylinder 346 to become after roughly zero and to provide the electric current of electric current to provide the figure of the action waveforms in each portion before and after period to motor 349.
In fig 23, (a) illustrates the current waveform provided from V to W, and (b) illustrates the change of its frequency, and (c) illustrates the amplitude (absolute value) of the voltage produced between V and W.At this, for eliminating the value of pulsating quantity.
Between the belt pulley 410 that belt 348 normally hangs over motor 349 and cylinder 346 side, according to following come mechanism's anti-resonance frequency at axle place of calculating motor 349.That is, the torsion spring constant K [Nm/rad] at the axle place of the motor 349 mainly caused by the elasticity on the length direction of the belt 348 and inertia J m [kg square meter] of motor 349 calculates mechanism's antiresonance frequently.By (formula 6) of simple harmonic oscillation even if the mechanism's anti-resonance frequency coming the axle place of calculating motor 349 is relative to angle of torsion speed and the maximum resonant frequency f of angular acceleration.
[formula 6]
In addition, at this, the angular speed (speed) be by mechanism and torque (power) are replaced into the voltage and current being electrically respectively, owing to being make the great frequency of impedance, are therefore called that the such expression of mechanism's anti-resonance frequency is also correct.In this manual, resonance and antiresonance are referred to as resonance.Mechanism's anti-resonance frequency is contained in mechanism's resonant frequency.
In addition, this vibration mode is different from the vibration mode produced when being played as string by the belt used when measuring the tension force of belt 348 etc.This vibration mode is decided by the radius etc. of the pulley section of belt 348 rigidity (flexible inverse) flexible caused in the longitudinal direction and the tensile elongation of belt, the extension belt of motor 349 side.In the present embodiment, be 55Hz.
Under the condition that the inertia J d of cylinder 346 is large to a certain extent, anti-resonance frequency f is roughly fixing.When only cylinder 346 when the inertia J d at the axle place of cylinder 346 is 0.3 [kg square meter], anti-resonance frequency f is smaller by adding as the clothing 345 of content, water mitigation.
But, exist the impact of the inertia J d due to cylinder 346, belt temperature characterisitic, last change and deviation etc. and the factor of f change that change etc. causes.Thus, in the present embodiment, providing in period T10 ~ T11 at electric current, is 30Hz ~ 80Hz by the frequency shift of provided electric current.
Therefore, provide in period T10 ~ T11 at electric current, the electric current provided to motor 349 is not the torque in a generation direction, but produces the positive and negative torque replaced.Its frequency comprises the component of the 55Hz as the mechanism's resonant frequency caused by motor 349, belt 348 and cylinder 346.Thus, as the motor 349 of prime mover of cylinder 346 produce comprise mechanism's resonant frequency, the alternating torque of frequency range before and after it.
Absolute value of voltage is there is near the 55Hz as mechanism resonant frequency f | when the maximal point R of Vv-Vw|, the alternating torque produced in motor 349 by the alternating current provided between VW is solid line.It is poor to exist between dotted line when maximal point R and belt 348 come off.Thus, can judge that belt 348 is in normal state by the existence of detection R point.
That is, be used in via belt 348 and prime mover of rotary actuation carried out to the cylinder 346 as load and motor 349 produces the alternating torque comprising the harmonic frequency components of the organize factor of prime mover.Produce the induced electromotive force of the permanent magnet 340,341 be roughly directly proportional to the size (amplitude of speed) of the vibration caused by this alternating torque in the windings.Therefore, being detected the amplitude of the vibration of the motor 349 as prime mover by the amplitude of the input voltage according to motor 349, coming according to determining whether belt 348 with or without mechanism's resonant frequency.
In addition, different according to the phase place of permanent magnet 340,341, the electric current sometimes between VW provides and can not produce torque.Therefore, provide if also carry out electric current to the phase UW etc. beyond VW, then, in the normal situation of belt 348, the characteristic illustrated in (c) can be detected when providing some alternate alternating currents.Also can detect 3 mutually whole wirings all not break simultaneously.
In the present embodiment, especially the frequency of electric current being set to 30Hz ~ 80Hz, thus, providing the motion of cylinder 346 in period as electric current, cylinder 346 can not being made to produce new motion for detecting.Thus, even the periphery of cylinder 346, also can suppress for below 0.1mm vibration very small like this.In addition, even if user observes cylinder 346 by the lid 417 with clear glass, also can not feel not believe sense, uneasy sense etc., quality is high.Further, when belt 348 exist come off, rupture, also can detect this exception accurately.Thus, positively ensure that cylinder 346 is in complete halted state, the DC-to-AC converter that security is high can be guaranteed.
As the whether normal unit of judgement belt 348, also can be produce torque, structure that relation between basis and angular acceleration calculates inertia etc.But, also there is following situation: when applying motion by again producing torque to cylinder 346 under the state that the stopping being in motor 349 at T10 time point has judged, specially carrying out stopping the meaning judging to weaken.Thus, if present embodiment, then can not make cylinder 346 setting in motion to judge belt 348 whether normal, be favourable.
As discussed above, in the DC-to-AC converter of present embodiment 3 ~ 6, make the state of cover lock bonding part 419 as follows: the stage stopped completely at cylinder 346, user can open lid 417.Thus, security can be guaranteed.
In addition, in each embodiment, the structure being called as " without sensor " that the position sensors such as Hall IC are not set especially is configured to.Thus, low cost can be obtained and the various effect such as impact of causing of the installation site deviation etc. eliminating position sensor.And, detect the broken string of the wiring to motor 349, also detect coming off etc. of power transfer path (belt) 348 in addition abnormal.Thus, the high DC-to-AC converter of the such security of lid 417 is opened under realizing the state that user reliably stops at cylinder 346.
In addition, in the present embodiment, mechanism's impedance (angular speed/torque) anti-resonance frequency is greatly made, but the resonant frequency that mechanism's impedance (angular speed/torque) also can be used minimum.Now, be about 13Hz, produced by cylinder 346 resonance with belt 348, therefore use this frequency component, relative to torque angular speed, namely diminish relative to the voltage of motor 349 input current.Therefore, still belt 348 can be determined whether.
About the variation of the inertia of cylinder 346, this variation can be covered by changing frequency (frequency sweep etc.) in slightly wide scope.The quality of the clothing 345 that also can then detect in cylinder 346 detects the degree of such as dewatering.Particularly, about coming off of belt 348, the DC-to-AC converter with position sensor also can be applied to.Thus, can more precisely judge that belt 348 is with or without coming off than the normally used position sensor of signal intensity etc. that occurs every electrical angle 60 degree.
Certainly, just in case position sensor breaks down and also can tackle in the DC-to-AC converter of use location sensor, thus also can carry out multiple security and guarantee.
In addition, as the control structure of carrying out when braking, in embodiment 3 ~ 6, employ short-circuit braking, but also can apply electric braking by other structure to motor 349.As long as do not exist under the time point of motor 349 stopping can being detected from inverter circuit 359 to the fault in the path of cylinder 346, i.e. broken string and the exception that there is not power transfer path.Thus, as long as make user open lid 417 under the state that can be in real halted state at cylinder 346.
As described above, the power transfer path 348 of the washing machine of present embodiment is belt, provides the frequency being provided to the electric current of motor in period to possess mechanism's harmonic frequency components caused by motor 349, belt and cylinder 346 at electric current.Thus, new motion is not applied to cylinder 346 and just with the detection of very high precision with or without belt, can realize high security.
(embodiment 7)
Figure 24 is the block diagram of the DC-to-AC converter in embodiments of the present invention 7.
In fig. 24, DC-to-AC converter has the winding 502,503,504 of permanent magnet 500,501 and 3 phase.In addition, have motor 509 and 6 switch elements 511,512,513,514,515,516, by belt pulley 507 and belt 508, the load (cylinder) 506 to storage clothing 505 carries out rotary actuation to this motor 509.In addition, have and provide the inverter circuit 517 of alternating current Iu, Iv, Iw to motor 509 and switch element 511,512,513,514,515,516 is carried out to the control part 518 of on-off control.Control part 518 has the gallon portion 519 of detection alternating current Iu, Iv, Iw.In the present embodiment, gallon portion 519 comprises 3 mutually respective current transformations is shunt resistance 521,522,523 and the A/D converter 524 of voltage.A/D converter 524 carries out A/D conversion during the switch element 514,515,516 of low potential side is connected.
Further, control part 518 has central control 535, is undertaken generating for the signal of the control of inverter circuit 517, accepting from the output signal Iua in gallon portion 519, the signal of Iva, Iwa by digital form.
Pwm circuit 536 receives Duty from central control 535, exports and carries out the signal B after pulsewidth modulation (PWM) with the triangular wave of cycle 64 microsecond to Duty.About the signal S1 ~ S6 of central control 535, via the switching part 537 be arranged between this central control 535 and inverter circuit 517, drive circuit 538 to provide the signal of switch element 511,512,513,514,515,516.When the K signal of central control 535 is high, the state of switching part 537 shown by Figure 24, adopts S1 ~ S6.On the other hand, when K signal is low, each switch become in switching part 537 is connected to the state of downside.
From comprise the AC power 541 of AC230V50Hz, full-wave rectifier 542, capacitor 543 dc source 544 provide DC voltage VDC to inverter circuit 517.The output A comprising the DC voltage detection circuit 548 of resistance 546,547 is imported into central control 535 as analog voltage signal.In the inside of central control 535, also A/D conversion is carried out to output A, processes as digital value.
Figure 25 is the block diagram of the detailed construction of the central control 535 of the DC-to-AC converter represented in embodiments of the present invention 7.
In addition, the parts in most cases forming central control 535 are microcomputers of single-chip.But, the structure also comprising the part in the outside of central control 535 of Figure 24 also can be realized by the software of 1 microcomputer.In addition, can also realize by several hardware the parts forming central control 535.In addition, also can be realized by various processors such as DSP.That is, both can be realized by single-chip, also can be realized by multi-chip, in addition, both can be realized by hardware, and also can be realized by software.
In fig. 25, signal Iua, Iva, Iwa corresponding to 3 phase current Iu, Iv, Iw are imported into the first coordinate converting section 550 together with estimation phase theta signal.In the first coordinate converting section 550, use (formula 7) to carry out to the conversion of Id and Iq, namely from static coordinate to the conversion of rotational coordinates, export Id and Iq.Be provided with subtraction portion 551,552, calculate the error of setting value Idr and Id and the error of setting value Iqr and Iq respectively.The output of subtraction portion 551,552 is imported into the error enlarging section 553,554 that the gain of PI (ratio, integration) is played a role.Output Vd with Vq of this error enlarging section 553,554 is imported into the second coordinate converting section 558 together with the phase theta signal of the output as integrator 555, uses (formula 8) to carry out the conversion of the value of voltage instruction value from dq coordinate to 3 phases Vu, Vv, Vw from.Voltage instruction value Vu, Vv, Vw are imported into PWM portion 559, make the carrier wave of the triangular wave of cycle 64 μ s play a role with the voltage instruction value of 3 phases relative to the ratio of a-signal.Voltage instruction value Vu, Vv, Vw are carried out instantaneous value with this carrier wave compare and add idle time, generate upper and lower drive singal S1 ~ S6.
[formula 7]
[formula 8]
In addition, in the present embodiment, gallon portion 519 is configured to detect the electric current of whole 3 phases.But, as long as the electric current of 2 phases in the winding 502,503,504 of the three-phase of detection motor 509, just remaining 1 phase can be calculated according to Kirchhoff's law.Thus, also 2 phases can only be detected.
The central control 535 of present embodiment also has the subtraction portion 560 of the difference of computational speed setting value ω r and ω and makes the gain effect of PI (ratio, integration) in the error enlarging section 561 of the output of subtraction portion 560.In addition, there is the Idr configuration part 562 and the short-circuit braking control part 563 that decide setting value Idr based on estimating speed ω.In addition, the sequential generating unit 567 of setting speed ω r when there is abnormity detection portion 565 and produce the driving of motor 509.
Have that certain is abnormal at DC-to-AC converter, the overcurrent in such as each portion or overvoltage, when also having superfluous vibration etc., abnormity detection portion 565 output abnormality detection signal B99RQ.When will washing, dehydration etc. as the action of washing machine splitting time point motor 509 is stopped with on-position, sequential generating unit 567 produces brake request signal B4RQ.
