CN105378174B - Washing machine - Google Patents

Washing machine Download PDF

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Publication number
CN105378174B
CN105378174B CN201480040857.4A CN201480040857A CN105378174B CN 105378174 B CN105378174 B CN 105378174B CN 201480040857 A CN201480040857 A CN 201480040857A CN 105378174 B CN105378174 B CN 105378174B
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CN
China
Prior art keywords
speed
motor
short
cylinder
during
Prior art date
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Active
Application number
CN201480040857.4A
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Chinese (zh)
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CN105378174A (en
Inventor
麻田和彦
东光英
野岛元
龟田晃史
堀阳子
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Panasonic Intellectual Property Management Co Ltd
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Panasonic Intellectual Property Management Co Ltd
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Priority claimed from JP2013149262A external-priority patent/JP6295407B2/en
Priority claimed from JP2014032684A external-priority patent/JP6229162B2/en
Priority claimed from JP2014032680A external-priority patent/JP6361018B2/en
Priority claimed from JP2014032679A external-priority patent/JP6229160B2/en
Application filed by Panasonic Intellectual Property Management Co Ltd filed Critical Panasonic Intellectual Property Management Co Ltd
Publication of CN105378174A publication Critical patent/CN105378174A/en
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Publication of CN105378174B publication Critical patent/CN105378174B/en
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Classifications

    • 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

A kind of washing machine, possesses：Cylinder (106), its storage clothing (105)；And motor (109), which possesses the winding (102,103,104) of permanent magnet (100,101) and 3 phases, and the motor (109) drives cylinder (106).In addition, the lid sticking department of the lid being opened and closed with the opening portion to cylinder (106) and locking lid.In addition, with inverter circuit (117), from dc source (144) to the inverter circuit (117) supply electric power, the inverter circuit (117) provides electric current to motor (109) using multiple switch element (111,112,113,114,115,116).In addition, with the control unit (118) that on-off control is carried out to switch element (111,112,113,114,115,116).

Description

Washing machine
Technical field
The present invention relates to a kind of washing machine, the washing machine possesses receives clothing and the rolling with horizontal or vertical rotary shaft Cylinder, makes brake play a role to stop the cylinder.
Background technology
In the past, it is used in the rotor position detection units such as Hall IC of the DC-to-AC converter of washing machine by motor to enter Row detection, and by motor rotary detecting