In the present embodiment, when receiving anomaly detection signal B99RQ and when receiving brake request signal B4RQ, all enter same short-circuit braking state.No matter in which situation, the switch element 511,512,513,514,515,516 all in control inverter circuit 517 with make the input of motor 509 gradually for short-circuit condition, i.e. 3 phases input terminal between voltage be roughly zero.That is, carry out grid control with 3 the common switch elements 514,515,516 of Duty to the low potential side in inverter circuit 517, the switch element 511,512,513 of hot side is remained off-state.
The absolute value of the instantaneous value of current signal Iua, Iva, Iwa of short circuit current detection unit 570 3 phases is in the short-circuit state all lower than making Cs signal for high when 0.6A.
When the speed that ω value is scaled load (cylinder) 506 is below 400r/min, Idr configuration part 562 exports 0A as setting value Idr, when the speed being scaled load (cylinder) is more than 400r/min, Idr configuration part 562 makes Idr<0A, its absolute value is increased gradually with the increase of ω, when the speed being scaled load (cylinder) is 1200r/min, makes Idr=-5A, apply weak magnetics detect at high speeds.
Speed estimation portion 556 stores the parameter (resistance value, maximum induction, minimum inductance) of motor 509, although do not have velocity sensor, can carry out the velocity estimation of motor 509.Now, the voltage equation of motor 509 is used.Speed estimation portion 556 receives output Id, Iq of the first coordinate converting section 550 and input Vd, Vq of the second coordinate converting section 558, the estimating speed ω 2 of output estimation speed omega and the input as integrator 555.
In speed estimation portion 556, calculate the ε corresponding with phase error based on the voltage value of motor 509 and current value.Speed estimation portion 556 comprises reponse system, and the error that this reponse system carries out possessing integration or proportional integral key element etc. is amplified to make the ε corresponding with phase error converge to zero.
Figure 26 is the block diagram of the short-circuit braking control part 563 of DC-to-AC converter in embodiments of the present invention 7.
In fig. 26, short-circuit braking control part 563 has the OR circuit 574 of the logic OR obtaining brake request signal B4RQ and anomaly detection signal B99RQ and receives the comparator 575 of a-signal.In addition, there is voltage rise amount generating unit 576, adder 577 and keeper 578.In short-circuit braking control part 563, the value that the DC voltage VDC become by brake request signal B4RQ or anomaly detection signal B99RQ under high time point is added with the voltage rise amount being equivalent to 50V and obtains is supplied to the negative input of comparator 575 from keeper 578 as threshold value.
Short circuit duration ratio expands speed command portion 580 and has function generator 581, function generator 582, switching part 583, keeper 585.The short circuit duration ratio expanding the output in speed command portion 580 as short circuit duration ratio expands rate signal and is imported into integrator 586.Output (brake request signal) BRQ of OR circuit 574 is imported into delay portion 587.Delay portion 587 sends signal with the time delay of Td1=5ms time delay, and this signal is the INTEG to integrator 586.
In integrator 586, under the state that INTEG is low, integrated value Duty is as initial value zero.Rise to the high time from INTEG and light time started integration, export Duty.
Particularly, in the present embodiment, the Duty of the output as integrator 586 is used as the input that short circuit duration ratio expands speed command portion 580.Thus, play function by function generator 581,582, although be the simple structure of the counting eliminated from the time started integration, also can with expand from short circuit duration ratio during start time correspondingly change the expansion speed of short circuit duration ratio.
In addition, the output as comparator 575 becomes high condition, is to exceed threshold value by the rising of signal A.At the time point of DC voltage VDC more than rising 50V, keeper 585 keeps Duty, and the input of function generator 582 is fixed.In addition, switching part 583 switches to b from a, and therefore the later fixing output valve from function generator 582 is that short circuit duration ratio expands speed.
Therefore, in this situation, Duty rose with fixing speed gradually along with the time.
At this, integrator 586 is built-in with following functions: the restriction being carried out Duty by the upper amplitude limit applying restriction with 100%.By this restriction, Duty finally reaches as higher limit 100%, is transferred to on-state all the time in this stage from PWM.
In addition, become the time point of 100% at Duty, as the input voltage of motor 509, such as, remain about 2V ~ 3V.This voltage be IGBT in low potential side switch element 514,515,516, diode amount of pressure drop and from inverter circuit 517 to the amount of pressure drop caused by the wiring of motor 509.But this voltage is in the category of roughly zero.
Figure 27 is the chart of the input-output characteristic of the function generator 581 sum functions generator 582 of the DC-to-AC converter represented in embodiments of the present invention 7.In figure 27, get and be input as transverse axis, get and export as the longitudinal axis.In figure 27, solid line A illustrates the input-output characteristic of function generator 581, and dotted line B illustrates the input-output characteristic of function generator 582.
Duty is directly connected in the input of the function generator 581 as transverse axis.On the other hand, Duty connects with the input terminal of midway via the form and function generator 582 of keeper 585.The input-output characteristic of function generator 581 sum functions generator 582 is continuous decline, and in the scope of Duty<90%, relative to solid line A, above dotted line B is positioned at, is equal value when Duty >=90%.
Become the input of integrator 586 after output as the longitudinal axis of Figure 27, therefore there is the implication that short circuit duration ratio expands speed dDuty/dt.
Particularly, in the present embodiment, in during the expansion of short circuit duration ratio Duty, replace counting the time from starting during this period and possessing the function of the dDuty/dt that gathers way relative to Duty.
Thereby, it is possible to cut down the quantity of variable used in the calculation, even cheap and small-sized microcomputer also can use.
But, do not need to be configured to this structure especially, can use following structure yet: the time is from the outset counted, exports with the function of this time.
In addition, if sufficient characteristic can be obtained, then also can replace the curve shown in Figure 27 (curve) and use straight line, stair-stepping value, the computation burden in microcomputer can also be alleviated.
Figure 28 be DC-to-AC converter in embodiments of the present invention 7 become short-circuit braking because of brake request signal BRQ when movement oscillogram.In Figure 28, (a) illustrates brake request signal BRQ, and (b) illustrates K signal, and (c) illustrates Duty.
From power run duration, become height at the brake request signal BRQ of moment T1 central control 535, K signal is from high to low simultaneously.Be zero at this time point Duty, therefore the IGBT part of switch element 511,512,513,514,515,516 all disconnects, based on delay portion 587 effect and become whole off periods of 5ms.
In addition, in whole off period, when motor 509 is low speed, the state that electric current is almost nil is become.
C the ratio (Duty) of the turn-on time of the low potential side switch element 514,515,516 shown in () is short circuit duration ratio.Then, after whole off period, T2 to T5 is during the short circuit duration ratio of Duty increase expands.On the other hand, hot side switch element 511,512,513 remains open state due to the effect of switching part 537.
In the present embodiment, the time variations of short circuit duration ratio Duty has curve characteristic level and smooth as shown in the solid line A of Figure 27.Thus, as the block curve of (c) of Figure 28, along with the process of time, continuity ground reduces timeliness slope (short circuit duration ratio expands speed) gradually.
In addition, the dotted line of (c) of Figure 28 makes the characteristic of function generator 581 be that one in stair-stepping situation is routine, is the broken line via (T3, D3), (T4, D4).No matter which is, the expansion speed of short circuit duration ratio (Duty) is all passed through along with the time and reduces, and short circuit duration ratio is more close to 100% in addition, then expand speed lower.
About the input voltage of motor 509, repeat positive/negative with instantaneous value owing to rotating the induced electromotive force of generation.But it is forced to zero in short circuit duration, absolute value is suppressed.
Therefore, in the present embodiment, T2 ~ T5 short circuit duration ratio expand during for gauge tap element 514,515,516 with the voltage that the absolute value of voltage is reduced along with the increase of short circuit duration reduce during.
100% is reached at T5, Duty.At this time point, controlled by the on-off of the low potential side switch element 514,515,516 in control part 518 pairs of inverter circuits 517, make motor 509 for on-state all the time.
Thus, after during the short circuit duration ratio that expands the short circuit duration ratio (Duty) of input terminal U, V, W short circuit by 3 phase windings expands, become and short circuit duration ratio Duty is remained to greatest extent, namely 100% to during the short-circuit braking absorbing the kinergety of load.
By making the Duty as short circuit duration ratio increase gradually like this, can prevent transient current in the process during being transferred to short-circuit braking from rising sharply, thus can overcurrent be prevented.Thus, the fault that can prevent the breakage of each structural element of inverter circuit 517 and cause because of the overcurrent of motor 509.
In the structure of reducing gear being set using belt etc., compared with structure motor being directly connected in load being called as Direct driver, motor 509 can miniaturized, cost degradation.But have the trend that inductance diminishes, rising sharply of therefore above-mentioned transient current becomes large.In addition, also likely exceed the maximum current in DC-to-AC converter running, the necessity therefore suppressing electric current to rise sharply improves.
Particularly, in the present embodiment, by making the expansion speed of short circuit duration ratio reduce gradually, even if the velocity conditions of the motor 509 under the time point during entering short-circuit braking rises and falls on a large scale, also can prevent transient current from rising sharply.Correspondence can be carried out with the design of the expansion speed of the Duty near T2 ~ T3 under fast condition, and correspondence can be carried out with the design of the expansion speed of the Duty near T4 ~ T5 under the condition that speed is low.
In addition, with regard to voltage aspect, in during T2 ~ T5, a part for the kinergety had from motor 509 and load (cylinder) 506 produces the regeneration to dc source 544, and capacitor 543 is charged.The DC voltage VDC of dc source 544 rises.But when the static capacity of capacitor 543 is large, the rising of the DC voltage VDC lighted from the T1 time can not more than 50V.In addition, signal A is unlikely to make the output HV of comparator 575 to become height.Thus, with regard to the withstand voltage aspect etc. of each structure member, the maximum of DC voltage VDC is converged in no problem scope.Thus, even if the condition that the running speed comprising motor 509 is high, also overvoltage can not be produced.
Now, particularly from the superpotential angle suppressing to cause because of the regeneration to dc source 544 at a high speed, design is below set to.That is, this design of expansion speed improving the short circuit duration ratio (Duty) in the later half T3 ~ T5 during expanding as short circuit duration ratio under middling speed ~ low-speed conditions in the scope risen sharply can allowing transient current is set to.Thereby, it is possible to be Min. by Overvoltage suppressing.
In this case, the output HV of comparator 575 can not become height.During short-circuit braking no matter under which velocity conditions, all can become the action shown in Figure 28, switching part 583 is in the state be only connected with a terminal all the time.Thus, switching part 583, function generator 582, keeper 585, comparator 575, voltage rise amount generating unit 576, adder 577, keeper 578 is not needed yet.That is, also they can be saved from structural element.
Figure 29 is the movement oscillogram of the DC-to-AC converter in embodiments of the present invention 7.It is little and become short-circuit braking based on brake request signal BRQ thus the rising of DC voltage VDC becomes large situation from the running than higher speed that the action waveforms of Figure 29 illustrates the static capacity of capacitor 543.In Figure 29, (a) is brake request signal BRQ, and (b) is Duty, and (c) is the DC voltage VDC that dc source 544 exports, and (d) is the output HV signal of comparator 575.
At t0, brake request signal RRQ becomes height, in whole off periods of the 5ms to t1, if the speed of motor 509 is high, then regenerates to dc source 544 due to induced electromotive force, and DC voltage VDC starts to rise thus.After t1, along with the increase of Duty, DC voltage VDC rises further.
Added the output of voltage rise amount generating unit 576 by the VDC0 of adder 577 pairs of t0 time points, be added and the value that obtains is maintained in keeper 578.Reached the stage t2 of VDC0+50V by the charging of capacitor 543 at DC voltage VDC, the output HV of comparator 575 becomes height, becomes high-voltage region.
At t2, by the effect of keeper 585, export the output corresponding with the Duty83% this time point from function generator 582.The b contact of switching part 583 is connected and is input to integrator 586.Therefore, expand speed dDuty/dt as short circuit duration ratio and play function and be kept by keeper 585.Thus, from t3 afterwards until Duty reaches 100%, Duty expands speed with fixing short circuit duration ratio and linearly increase.
At this, and function generator 581 is compared, function generator 582 relative to input Duty output large.Therefore, compared with the situation (reaching Duty=100% at t4) continuing to play function with the function generator 581 shown in dotted line, t3 time point in early days reaches 100%.
By this action, in the present embodiment, when and condition that the speed of motor 509 large little in the static capacity of capacitor 543, the time that Duty reaches till 100% shortens.As the peak value of the DC voltage VDC shown in (c), converge to relative to Vth rising about 10V, therefore, it is possible to suppress the charging charge because regenerating the surplus to capacitor 543 caused.Thus, the superpotential generation causing each structural element reliably to reduce can be prevented.
At this, about the imbalance of the transition between 3 phases because producing and the rising sharply of each line current value of the motor 509 caused, in during short circuit duration ratio expands, in the stage of about Duty<50%, this generation risen sharply is suppressed.Thus, do not affect with afterwards during the increase rapidly of Duty under suitable t2 ~ t3.Its result, by the structure of present embodiment, the speed can carrying out motor 509 whatever can both meet the design of overvoltage and overcurrent these two aspects.
In addition, in the present embodiment, by making the output of HV signal for the threshold value that VDC0 adds 50V and obtain, the generation of the overcurrent caused by the voltage change of AC power 541 is easily suppressed.But, be not particularly limited to this structure.As Vth, also fixing value can be used all the time, or to the upper limit, lower limit etc. that Vth is arranged.Thereby, it is possible to carry out following design: there is no misoperation etc. in the voltage change range of used AC power 541, and reliably prevent overcurrent and overvoltage.
Therefore, even the structure of little small-sized, the low cost of the static capacity of capacitor 543, the overcurrent of line current when during also can preventing motor 509 from entering short-circuit braking with large-scale velocity conditions.In addition, the superpotential generation that the regeneration because of dc source 544 can also be suppressed to cause.In addition, owing to not needing velocity information, therefore as the motor 509 be called as without sensor, the structure of the low cost without the sensor of position sensing and the sensor of speed detection can be configured to.
And, even the direction of rotation of motor 509 is not a direction but the DC-to-AC converter of turning right or turning left as washing machine, the control independently changing short-circuit braking (short-circuitbrake) period with phase sequence into also can be carried out.
Figure 30 is the movement oscillogram of the DC-to-AC converter in embodiments of the present invention 7.The action waveforms of Figure 30 illustrate DC-to-AC converter become based on brake request signal B99RQ short-circuit braking, from during shown in Figure 28, Figure 29 through the more time motor 509 and load (cylinder) 506 stop before and after action waveforms.
In fig. 30, (a) illustrates the speed of load (cylinder), and (b) illustrates the current waveform of Iu, Iv, Iw, and (c) illustrates the Cs signal that short circuit current detection unit 570 exports.
Motor 509 speed becoming short-circuit braking state reduces gradually.Meanwhile, the frequency of line current roughly proportionally reduces with speed.The amplitude of line current finally also reduces, and converges to zero at the time point of speed vanishing.
Be driven from the time of time point to stopping entering short-circuit braking by following parameter.That is, the voltage (VCE (SAT)) etc. under the on-state of the speed of the motor 509 under the time point of short-circuit braking, the inertia of load, the inductance of motor 509, resistance value, switch element 514,515,516 is entered.Time to stopping is not the set time, is therefore used as the current value of the physical phenomenon occurred because of the reduction of speed in the present embodiment.Thus, whether speed of detection fully reduces.
Specifically, in the present embodiment, at the absolute value of the instantaneous value of three line current Iu, Iv, Iw all lower than the time point Tja of 0.6A, Cs signal is made to become height.That is, the speed becoming load (cylinder) is reduced to the stage of about 7r/min.Sequential generating unit 567 when receive become high Cs signal, at the time point after the time delay of 0.3 second, be transferred to the next operation as washing machine.
From above-mentioned 7r/min, the state of short-circuit braking continues 0.3 second, again therefore, it is possible to do not enter next operation with almost having dead time after load (cylinder) stops completely.
As described above, when the braking of load (cylinder), although be non-use position sensor, the low cost of velocity sensor and the simple structure without approach sensor, can short-circuit braking be used and suitably carry out stopping judgement based on the electric current during this.
As described above, the washing machine of present embodiment during short circuit duration ratio expands after possess and short circuit duration ratio remained to greatest extent during short-circuit braking, wherein, during this short circuit duration ratio expands, control part 518 controls to expand the short circuit duration ratio of the input terminal short circuit of the winding 502,503,504 by 3 phases by the on-off of the switch element 514,515,516 to inverter circuit 517.Thereby, it is possible to prevent the superpotential generation causing each structural element reliably to reduce.
(embodiment 8)
Figure 31 is the block diagram of the short-circuit braking control part 590 of DC-to-AC converter in embodiments of the present invention 8.
In the present embodiment, the structure beyond short-circuit braking control part 590 also uses the structure equal with the embodiment 7 shown in Figure 25.
In Figure 31, about OR circuit 574, integrator 586, delay portion 587, use the structure equal with embodiment 7.In addition, the DC-to-AC converter of present embodiment have short circuit duration ratio expand Speed Setting portion 592, receive the keeper 595 of the a-signal corresponding with DC voltage VDC, 596, subtracter 597.Further, there is the constant generator 599 and the comparator 600 that export and be equivalent to the value of Duty=70%.
Figure 32 is the chart of the characteristic in the short circuit duration ratio expansion Speed Setting portion 592 of the DC-to-AC converter represented in embodiments of the present invention 8.In Figure 32, transverse axis is Duty, and the longitudinal axis is that short circuit duration ratio expands speed dDuty/dt.When Duty≤70%, be the single straight line constantly declined, but when Duty>70%, according to the Δ A value inputted from keeper 596, dDuty/dt switch to 4 stages.
In above structure, as present embodiment enter the short-circuit braking of DC-to-AC converter when action as follows.The value of the A corresponding with DC voltage VDC under the time point that the output of OR circuit 574 uprises is maintained in keeper 595.After whole turn-off times of the 5ms based on delay portion 587, INTEG becomes height, and integrator 586 carries out time integral from initial value of zero.From the condition of the left end of Figure 32, Duty rises gradually.Become the time point of setting 70% at short circuit duration ratio Duty, the output of comparator 600 switches to height from low.DC voltage VDC under this time point is maintained in keeper 596 with as the difference of the keeper 595 of initial VDC value, the Δ A value of ascending amount that is namely equivalent to DC voltage VDC.With its size correspondingly, expand in Speed Setting portion 592 selection carrying out the characteristic in the stage of 4 shown in Figure 32 at short circuit duration ratio.
Thus, at high speeds, select the characteristic that Δ A is large, when low speed, select the characteristic that Δ A is little.
At high speeds, establish greatly even if short circuit duration ratio during Duty>70% is expanded speed, also there is not the possibility producing overcurrent.In order to suppress the surplus of the DC voltage VDC caused because regeneration is charged to capacitor 543 to rise, it is effective for bringing up to rapidly Duty=100%.
Otherwise, when low speed, produce the overcurrent of transition when Duty>70%.Therefore, needing that short circuit duration ratio during Duty>70% is expanded speed suppresses little.On the other hand, the problem that DC voltage VDC surplus rises can not be produced.
Thus, the DC-to-AC converter of present embodiment reasonably carries out action.Thus, in the DC-to-AC converter of present embodiment, although be fairly simple structure, time during can suppressing to enter short-circuit braking under the condition of large velocity interval, produce overvoltage and overcurrent.
(embodiment 9)
Figure 33 is the block diagram of the short-circuit braking control part 605 of DC-to-AC converter in embodiments of the present invention 9.
In the present embodiment, the part beyond short-circuit braking control part 605 also uses the structure equal with the embodiment 7 shown in Figure 25.
In fig. 33, only illustrate and embodiment 7,8 different key elements.
In addition, the DC-to-AC converter of present embodiment has following structure.Export the delay portion 606 brake request signal BRQ being postponed the signal after 3ms.The output signal Iua in use gallon portion 519, Iva, Iwa calculate the maximum in 3 phases of the absolute value of its instantaneous value and the line current probe portion 607 exported.The keeper 608 that high timing carries out keeping is become at brake request signal BRQ.Short circuit duration ratio expands Speed Setting portion 610.
Figure 34 is the chart of the characteristic in the short circuit duration ratio expansion Speed Setting portion 610 of the DC-to-AC converter represented in embodiments of the present invention 9.In Figure 34, transverse axis is Duty, and the longitudinal axis is that short circuit duration ratio expands speed dDuty/dt.According to the size of the electric current during the free-running operation of the output as keeper 608, dDuty/dt switches to the curve in several stage.When the output signal of keeper 608 is high, become large output.
Figure 35 is the movement oscillogram entering the part during the short-circuit braking of DC-to-AC converter in embodiments of the present invention 9.In Figure 35, a () illustrates the waveform of short circuit duration ratio Duty, line current Iu b when () illustrates that load (cylinder) 506 is per minute 300 turns such comparison low speed, the waveform of Iv, Iw, (c) illustrates the waveform of load (cylinder) for line current Iu when ratio higher speed that per minute 1000 turns is such, Iv, Iw.
In t0 ~ t2 during the free-running operation as 5ms, during low speed shown in (b), the induced electromotive force caused by permanent magnet 500,501 in motor 509 is low.Therefore, the regenerative current to dc source 544 is not produced in during free-running operation.On the other hand, during high speed shown in (c), the induced electromotive force caused by permanent magnet 500,501 in motor 509 is high.Therefore, the regenerative current to dc source 544 is produced in during free-running operation.Thus, when low speed and high speed time, have clear and definite difference.
In the present embodiment, the time point of the t1=3ms in during being equivalent to free-running operation, all takes absolute value to detected value signal Iua, Iva, Iwa of three line currents, the maximum absolute value in exporting three.Thus, identify (b) and the difference of (c), select the pattern being suitable for the expansion speed of respective short circuit duration ratio Duty.
Thus, even if the speed under the time point during entering short-circuit braking is on a large scale, the expansion speed of the short circuit duration ratio Duty corresponding respectively with it is also become.Thus, the design that whichever speed all can not produce the problem caused by overcurrent and overvoltage can be carried out.
In addition, in the present embodiment, use curve in the characteristic shown in Figure 34, but also can replace curve and use steps function.In addition, also can with Duty irrelevant only switch according to current value.
In addition, in the present embodiment, change short circuit duration ratio according to the size as the line current under t1 interior during free-running operation and expand speed.But, as the timing of probe current, in during being not particularly limited to free-running operation.Also during can being set to free-running operation terminate after and Duty start rise after time point.In addition, also multiple timing can be combined.
Thereby, it is possible to wider speed, the short circuit duration ratio obtaining being most suitable for each speed expands speed.As a result, overcurrent and overvoltage can more effectively be suppressed.
In addition, in the present embodiment, the size of line current probe portion 607 probe current of the output of received current probe portion 519.But except size, frequency key element also can become detected object.When high speed, the detection of frequency can be effectively utilized from during free-running operation.When low speed, also can during short circuit duration ratio expands in carry out the detection of frequency.
About the generation of the overcurrent of transition during low speed, becoming the higher stage generation of Duty.Thus, as until about 50% the rate of climb of Duty, with equal during high speed, the stage of frequency can be being detected, carrying out the expansion of the short circuit duration ratio corresponding with their frequency detecting value.Thus, equally can suppress overcurrent, superpotential while change during short-circuit braking.
(embodiment 10)
Figure 36 is the block diagram of the short-circuit braking control part 612 of DC-to-AC converter in embodiments of the present invention 10.
In the present embodiment, the part beyond short-circuit braking control part 612 is also equal with embodiment 7.
In Figure 36, also only the part different from embodiment 7 is described.
Short circuit duration ratio expands the rate signal ω that speed command portion 613 receives the speed detection portion 615 of the speed from detection motor 509.Speed detection portion 615 is arranged in motor 509, has and exports high and low Hall IC 617 according to the polarity of the magnetic pole of relative permanent magnet 500,501 and carry out the velocity calculator 618 of arithmetic speed based on this output.
Figure 37 is the chart of the characteristic in the short circuit duration ratio expansion speed command portion 613 of the DC-to-AC converter represented in embodiments of the present invention 10.In Figure 37, transverse axis is the rate signal inputted from speed probe portion 615, and the longitudinal axis expands speed dDuty/dt as the short circuit duration ratio exported.
In the present embodiment, there is following characteristic: have nothing to do with Duty, more then export larger.Thus, along with the process of time, short circuit duration ratio is linearly increased to 100% gradually.Thus, slope changes according to speed.
In addition, in the present embodiment, keeper etc. is not arranged to the output in speed detection portion 615.Therefore, in during short circuit duration ratio expands, the command value that short circuit duration ratio expands speed also reduces gradually.Thus, according to the application process of braking, can also correspondence middle velocity variations produced during short circuit duration ratio expands.Thus, even if speed sharply reduces when the inertia of load (cylinder) 506 is little, the overcurrent of transition can also be prevented.
But, during short circuit duration ratio expands such as be as short as time of about 100ms and the velocity variations produced in this period is little, and difference between the situation being provided with keeper etc. is little, and which structure can.
In addition, in the present embodiment, the structure using Hall IC 617 in speed detection portion 615 is employed.But, in general, do not use Hall IC being called as in the electric motor drive system without sensor.Input voltage based on motor 509, the input current in generation are estimated.Thus, by such as use be close to free-running operation during before the estimated signal of speed, can be configured to not use the position sensing of Hall IC etc., the structure of speed detection completely.
As described above, at least any one probe portion in the speed detection portion 615 of the voltage detection portion 548 of voltage of detection dc source 544, the gallon portion 519 of probe current, the speed of detection motor 509 selected by the washing machine of present embodiment.Control part 518 changes the expansion speed of the short circuit duration ratio during short circuit duration ratio expands according to the output of selected probe portion.Thus, even if the velocity conditions of the motor 509 under the time point during entering short-circuit braking rises and falls on a large scale, also rising sharply of transient current can be prevented.
In addition, the control part 518 of the washing machine of present embodiment changes the expansion speed of short circuit duration ratio according to the time from starting during the expansion of short circuit duration ratio.Thus, even if the velocity conditions of the motor 509 under the time point during entering short-circuit braking rises and falls on a large scale, also rising sharply of transient current can be prevented.
(embodiment 11)
Figure 38 be represent to observe from side embodiments of the present invention 11 be called as the DC-to-AC converter of tumbling-box washing machine time the figure of internal structure.
In Figure 38, DC-to-AC converter is had the load (cylinder) 621 of storage clothing 620 and is carried out the motor 624 of rotary actuation by belt pulley 622 and belt 623.In addition, there is the inverter circuit 626 providing the alternating current of 3 phases to motor 624.
Inverter circuit 626 operates according to 6 control signal Sd from control part 628.Control signal Sd is used for brake request signal B99RQ and the brake request signal B4RQ of corresponding explanation in embodiment 7.After during reducing through overvoltage, during being transferred to short-circuit braking.In addition, as illustrated in embodiment 7, control signal Sd judges for the stopping in during carrying out short-circuit braking.
In the present embodiment, load (cylinder) rotates in the inside of resinous receiving barrel 630.Control according to from the water-supply valve signal Skb of control part 628, the opening and closing of draining valve signal Shb to water-supply valve 633, draining valve 634.Thus, to plumbing in receiving barrel 630, carry out washing and dewatering together with the other washing agent thrown in.
At this, being provided with in the front of load (cylinder) 621 can the lid 636 of opening and closing.Lid 636 is provided with the handle 637 for user's open-close lid 636.When washing and in dehydration, load (cylinder) 621 rotates, lid 636 is closed, thus guarantees the safety of user, and anti-sealing disperses.
Show in phantom the state that lid 636 is opened by the operation of handle 637.
Cover lock bonding part 640 remains the state that lid 636 is closed.Cover lock bonding part 640 comprises solenoid 641, plunger 642, spring 643 and lock control circuit 644.Under the illustrated state of not carrying out to solenoid 641 being energized, lid 636 is in the lock state.Thus, even if user pulls handle 637 or carry out other and operate arbitrarily, firmly lid 636 can not be opened by cover lock bonding part 640.
Lock control circuit 644 is energized to solenoid 641 based on the lid locking signal Srk from control part 628.By unlocking, user can open lid 636.
Lid search switch 646 detects the open and-shut mode of lid 636.When lid 636 is opened, lid shutdown signal Scl becomes low, is passed to control part 628.Safe from the view point of guaranteeing, do not provide alternating current from inverter circuit 626 to motor 624.Thus, load (cylinder) 621 is not made to rotate.
In addition, also can provide DC current to motor 624 in this condition, make load (cylinder) 621 become fixing state in a rotational direction more reliably, therefore, it is possible to guarantee sufficient security.
When running of dewatering wait terminate, control part 628 carries out stoppings judgement, send lid locking signal Srk to lock control circuit 644 afterwards, cover lock bonding part 640 is energized to solenoid 641.
As the situation stopping dehydration running, except reaching the situation of the dewatering time of regulation, also there is user and operate stop button 648 and produce the situation of stop button signal Sstop by stop button 648 and that overload etc. occurs in inverter circuit 626 is abnormal and produce the situation of abnormal signal Sab.Whichever signal is all imported into control part 628, carries out the braking of motor 626 and load (cylinder) 621 is stopped.At the time point that load (cylinder) 621 stops, after having been undertaken by control part 628 stopping judging, to be unlocked state by cover lock bonding part 640.When lock-out state is removed, as long as user pulls handle and 637 just can open lid 636.
Figure 39 is the flow chart after the power supply of DC-to-AC converter in embodiments of the present invention 11 is just connected.
In Figure 39, in the stage that the inferior control part 628 of situation connected at the power switch of DC-to-AC converter is activated, the program forming the microcomputer of control part 628 starts (step S650).Short-circuit braking (step S651) is transferred to from startup, carry out the action when generation brake request signal B99RQ shown in Figure 26 or brake request signal B4RQ in the explanation of embodiment 7, during then voltage enters short-circuit braking during reducing afterwards.
Then, the Cs signal that the stopping shown in Figure 27 judges becomes high time point, is transferred to latch-release (step S653), carries out the energising of solenoid 641 thus enable user open lid 636 at this.
It is inferior that situation about not yet completing is braked in the running of such as last time in stage of connecting at power supply, if can be removed the lock-out state of lid 636 by cover lock bonding part 640, then likely can produce danger due to remaining rotation to user.
As the control of cover lock bonding part 640, on-streamly carry out control and make user cannot open lid 636.At the time point of the releases such as washing, dehydration, become disarm state, namely become user and can open lid 636 and the state stretched into by hand in cylinder 621.In addition, under the state that power supply disconnects, user also can freely open-close lid 636.
But user cannot open the state (lock-out state) of lid 636 under the state that also there is the inferior power supply disconnection of the on-stream situation occurring to have a power failure.Also likely there is lid 636 to close but the situation remaining the rotation of cylinder 621.
In this condition, if just in case cylinder 621 is still residual rotates, forms by cover lock bonding part 640 state that user can open lid 636 when upper once power supply is connected likely user is placed in danger then be set to.In the present embodiment, after power supply is connected during then voltage reduces after there is short-circuit braking during, completing the stage in the braking of cylinder 636, cover lock bonding part 640 being controlled the state for enabling user open lid 636.Thus, high security is ensured.
In addition, in the present embodiment, no matter be in the lock state or unlock state at the time point lower cover sticking department 640 of power supply connection, all arrange after power supply is just connected during voltage reduces and during short-circuit braking.Guaranteeing it is effective in security during short-circuit braking is set at least in the locked state.But, when the time point that power supply is connected is in unlock state or when lid 636 opens, though do not exist voltage reduce during, during short-circuit braking, on security is guaranteed, also can not produce difference.Therefore, also can save power supply just connect after voltage reduce during and short-circuit braking during.
In the present embodiment, after power supply is connected during short-circuit braking, and after the Cs signal that stopping judges becomes height, form by cover lock bonding part 640 state that user can open lid 636.Thereby, it is possible to eliminate danger.Thus, the high DC-to-AC converter of security can be realized.
Like this, in the present embodiment, after suitably determining motor and stopping, carrying out latch-release (step S653), form the state that user can open lid 636.Thus, the high DC-to-AC converter of security can be realized.
Particularly, carry out braking (step S651) based on brake request signal B99RQ or brake request signal B4RQ in short-circuit braking.Thus, even the structure be called as without sensor of not operating speed sensor, position sensor, overcurrent, the overvoltage of inverter circuit 626 can also be suppressed when remaining the rotation of load (cylinder) 621 after power supply is just connected.Thus, with the speed of load (cylinder) 621 and position (phase place) independently, the DC-to-AC converter of present embodiment is very effective.
In addition, in the present embodiment, the rotating shaft of load (cylinder) 621 is level, but also can be vertical or inclination.
About the rotary actuation for load (cylinder) 621 power transfer path too, show use belt pulley 622, belt 623 power transfer path.It also can use gear (gear), or on the axle of load (cylinder) 621, directly arranges motor as being called as Direct driver and rotate etc. with same speed.
In addition, about cover lock bonding part 640 structure too, be not limited to the structure described in present embodiment.Multiple cover lock bonding part also can be set.Such as, also can be configured to use the cover lock bonding part that can be unlocked at any time by the handle operation of user and by the cover lock bonding part of the state that unlocks from the signal of control part simultaneously.Or, also can be configured to be always lock-out state under the state of closing cap, carry out latch-release by the signal from control part.In addition, also can by making from the signal of control part to carry out handle operation.No matter in which situation, as long as whether can open and cover by changing user from the signal of control part.
(embodiment 12)
Figure 40 is the block diagram of the DC-to-AC converter in embodiments of the present invention 12.(formula 9) is the formula that the 3-phase/2 phase transformation portion of this DC-to-AC converter uses.
[formula 9]
In Figure 40, DC-to-AC converter has as the belt 746 of power transfer path, belt pulley 747, load 748, motor 750, the dc source 751 of output voltage VDC, the inverter circuit 758 providing alternating current to motor 750 and control circuit 760.Motor 750 has the winding 743,744,745 of permanent magnet 741,742 and 3 phase.Inverter circuit 758 has 6 switch elements 752,753,754,755,756,757.Control circuit 760 pairs of switch elements 752,753,754,755,756,757 carry out on-off control.
About dc source 751, to use as battery from the power supply of itself output DC voltage, utilize the AC power of rectifier to 100V, the 200V etc. with equifrequent single-phase or 3 phases of 50Hz or 60Hz to carry out rectification and the power supply etc. obtained by smoothingization such as electrolytic capacitors.Dc source 751 plays a role as power source when power runs.
In addition, in Figure 40, permanent magnet 741,742 is set to 2 with simplified illustration, but is actually the structure of 4 poles.Permanent magnet 741,742 rotates 2 circles (rotating 2 circles with electrical angle) under the state rotating 1 circle with mechanical angle on electrically.
Control circuit 760 have gate driver circuit 761, gallon portion 766, received current probe portion 766 output come the frequency sonding portion 768 of periodically look-in frequency and judge the stopping detection unit 770 of stopping of motor 750.Gallon portion 766 uses resistance 762,763,764 and amplifying circuit 765 to detect the alternating current being input to motor 750.Frequency sonding portion 768 has 3-phase/2 phase transformation portion 772, polar coordinate transform portion 773, differential portion 774.3-phase/2 phase transformation portion 772 uses (formula 9) calculates the α component of static coordinate (α β) (component identical with the magnetomotive force direction of U phase current Iu) and β component (quadrature component from the advanced pi/2 of α).
But (formula 9) is an example, also can by cosine function (cos) and SIN function (sin) used in combination.In addition, owing to being constant, therefore also cosine function, SIN function can not be used.In addition, about being used as the value of coefficient or constant too, if only judge this point from the stopping being used in present embodiment, it also can be the value after the multiplication of suitable real number.In addition, the mark of approximation (rational) also can be used to replace being with subduplicate number (irrational number).
Control circuit 760 carries out the control making switch element 755,756,757 connect, switch element 752,753,754 is disconnected during short-circuit braking.Thus, during the braking of load 748, the input voltage of motor 750 becomes roughly zero.Frequency sonding portion 768 during short-circuit braking in carry out differential by the phase theta of the current phasor under 774 pairs, differential portion static coordinate (α β), the size thus based on Temporal changes carrys out computing angular velocity omega.Static coordinate (α β) is exported from 3-phase/2 phase transformation portion 772.
In addition, the pass of frequency f and angular velocity omega is ω=2 π f.Frequency sonding portion 768 exports the ω as the value corresponding to frequency.In comparator 777, the output ω in frequency sonding portion 768 and reference angle speed omega th is compared, when ω > ω th, be judged as that angular speed is greater than setting, export high signal from comparator 777.
In addition, in the present embodiment, the output in polar coordinate transform portion 773 | I| is also directed to comparator 778, compares with reference current value Ith.When | when I|>Ith, be judged as that the size of current phasor is greater than setting, export high signal from comparator 778.The logical AND of the output of AND circuit 779 output comparator 777,778, at | I|>Ith and ω > ω th, high signal is output to and stops detection unit 770.
Detection unit 770 is stopped to comprise clock oscillator 781, counter 782, the comparator 783 of 100Hz.Counter 782, when the signal from AND circuit 779 being input to E terminal is high, is set to cleared condition.When the signal from AND circuit 779 being input to E terminal is low, exports from clock oscillator 781 to comparator 783 and the pulse of 100Hz is upwards counted and the value CNT obtained.Comparator 783 exceedes at positive input CNT the time point that the Tth=30 as negative input counts, and makes output S1 for high and exports stopping decision signal.
Figure 41 is the figure of the current phasor during the short-circuit braking of the DC-to-AC converter represented in embodiments of the present invention 12.In Figure 41, for static coordinate α β, the current phasor of the electric current of inflow motor 750 is expressed as Ia, and I α and I β is the component of each axle, and it is equivalent to the output in 3-phase/2 phase transformation portion 772.
In polar coordinate transform portion 773, current phasor is transformed to polar coordinates, namely relative to angle (phase place) θ and the absolute value of α axle | the expression that I| is such.In differential portion 774 then afterwards, temporal differential is carried out to phase theta, carries out the calculating of angular speed with ω=Δ θ/Δ t.
Figure 42 is the movement oscillogram during the short-circuit braking of DC-to-AC converter in embodiments of the present invention 12.In Figure 42, (a) illustrates the U phase current Iu waveform of motor 750, and (b) illustrates the output in polar coordinate transform portion 773 | I| waveform, (c) illustrates the output phase theta waveform in polar coordinate transform portion 773.In addition, (d) illustrates the waveform of the output ω in differential portion 774, and (e) illustrates the count value CNT of counter 782, and (f) illustrates the output S1 stopping detection unit 770.
About the electric current flowed into as the motor 750 of 3 phases, except the Iu shown in (a), but though do not carry out diagram also have Iv, Iw, phase place is relative to Iu delayed 120 degree, 240 degree respectively.(b) | the ω of I| and (d) is closely similar in the time point vanishing this point of final speed vanishing.The moment t1 of ω < ω th be a little earlier in | the timing of the moment t2 of I|<Ith, the rising start time of the CNT therefore shown in (e) is t1, and the S1 shown in (f) is high.
Thus, from the output ω in frequency sonding portion 768 become be no more than setting ω th time point t1 after first 0.3 second stipulated time, be judged to be that motor 750 stops.Therefore, in the present embodiment, after angular velocity omega becomes below setting, then after the first stipulated time, stopping judgement being carried out.At this, as follows under the state of motor 750 short circuit as 0.3 second of the first stipulated time.That is, this within 0.3 second, be than to by under the speed suitable with angular rate ω th, all to consume light and rotary speed be zero time that is complete halted state long value for kinergety that the load 748 with inertia has.
The time ratio absorbing the kinergety of load 748 as the motor 750 being in short-circuit condition, the power namely braked, the amount that there is amount that winding 743,744,745 in motor 750 consumes with copper loss and consume because of mechanical type friction.There is the deviation of the resistance value of winding 743,744,745, the deviation of magnetic flux of permanent magnet 741,742, the deviation of turn-on voltage (or connecting resistance) of switch element 752,753,754,755,756,757, the deviation etc. of the friction of bearing.In addition, about load 748, except the value of the quality of dehydrated thing, also there is the various factors such as the deviation of deflected condition, therefore play from the time point of angular rate ω th the time meeting change that load 748 is in halted state.In the present embodiment, by the first stipulated time was set to 0.3 second, be set to certain longer than the deviation produced due to above-mentioned various variable.Thus, export under the state that will inevitably stop at load 748 and stop decision signal S1=high.
Particularly, not judge based on the current value (size) under short-circuit condition, but judged based on the angular velocity omega of the current phasor under static coordinate by frequency sonding portion 768.Thereby, it is possible to do not affected by the deviation of the deviation of the resistance value of winding 743,744,745, the magnetic flux of permanent magnet 741,742.In addition, the deviation of the size of the short circuit current that can not produce by the deviation of the turn-on voltage (or connecting resistance) due to switch element 752,753,754,755,756,757 affected.Thus, stable stopping can being carried out to judge.
In addition, in from ω th to the process of stopping, the size of current phasor can certainly also be there is | the reduction of I|.Therefore, frequency sonding portion 768 is difficult to correctly detect ω.But, in the present embodiment, when comparing with reference current value Ith be | when I|<Ith, export low signal from comparator 778, be entered into AND circuit 779.Thus, can not occur in | cause the situation of undesirable condition under the state that I| is minimum due to the misoperation in frequency sonding portion 768, stable stopping can being carried out and judge.
In addition, in the present embodiment, carry out making motor 750 absorb the braking of the kinergety from load 748.Therefore, only have and the switch element 755,756,757 of low potential side remained on-state with during making the input voltage of motor 750 become the short-circuit braking of roughly zero.But, during the carrying out beyond during also can there is short-circuit braking is braked.Such as, also can during short-circuit braking before have following during: use vector controlled Iq is set as bearing, the DC voltage VDC of dc source 751 can not be superfluous scope in, consume regenerated electric power by regenerated electric power being suitably effectively used in resistance or other electrical load etc.In addition, also can control etc. as follows: do not make switch element 755,756,757 suddenly connect together but make switch element change on-state successively into according to the phase place of permanent magnet 41,42 or make the input voltage of motor 750 gradually become zero within specified time limit.Also can like this during short-circuit braking before arrange for preventing transition overcurrent during etc.
That is, also can during the ratio of the turn-on time entering three switch elements 755,756,757 is the short-circuit braking of 100% before there is following braking during: it is negative that the pulsewidth modulation not reaching 100% at least one in the switch element of the low potential side of 3 phases makes generation torque become.
In addition, in the present embodiment, for the action in frequency sonding portion 768, during the Temporal changes be set to by the All Time in during short-circuit braking based on the phase theta of the current phasor under static coordinate carrys out the electric current angular velocity detection of computing angular velocity omega.But although during also can being short-circuit braking, such as, in ω sufficiently high period, the threshold value utilizing Ith2 such judges | I| is enough high, although do not make frequency sonding portion 768 action also forcibly be set to low by stopping decision signal S1 especially.Or, also can add following structure: use OR circuit etc. to stop the input of detection unit 770 forcibly to remain height.In this case, in frequency sonding portion 768, the upper limit of the velocity interval (scope of ω) normally detecting ω is needed to be lowered, the part during becoming short-circuit braking during angular rate detection.In this case, the microcomputer etc. that the energy that also cheapness or action can be used to consume is low, processing speed is low.
No matter which is, finally all for during making the input voltage of motor 750 be the short-circuit braking of roughly zero, obtains the result equal with present embodiment, thus stable stopping can being carried out judge.
In addition, in the present embodiment, describe with hardware circuit diagram to describe frequency sonding portion 768, comparator 777,778, AND circuit 779, stop the structure of detection unit 770 etc.But, also can be processed with software mode by the program prepared in microcomputer in reality.
As described above, the control part 760 of the washing machine of present embodiment also possesses: frequency sonding portion 768, the output of its received current probe portion 766, periodically look-in frequency; Stop detection unit 770, it judges the stopping of motor 750; During short-circuit braking, during it is in the braking of load (cylinder) 748, in during this short-circuit braking, gauge tap element 755,756,757 becomes roughly zero to make the input voltage of motor 750, wherein, not more than setting after the first stipulated time becoming from the output in frequency sonding portion 768, stopping detection unit 770 to be judged to by motor 750 to stop.Thus, although be simple structure, the stopping of motor 750 can also suitably be judged.
In addition, the frequency sonding portion 768 of the washing machine of present embodiment during short-circuit braking in during the Temporal changes possessed based on the phase place of the current phasor under static coordinate carrys out the electric current angular velocity detection of computing angular speed, after angular speed become below setting, carry out stopping judge.Thus, although be simple structure, the stopping of motor 750 can also suitably be judged.
(embodiment 13)
Figure 43 is the block diagram of the DC-to-AC converter in embodiments of the present invention 13.In Figure 43, control circuit 788 uses microcomputer 789, ceramic vibrator 790.Other structural element and embodiment 12 are equal.
Modulating output Iu, Iv, Iw from gallon portion 766 are connected to input terminal AD1, AD2, AD3 of microcomputer 789 respectively.This modulating output is transformed to digital value by the analog digital converter be made up of hardware inside.Input the clock signal of high frequency from ceramic vibrator 790 to Clock terminal, carry out computing with the signal of tens MHz.Pwm signal after total 6 pulsewidth modulations of gate driver circuit 761 output switch element 752,753,754,755,756,757, the on-off carrying out each switch element controls.As the result that program is run, export the stopping decision signal S1 of numeral from OUT terminal.
Figure 44 is the flow chart of the program of the microcomputer 789 of DC-to-AC converter in embodiments of the present invention 13.In addition, in the present embodiment, microcomputer 789 is built-in with flash memory.In addition, except utilizing except the special utensil being called as FlashWriter rewrites, can also be rewritten by the various communication lines of wire/wireless by user.
Inner at microcomputer 789, the interrupt signal of continuous generation cycle 128 μ s.Flow chart shown in Figure 44 performs the process (step S795) of " 128 μ s interrupt " every 128 μ s.By " T1 ← T1+ Δ T, T2 ← T2+ Δ T ", the variable of T1 and T2 is added to the Δ T (step S796) of 128 μ s.Afterwards, enter " current operator routine " (step S797) that the signal in gallon portion 766 is processed, as " Iu, Iv, Iw ", being taken into and the input value of AD1 ~ AD3 is transformed to the value after numeral (step S798), is ampere by its Unit alteration.In addition, current value herein with being just oriented from inverter circuit 758 to motor 750, be that the negative variable of symbol (Signed) that has is expressed with reverse electric current.
In " α β converts ", be transformed to the orthogonal coordinates α β (step S799) under static coordinate.By " Ia
2← I α
2+ I β
2" come square (the step S800) of the size (absolute value) of calculating current vector Ia.By " Ia
2>Ith
2? " whether the output level Ia carrying out gallon portion is greater than the judgement (step S801) of setting Ith.In addition, at this, for both output level Ia and setting Ith, square after value between compare, but also all can make even root (Squareroot), compare between square root.When as in the present embodiment square after value between compare, the process of microcomputer 789 inside can be carried out at high speed.
At " Ia
2>Ith
2? " in for "No" when (step S801), namely the output level in gallon portion 766 is less than setting when, directly proceed to and formed " stopping detection unit " (step S810) by routine.In this case, skip below describe the part of carrying out the renewal of look-in frequency.
At " Ia
2>Ith
2? " in when being "Yes" (step S801), proceed to and formed " frequency sonding portion " (step S812) by routine.First by " θ new ← tan
-1(I β/I α) " carry out the phase theta (step S813) of calculating current vector.Function tan herein
-1the scope of θ=0 ~ 2 π [radian] is exported accordingly, for obtaining the phase theta of polar coordinate transform with 4 quadrants of α β coordinate.
" T1<375 μ s? " whether the elapsed time T1 that lights of the time carrying out obtaining phase theta from last time is less than the judgement (step S814) of the first stipulated time.When "No", namely than elapsed time T1 length, be used as the computing interval of the angular velocity omega later described if be judged as, long, do not carry out ω computing.
At " T1<375 μ s? " for (step S814) when "Yes", by " Δ θ ← θ new-θ old ", calculate change [radian] (the step S815) of the phase theta lighted from the time that last computation goes out phase theta as Δ θ.Then, by " Δ θ <0? " the time that " Δ θ ← Δ θ+2 π " carries out detecting from the phase theta of last time lights across the correction (step S816, S817) θ=0 (equal with=2 π).Afterwards, carried out the calculating (step S818) of electric angle frequencies omega by " ω ← Δ θ/T1 ", namely carry out the action (step S812) as frequency sonding portion.
Utilize " ω >=ω th? " whether the output ω carrying out frequency sonding portion is the judgement (step S820) of setting more than ω th.When large, carry out the process (step S821) of " T2 ← 0 ", if little, skip this process.Therefore, value T2 represents that becoming from the output ω (step S812) in frequency sonding portion is not the elapsed time setting more than ω th.Carried out the removing (step S823, S825) in the renewal of θ and the elapsed time from renewal last time by " θ old ← θ new ", " T1 ← 0 ", enter through routine afterwards and form " stopping detection unit " (step S810).
At " T2>Tb? " in establish Tb=0.3 [second] (step S828).When "Yes", be in and become state not for having exceeded 0.3 second setting more than ω th from the output ω in frequency sonding portion, therefore carry out " stopping determination flag arranging " (step S829).When "No", do not carry out this setting, directly to " end ", interrupt processing terminates (step S830).
In the present embodiment, except shown in Figure 44 except the interrupt handling program of 128 μ s, though illustrate, but also exist " initial setting routine ", " Interrupt Service Routine of cycle 3.3ms ".In " initial setting routine ", as " T1 ← 1000 μ s " etc., set the value larger than 375 μ s, and make " T2 ← 0 " etc., the suitable process in during electric current angular velocity detection can being started thus.In " the interrupt processing service routine of cycle 3.3ms ", carry out the confirmation stopping determination flag.When being established mark by " stopping determination flag arranging " (step S829), in " the interrupt processing service routine of cycle 3.3ms ", start the process needed as DC-to-AC converter under having carried out stopping the state judging.Subsidiary one carries, and when power runs, also can carry out in " Interrupt Service Routine of cycle 3.3ms " for the process carrying out the speeds control of motor 750.
The following describes the action in the present embodiment of above structure.Figure 45 is the movement oscillogram of the microcomputer 789 of DC-to-AC converter in embodiments of the present invention 13.In Figure 45, (a) illustrates the size (absolute value) of current phasor | I|, (b) illustrates electrical angle θ, and (c) illustrates the output of angular rate ω.In Figure 45, every Δ t=128 μ s, the interruption routine shown in Figure 44 carries out action, at t1, t2, t3 ... process.
About the size of current phasor | I|, as shown in (a), the quality of load 48 has deflection, or also sometimes the current signal of Iu, Iv, Iw comprise noise component(s) etc., therefore there is variable factor.Particularly at t4, become the state becoming below setting Ith lower than the state of setting Ith, the i.e. output level in gallon portion 766, be in the state more than Ith in other timing.About the electrical angle θ shown in (b), certainly be in fact also that the pace of change (slope) of electrical angle θ changes along with the process of braking (brake), but in this case simple, if the pace of change of electrical angle θ roughly fixedly illustrates.
Size except current phasor is less than except the t4 of Ith, by " θ new ← tan
-1(I β/I α) " carry out the calculating (step S813) of the phase theta of current phasor.Also in the calculating (step S818) by carrying out angular rate ω time " ω ← Δ θ/T1 ", after calculating the time td spent, upgrade ω.On the other hand, do not carry out the renewal of phase theta at t4, do not carry out the renewal of ω yet, otherwise in the output level in gallon portion 766 | I| is more than setting Ith (step S812), frequency sonding portion carries out the renewal of look-in frequency ω.Thereby, it is possible to prevent because of | I| is too small and misoperation caused by the error of calculation of the phase theta produced.
At t5, the elapsed time T1 from the phase theta detection of last time is the 256 μ s worked as with 2 Δ T-phase.By " T1<375 μ s? " judgement be "Yes" (step S814), therefore based between 256 μ s phase theta change calculating ω 5 and upgrading.
In addition, carrying out t1, t5, t6 across the calculating in the interval of θ=0 (equal with=2 π), by " Δ θ <0? " " Δ θ ← Δ θ+2 π " carries out correcting (step S816, S817).Thus, normal ω value is calculated.
Figure 46 is the size representing current phasor in Figure 45 | the figure of the double situation lower than setting Ith of I|.In the same manner as Figure 45, in figures 4-6 can, (a) illustrates the size (absolute value) of current phasor | I|, (b) illustrates electrical angle θ, and (c) illustrates the output of angular rate ω.In figures 4-6 can, at t2 and t3, | I| is double lower than setting Ith, and therefore at t4, the elapsed time T2 from the time point t1 that last time detects phase theta reaches 384 μ s.In this case, " T1<375 μ s? " judgement be "No" (step S814), do not carry out the calculating (renewal) of ω.
In the present embodiment, during entering electric current angular velocity detection with the speed of the motor 750 up to maximum 50,000 turns per minute sometimes.1 cycle (2 π [radian]) of the angular speed (electrical angle) under this speed is 600 μ s.By the 375 μ ss shorter than it being set to the upper limit in the time interval of the computing of angular velocity omega, can prevent ω from falling behind the mistake detection of a circle.
In addition, this threshold value direct representation time of 375 μ s arranged in the present embodiment, and the cycle of interrupting is 128 μ s.Thus, also can judge with the number of times of " situations of less than 2 times " and " situations of more than 3 times " of this interrupt cycle such periodic interruption, the benchmark relevant with the length of time is set.Then, at the stage t4 more than 375 μ s be | I|>Ith, therefore, it is possible to the ω when phase theta effectively detected is used in next t5 calculates.
Therefore, in the DC-to-AC converter of present embodiment, in the output level in gallon portion 766 | I| is more than setting Ith, frequency sonding portion stores the phase theta of the current phasor Ia under static coordinate α β.When the elapsed time T1 from last stored phase theta is longer than setting 375 μ s, do not carry out the renewal of look-in frequency ω.When the elapsed time T1 from last stored phase theta is setting 375 below μ s, based on the phase difference θ between last time and elapsed time T2, calculate look-in frequency ω by division arithmetic and carry out upgrading (step S812).Thus, realize worrying that fall behind the mistake detection caused by a circle, that reliability and stability are high stopping judges.
In the judgement of levels of current, use the size of the current phasor under static coordinate α β.Thus, do not affected by the variation etc. of sinuous instantaneous value observed in each line current of 3 phases, can with approximately D. C. value | I| value carries out stable judgement, is stopping obtaining high reliability in judgement.
About this point, the structure of carrying out judging with the size of the current phasor obtained under dq coordinate is equal.But if only judge the stopping in short-circuit braking, then without the need to estimating d axle exactly, even if simply calculate, reliability is also high, can also obtain using low cost and the effect of energy-conservation microcomputer.
As described above, the frequency sonding portion 768 of the washing machine of present embodiment carries out the renewal of look-in frequency when the output level in gallon portion 766 is more than setting.Thereby, it is possible to carry out having the stopping of reliability to judge.
In addition, the time interval of computing angular speed interior during electric current angular velocity detection is set to the cycle shorter than 1 cycle of the angular speed under maximum speed interior during electric current angular velocity detection by the frequency sonding portion 768 of the washing machine of present embodiment.Judge thereby, it is possible to carry out the high stopping of reliability and stability.
In addition, the frequency sonding portion 768 of the washing machine of present embodiment stores the phase place of the current phasor under static coordinate when the output level in gallon portion 766 is more than setting, do not carry out the renewal of look-in frequency when the elapsed time from last stored phase place is longer than setting, calculate and update detection frequency based on the phase difference between last time and elapsed time when the elapsed time from last stored phase place is below setting.Thereby, it is possible to carry out having the stopping of reliability to judge.
(embodiment 14)
Figure 47 is the flow chart of the DC-to-AC converter in embodiments of the present invention 14.In the present embodiment, hardware configuration and embodiment 13 are equal.The algorithm being only written to the control program of the Flash memory part in microcomputer 789 is different.The flow chart that Figure 47 specifically illustrates " Interrupt Service Routine of cycle 3.3ms ".
In the present embodiment, the interrupt action of the cycle 128 μ s illustrated in embodiment 13 is carried out too.Further, the program shown in this flow chart is performed based on the interrupt signal produced every 3.3ms.In addition, as the initial set value under the time point started during short-circuit braking, setting T3 ← 0, Tu ← Tj (=200 seconds), damaged mark ← low.
The load of the present embodiment realized by routine stops estimator starting to process (step S841) from " 3.3ms interruption ".In " T3 ← T3+ Δ T ", be added (step S842) with Δ T (=3.3ms).In " stopping determination flag ", judge whether " stopping determination flag arranging " (step S829) (step S844) of Figure 44 of the interrupt action of cycle of having carried out 128 μ s.Setting up in (" height ") situation having mark, be transferred to transmission mechanism damage testing portion (step S845).In transmission mechanism damage testing portion, first carry out the judgement (step S846) of " damaged mark ".At this, be transferred to " T3<Tc? " when " low " judgement (step S847), in the present embodiment, if the value of Tc is 10 seconds.
If be "Yes" at this, perform damaged mark ← high (step S848) by " damaged traffic sign placement ".At " T3<Tc? " for (step S847) when "No", be transferred to " Tu ← 0 " (step S849).Afterwards, be transferred to " T3>Tu? " judgement (step S850), carry out " load stop estimate traffic sign placement " (step S851) when "Yes".In " end ", " Interrupt Service Routine of cycle 3.3ms " terminates (step S852).
The action of above structure is described.By the Tu ← Tj in initial setting, load stops estimating startup from the state relative to stopping decision delay.T3 be represent enter short-circuit braking during after the variable in elapsed time.When the time point of T3<Tc stops mark becoming " height ", be judged to be breakage (step S848) by " damaged traffic sign placement ".When T3 >=Tc, formed the state cancelled and stop the delay estimating for load by " Tu ← 0 " (step S849).By " T3>Tu? " carry out whether to reach the judgement (step S850) in elapsed time, result estimates load by " load stops estimating traffic sign placement " and stops (step S851).
Figure 48 is the chart of the characteristic of load stopping estimator (step S840) of the DC-to-AC converter represented in embodiments of the present invention 14.In Figure 48, the transverse axis of (a) represents from during short-circuit braking to the time Tmstop that motor 750 stops.A the longitudinal axis of () represents that from during short-circuit braking, stop estimator setting up load to load stops estimating to indicate that also output load stops the time Tlstop of estimated signal (step S840).In addition, (b) represents relative to the value of the breakage mark of the transverse axis equal with (a), i.e. breakage signal Sj.
The belt 746 being positioned at the power transfer path between motor 750 and load 748 in before during entering short-circuit braking or during short-circuit braking ruptures or comes off from belt pulley 747, as follows.No longer play braking action, i.e. motor 750 and absorb the effect of the kinergety that load 748 has.Even if motor 750 stops, load 748 also likely continues due to inertia to rotate a little while.In this case, there is following trend: starting from short-circuit braking, stop the rotation with the motor of chien shih in short-term 750 only absorbing the kinergety that only motor 750 has.
In the present embodiment, when the time stopped to motor 750 from during short-circuit braking is less than the second stipulated time Tc, breakage signal Sj is exported.Thus, transmission mechanism damage testing portion carries out the abnormality detection (step S845) of transmission mechanism with fairly simple structure.
Although motor 750 stops, load 748 is in the state that mechanism is separated.Therefore, by naturally stopping with the friction resistance of bearing, air, the suitable time to be expended.Under the inertia of load 748 changes situation, go back the difference such as state, temperature of the state according to speed (can rotating speed, angular speed etc. be expressed as) originally, the bearing portion as bearing etc. and various change occurs.But, even if when the time is maximum, at least also can stop with internal loading 748 at 200 seconds, thus set Tj=200 second.Load stops estimator when receiving the breakage signal Sj from transmission mechanism damage testing portion (step S845), exports and stops estimated signal (step S840) with stopping the load that must postpone compared with determination flag.
In the present embodiment, time delay, tex can not become the set time as a result.But at least after load 748 stops, output load stops estimated signal.Thus, make timing that the lower people of permission such as situation of people's likely contact load 748 carries out contacting after load 748 stops, the problem in safety can be prevented thus.
In addition, the time of the transmission mechanism damage testing portion in present embodiment during short-circuit braking is than exporting breakage signal (step S845) the second stipulated time, Tc was short.But, be not limited to this structure.Such as, also can be during becoming short-circuit braking in the Temporal changes of angular velocity omega and the size of angular acceleration judge etc. when being greater than the deceleration of setting, various structure can be considered.
As described above, the washing machine of present embodiment has the transmission mechanism damage testing portion of the exception of the power transfer path 746 between detection motor 750 and cylinder 748 and cylinder stops estimator, when cylinder stops estimator receiving the breakage signal from transmission mechanism damage testing portion, export than stopping the cylinder of decision delay to stop estimated signal.Thereby, it is possible to raising power transfer path 746 deposits security in an exceptional case.
In addition, the transmission mechanism damage testing portion of the washing machine of present embodiment exports breakage signal when the time stopped to motor 750 from during short-circuit braking was less than for the second stipulated time.Thereby, it is possible to guarantee high security with fairly simple structure.
(embodiment 15)
Figure 49 is the figure of internal structure when representing the Water Extraction Machinery observed from side embodiments of the present invention 15.In Figure 49, load 855 is cylinders 857 with a large amount of holes of the dehydrated thing 856 of storage, is kept the axle 858 of cylinder 857 by ball bearing 860,861 in rotatable mode.
Motor 863 is structures roughly equal with the motor 750 of embodiment 12.As power transfer path, by connected to each other by belt 866 to belt pulley 864 and belt pulley 865.Rotary actuation is carried out to cylinder 857, makes centrifugal action in dehydrated thing 856, dewater from the hole of cylinder 857, receive water in the receiving barrel 867 around surrounding, lead scupper hose 868 afterwards, thus carry out dehydration running.About DC-to-AC converter 870, be provided with structure and equal inverter circuit 871, the control circuit 872 of the structure described in embodiment 12 ~ 14.In addition, DC-to-AC converter 870 has the solenoid drive circuit 875 received from the stopping decision signal S1 of control circuit 872.
Further, having can the door 877 of opening and closing, and the state opened is shown with chain-dotted line.The comprising solenoid 881, the securing rod made of iron 882 moved up and down at solenoid 881 place for the upper lock section 880 remaining closure state, be arranged at the pawl 883 be engaged with securing rod 882 in closed state of door 877 side of door 877.Under the state that pawl 883 and securing rod 882 are engaged mutually, even if sliding door 877 also can not be opened.Therefore, user is stoped to be stretched in cylinder 857 by hand.
Then, from solenoid drive circuit 875 under the state that solenoid 881 provides electric current, the magnetic field utilizing solenoid 881 to produce is pulled upwardly securing rod 882 against gravity.Therefore, locking is become by the state removed.User can open door 877, is stretched in cylinder 857 by hand etc. and contacts dehydrated thing 856 etc.Door sensor 885 has contact, and the opening/closing state of detection door 877 also exports as S2 signal.When door 877 is closed, transmit high signal to control circuit 872.
The action in the present embodiment of above structure is described.Figure 50 is the movement oscillogram of the Water Extraction Machinery in embodiments of the present invention 15.In Figure 50, (a) illustrates the waveform of angular rate ω, and (b) illustrates the waveform stopping decision signal S1, and (c) illustrates the waveform of the U phase low potential side signal Sg of inverter circuit 871.In addition, (d) illustrates the waveform providing electric current I k to solenoid 881, (e) illustrate the opening and closing signal S2 of door, to enter braking (brake) from dehydration and play stopping and user and open waveform till the time point of door.
In power run duration before t1, as viewed in the Sg of (c), what supply was used for drive motor 863 is applied with the signal that PWM obtains.In addition, the signal beyond the low potential side eliminating U phase.But, in power run duration, are all the signals being applied with PWM.
During when terminating in t1 dehydration running during entering short-circuit braking, the signal of the low potential side of this 3 phase of U, V, W all rises, and becomes the state being called as and connecting all the time.Thus, the input voltage becoming motor 863 is the state of the short-circuit braking of roughly zero, and later ω reduces gradually.At t2, as the time measurement of 0.3 second of the first stipulated time lighting from the time that ω reaches ω th.T3 betwixt, cylinder 857 becomes the state of stopping.S1 rises to height at the t4 from t2 after first 0.3 second stipulated time, rises from solenoid drive circuit 875 to the electric current I k that provides of solenoid 881.
Become low (disconnection) state at t4, Sg, become short-circuit braking by the state removed.But, also can also make Sg continue as height afteru, thus the safety of the user of the rotation for the cylinder 857 of not expecting can be improved further.In addition, also can be configured to only during S2 is high, carry out short-circuit braking.In addition, by the DC current of the size of the regulation that circulates to motor 863, the effect of the motion of the cylinder 857 that also can be inhibited.Thus, also can arrange afteru during providing DC current from inverter circuit 871.At this, freely, user opens door 877 at t5 in door 877 opening and closing, and the S2 therefore shown in (e) becomes low.
In addition, as the effect of signal S2, when dewatering action launching, from the view point of preventing danger, under the pent state of door 877, this signal S2 is used during drive motor 863.Be set to following logic: under low state, No starting.That is, be that door 877 is remained the lockup period of closure state during dehydration action launching is to t4, judge that t4 exists between lockup period in stopping.
Like this, in the cylinder 857 that can reliably prevent user from being stretched into by hand in rotation.Thus, although there is not the position sensor utilizing Hall IC etc., the high Water Extraction Machinery of security also can be realized.By carrying out the latch-release of door 877 to solenoid 881 energising.Therefore, even if when contingency occurs to have a power failure, the output of dc source 751 declines, as long as no being energized to solenoid 881, will continue between the lockup period of door 877.Thus, ensure that the high security of user.
In addition, 0.3 second such short time is set to from ω lower than first stipulated time of ω th to exporting and stopping judging.Thus, even if consider various condition deviation, t3 is stopped to play stopping time delay of timing of judging maximumly also can converge on 0.17 second from the cylinder 857 of reality.Thus, user can not take out the dehydrated thing 856 dewatered with losing time, thus can operational use time.
In addition, in order to improve security further, there is structure below.Also can consider that time point cylinder 857 that the action of microcomputer 789 after the power supply of Water Extraction Machinery is just connected starts is in the possibility in rotation, and during short-circuit braking is set, carry out the latch-release of door 877 afterwards.
In addition, also can consider the possibility of transmission mechanism breakage that belt 866 ruptures or comes off from belt pulley 864,865, and use the structure as the transmission mechanism damage testing portion of explanation in embodiment 14.That is, the structure of carrying out the latch-release of door 877 after load stops estimated signal is also effective.Situation about rupturing at belt 866 is inferior, if Water Extraction Machinery, even if then the inertia of cylinder 857 also has the value about 0.3kg square meter under for empty state.When the speed reducing ratio (ratio of speed) of the diameter ratio based on belt pulley 864,865 is set to 10:1, the inertia being scaled the axle of motor 163 is 0.003kg square meter.Even if like this, be also the value of about 10 times relative to the inertia of common motor 863, when not having belt 866, moment of momentum, kinergety all reduce to about 1/10.Therefore, during short-circuit braking in deceleration be sharply, no matter use angular acceleration, to motor 863 stop time in which, can both distinguish whether there is belt 866 clearly.
Also contemplate following structure: in braking, calculate the current phasor under dq coordinate, carry out transmission mechanism damage testing based on the size of the angular acceleration relative to q shaft current especially simultaneously.There is when there is not belt 866 deceleration sharply as above, there is the trend that the metrical error of dq coordinate becomes large, needing complicated structure.But use the structure of the present invention of static coordinate simple in during short-circuit braking, and as transmission mechanism damage testing, can obtain high reliability, effect is very large.
In addition, during following transmission mechanism damage testing also can be set: temporarily provided electric current from inverter circuit 871 to motor 863 before the latch-release of door 877, based on the relation of electric current and voltage, detection is not be in the extremely little state of the load torque that is connected to motor 863.Thereby, it is possible to the Water Extraction Machinery that the security realizing making provision against emergencies is higher.
In addition, in the present embodiment, being set to clothing is the housework equipment of dehydrated thing.But, in general, also there is in the equipment being called as washing machine, scrubbing-and-drying unit etc. function as Water Extraction Machinery sometimes.Also can be this equipment.
Automatic order carry out cleaning, rinsing etc. be called as in the device of automatic washing machine, midway exist comprise the water of washing agent dehydration, carry out rinsing after the dehydration etc. of water repeatedly to dewater action.In addition, carrying out after then dewatering in dry device, is also after dehydration terminates, be transferred to next operation (program).Even if when this deposit the device of program after dewatering, also the stopping of DC-to-AC converter of the application of the invention can judge that carrying out postponing considerably less stopping to the stopping of the cylinder of reality judges.Therefore, do one's utmost to shorten the dead time be transferred to till next sequential.As a result, the time that full automatic washing process (cleaning ~ dehydration ~ rinsing ~ dehydration) etc. is required can be shortened, the effect of time shorten can be obtained.
In addition, the rotating shaft of cylinder 857 is level, but also can be vertical or inclination.As the power transfer path of the rotary actuation for cylinder 857, show use belt pulley 864,865, the power transfer path of belt 866.It also can use gear (gear), or on the axle 858 of cylinder 857, directly arranges motor as being called as Direct driver and rotate etc. with same speed.
utilizability in industry
As described above, washing machine involved in the present invention can be applied as and not arrange the washing machine that the position sensors such as Hall IC just can guarantee security.
description of reference numerals
100,101: permanent magnet; 102,103,104: winding; 105: clothing; 106: cylinder; 107: belt pulley; 109: motor; 111,112,113,114,115,116: switch element; 117: inverter circuit; 118: control part; 119: gallon portion; 120: speed calculating part; 121,122,123: shunt resistance; 124:A/D converter; 126: phase error probe portion; 127: variable frequency oscillating portion; 128: amplifier; 129: integrator; 130: low speed detection unit; 131: threshold generator; 132: comparing section; 135: central control; 136:PWM circuit; 137,156: switching part; 138: drive circuit; 141: AC power; 142: full-wave rectifier; 143: capacitor; 144: dc source; 146,147: resistance; 148: DC voltage detection circuit; 150,158: coordinate converting section; 151,152: subtraction portion; 153,154,161: error enlarging section; 159:PWM portion; 160: subtraction portion; 162:Idr configuration part; 163: short-circuit braking control part; 165: abnormity detection portion; 166: delay portion; 167: sequential generating unit; 168: voltage instruction limiting unit; 170: short circuit current detection unit; 182: belt pulley; 190: receiving barrel; 193: water-supply valve; 194: draining valve; 196: lid; 197: handle; 200: cover lock bonding part; 201: solenoid; 202: plunger; 203: spring; 204: lock control circuit; 206: lid search switch; 208: stop button; 221: speed calculating part; 223: phase error probe portion; 340,341: permanent magnet; 342,343,344: winding; 345: clothing; 346: cylinder; 347: belt pulley; 349: motor; 351,352,353,354,355,356: switch element; 357: inverter circuit; 358: control part; 359: gallon portion; 361,362,363: shunt resistance; 364: amplifier; 366,440: central control; 367:PWM circuit; 369,400,443: switching part; 370: drive circuit; 371: AC power; 372: full-wave rectifier; 373: capacitor; 374: dc source; 376,377: resistance; 378: DC voltage detection circuit; 380: the first coordinate converting section; 381,382,394: subtraction portion; 383,384,395: error enlarging section; 388: the second coordinate converting section; 389:PWM portion; 390: speed estimation portion; 392,406: integrator; 396:Idr configuration part; 398,441: short-circuit braking control part; 399,442: sequential generating unit; 401,444: signal generator; 403: short circuit current detection unit; 405: function generator; 407: delay portion; 410: belt pulley; 411: receiving barrel; 413: water-supply valve; 414: draining valve; 416: lid; 417: handle; 419: cover lock bonding part; 420: solenoid; 421: plunger; 422: spring; 423: lock control circuit; 425: lid search switch; 426: stop button; 500,501: permanent magnet; 502,503,504: winding; 505,620: clothing; 506,621: load (cylinder); 507: belt pulley; 509,624: motor; 511,512,513,514,515,516: switch element; 517,626: inverter circuit; 518: control part; 519: gallon portion; 521,522,523: shunt resistance; 524:A/D converter; 535: central control; 536:PWM circuit; 537,583: switching part; 538: drive circuit; 541: AC power; 542: full-wave rectifier; 543: capacitor; 544: dc source; 546,547: resistance; 548: DC voltage detection circuit; 550: the first coordinate converting section; 551,552,560: subtraction portion; 553,554,561: error enlarging section; 555,586: integrator; 556: speed estimation portion; 558: the second coordinate converting section; 562:Idr configuration part; 563: short-circuit braking control part; 565: abnormity detection portion; 567: sequential generating unit; 570: short circuit current detection unit; 574:OR circuit; 575: comparator; 576: voltage rise amount generating unit; 577: adder; 578,585,595,596,608: keeper; 580: short circuit duration ratio expands speed command portion; 581,582: function generator; 587,606: delay portion; 590,605,612: short-circuit braking control part; 592,610: short circuit duration ratio expands Speed Setting portion; 597: subtracter; 599: constant generator; 600: comparator; 607: line current probe portion; 613: short circuit duration ratio expands speed command portion; 615: speed detection portion; 617: Hall IC; 618: velocity calculator; 622: belt pulley; 623: belt; 628: control part; 630: receiving barrel; 633: water-supply valve; 634: draining valve; 636: lid; 637: handle; 641: solenoid; 642: plunger; 643: spring; 644: lock control circuit; 646: lid search switch; 648: stop button; 741,742: permanent magnet; 743,744,745: winding; 746,866: belt; 747,864,865: belt pulley; 748: load; 750,863: motor; 751: dc source; 752,753,754,755,756,757: switch element; 758,871: inverter circuit; 760,788,872: control circuit; 761: gate driver circuit; 762,763,764: resistance; 765: amplifying circuit; 766: gallon portion; 768: frequency sonding portion; 770: stop detection unit; Phase inversion portion, 772:3 phase/2; 773: polar coordinate transform portion; 774: differential portion; 777,778: comparator; 779:AND circuit; 781: clock oscillator; 782: counter; 783: comparator; 789: microcomputer; 790: ceramic vibrator; 855: load; 856: dehydrated thing; 857: cylinder; 858: axle; 860,861: ball bearing; 867: receiving barrel; 868: scupper hose; 870: DC-to-AC converter; 875: solenoid drive circuit; 877: door; 880: upper lock section; 881: solenoid; 882: securing rod; 883: pawl; 885: door sensor.
Claims (22)
1. a washing machine, has:
Cylinder, it receives clothing;
Motor, it possesses the winding of permanent magnet and 3 phases, and this motor drives described cylinder;
Lid, it carries out opening and closing to the opening portion of described cylinder;
Cover lock bonding part, it locks described lid;
Inverter circuit, from dc source to this inverter circuit supply electric power, this inverter circuit uses multiple switch element to provide electric current to described motor; And
Control part, it carries out on-off control to described switch element,
Wherein, described control part possesses the gallon portion detecting described electric current and the output receiving described gallon portion to calculate the speed calculating part of the speed of described motor,
During the braking of described cylinder, described control part controls described switch element and remains roughly zero to make the input voltage of described motor, after described speed becomes below setting, makes it possible to open described lid by described cover lock bonding part.
2. washing machine according to claim 1, is characterized in that,
The described gallon portion of described control part detects the electric current of more than 2 phases in 3 phases, and the described speed calculating part of described control part carrys out computational speed based on the value of electric currents more than 2 phases in this 3 phase.
3. washing machine according to claim 2, is characterized in that,
Described control part possesses variable frequency oscillating portion, phase error probe portion and coordinate converting section, and this variable frequency oscillating portion output packet contains the phase place of the described permanent magnet of the time integral value of speed,
Described coordinate converting section uses described phase place that the output in described gallon portion is exported this rotational coordinates after static coordinate is transformed to rotational coordinates,
The current value signals that described speed calculating part receives under described rotational coordinates carrys out computational speed.
4. the washing machine according to any one in claims 1 to 3, is characterized in that,
Before during described braking, have and control described switch element with during the voltage making the absolute value of the input voltage of described motor and reduces minimizing.
5. the washing machine according to any one in Claims 1 to 4, is characterized in that,
Before making it possible to open described lid by described cover lock bonding part, during there is described braking.
6. washing machine according to claim 1, is characterized in that,
When the braking of described motor, the speed of described cylinder becomes after roughly zero, and described control part controls described switch element to provide electric current from described dc source to described winding, makes it possible to afterwards open described lid by described cover lock bonding part.
7. washing machine according to claim 6, is characterized in that,
When described braking, the speed of described cylinder becomes after roughly zero, and described control part controls described switch element to make the output in described gallon portion for setting, makes it possible to afterwards open described lid by described cover lock bonding part.
8. washing machine according to claim 6, is characterized in that,
When described braking, the speed of described cylinder becomes after roughly zero, and described control part, when the output in described gallon portion is less than setting, makes not continue to the state opening described lid by described cover lock bonding part.
9. washing machine according to claim 1, is characterized in that,
During possessing short-circuit braking after during short circuit duration ratio expands, during this short circuit duration ratio expands, described control part is by controlling the on-off of the switch element of described inverter circuit, expand the short circuit duration ratio of the input terminal short circuit of the winding making described 3 phases, during this short-circuit braking, described short circuit duration ratio remains to greatest extent by described control part.
10. washing machine according to claim 9, is characterized in that,
Described control part according to the voltage detection portion of the voltage of the described dc source of detection, detect described electric current gallon portion, detect described motor speed speed detection portion in the output of at least any one probe portion, change the expansion speed of the short circuit duration ratio during described short circuit duration ratio expands.
11. washing machines according to claim 9, is characterized in that,
Described control part, according to the time from starting during described short circuit duration ratio expansion, changes the expansion speed of short circuit duration ratio.
12. washing machines according to claim 1, is characterized in that,
Described control part also possesses:
Frequency sonding portion, it receives the output in described gallon portion, periodically look-in frequency;
Stop detection unit, it judges the stopping of described motor; And
During short-circuit braking, during the braking of described cylinder, controlling described switch element to make the input voltage of described motor is roughly zero,
Wherein, become from the output in described frequency sonding portion be not have passed through for the first stipulated time more than setting after, described stopping detection unit being judged to be that described motor stops.
13. washing machines according to claim 12, is characterized in that,
Described frequency sonding portion during described short-circuit braking in during the Temporal changes possessed based on the phase place of the current phasor under static coordinate carrys out the electric current angular velocity detection of computing angular speed, after described angular speed becomes below setting, be judged to stop.
14. washing machines according to claim 12 or 13, is characterized in that,
When the output level in described gallon portion is more than setting, described frequency sonding portion carries out the renewal of look-in frequency.
15. washing machines according to claim 13, is characterized in that,
The time interval of the computing angular speed in during described frequency sonding portion makes described electric current angular velocity detection is the cycle shorter than the one-period of the angular speed under the maximum speed of described motor interior during described electric current angular velocity detection.
16. washing machines according to any one in claim 12 ~ 15, is characterized in that,
When the output level in described gallon portion is more than setting, described frequency sonding portion stores the phase place of the current phasor under static coordinate, the renewal of look-in frequency is not carried out when the elapsed time from last stored phase place is longer than setting, when the elapsed time from last stored phase place is below setting, based on last stored phase place between phase difference and the elapsed time calculate look-in frequency and upgrade.
17. washing machines according to any one in claim 6 ~ 8, is characterized in that,
Between described motor and described cylinder, there is power transfer path, when described braking, the speed of described cylinder becomes after roughly zero, described control part when provide to described motor the electric current of electric current provide period in detect the fault of described power transfer path, make user by described cover lock bonding part to open described lid state continue.
18. washing machines according to claim 17, is characterized in that,
Described power transfer path is belt, provides the frequency being provided to the electric current of described motor in period to possess mechanism's harmonic frequency components because described motor, described belt and described cylinder cause at described electric current.
19. washing machines according to any one in claim 6 ~ 8,17,18, is characterized in that,
When described braking, the speed of described cylinder becomes after roughly zero, and the speed of described cylinder is per minute less than 1 turn.
20. washing machines according to any one in claim 12 ~ 16, is characterized in that,
There is cylinder stop estimator and detect the transmission mechanism damage testing portion of exception of the power transfer path between described motor and described cylinder,
When receiving the breakage signal from described transmission mechanism damage testing portion, described cylinder stops estimator exporting and stops estimated signal than the cylinder of described stopping decision delay.
21. washing machines according to claim 20, is characterized in that,
Time till playing described motor and stop from during described short-circuit braking, when being less than for the second stipulated time, described transmission mechanism damage testing portion exported described breakage signal.
22. washing machines according to any one in claim 1 ~ 21, is characterized in that,
Described motor be do not have position sensor without approach sensor motor.
Applications Claiming Priority (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013149262A JP6295407B2 (en) | 2013-07-18 | 2013-07-18 | Inverter device and dehydrator using the same |
| JP2013-149262 | 2013-07-18 | ||
| JP2014032679A JP6229160B2 (en) | 2014-02-24 | 2014-02-24 | Washing machine |
| JP2014032684A JP6229162B2 (en) | 2014-02-24 | 2014-02-24 | Washing machine |
| JP2014-032684 | 2014-02-24 | ||
| JP2014032680A JP6361018B2 (en) | 2014-02-24 | 2014-02-24 | Inverter device and washing machine equipped with the same |
| JP2014-032679 | 2014-02-24 | ||
| JP2014-032680 | 2014-02-24 | ||
| PCT/JP2014/003764 WO2015008486A1 (en) | 2013-07-18 | 2014-07-16 | Washing machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105378174A true CN105378174A (en) | 2016-03-02 |
| CN105378174B CN105378174B (en) | 2017-04-05 |
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ID=52345962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480040857.4A Active CN105378174B (en) | 2013-07-18 | 2014-07-16 | Washing machine |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN105378174B (en) |
| DE (1) | DE112014003296T5 (en) |
| WO (1) | WO2015008486A1 (en) |
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| JP2002374689A (en) * | 2001-06-14 | 2002-12-26 | Mitsubishi Electric Corp | Motor drive gear and washing machine |
| JP5183594B2 (en) * | 2009-07-31 | 2013-04-17 | 日立オートモティブシステムズ株式会社 | Motor control device and motor system including the same |
-
2014
- 2014-07-16 WO PCT/JP2014/003764 patent/WO2015008486A1/en active Application Filing
- 2014-07-16 CN CN201480040857.4A patent/CN105378174B/en active Active
- 2014-07-16 DE DE112014003296.4T patent/DE112014003296T5/en not_active Withdrawn
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| CN111418143A (en) * | 2017-11-29 | 2020-07-14 | Lg电子株式会社 | Motor driving apparatus and control method of the same |
| CN111771329A (en) * | 2018-02-28 | 2020-10-13 | 美蓓亚三美株式会社 | Motor drive control device and motor drive control method |
| CN111118822A (en) * | 2018-10-15 | 2020-05-08 | 无锡飞翎电子有限公司 | Control device and washing machine |
| CN111464096A (en) * | 2019-01-03 | 2020-07-28 | 现代自动车株式会社 | Method for correcting signal delay of Hall sensor for air compressor motor |
| CN111464096B (en) * | 2019-01-03 | 2024-01-12 | 现代自动车株式会社 | Method for correcting signal delay of Hall sensor for air compressor motor |
| CN109905068A (en) * | 2019-03-13 | 2019-06-18 | 阳光电源股份有限公司 | Electric machine controller and its active short circuit current and method |
| US11177751B2 (en) | 2019-03-13 | 2021-11-16 | Sungrow Power Supply Co., Ltd. | Motor controller, active short circuit thereof, and method for controlling active short via the same |
| TWI851807B (en) * | 2019-10-03 | 2024-08-11 | 日商松下知識產權經營股份有限公司 | Washing Machine |
| CN111049463A (en) * | 2019-12-26 | 2020-04-21 | 深圳市蓝海华腾技术股份有限公司 | Method for motor to exit three-phase active short-circuit mode and control device |
| CN111049463B (en) * | 2019-12-26 | 2021-12-21 | 深圳市蓝海华腾技术股份有限公司 | Method for motor to exit three-phase active short-circuit mode and control device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2015008486A1 (en) | 2015-01-22 |
| DE112014003296T5 (en) | 2016-04-21 |
| CN105378174B (en) | 2017-04-05 |
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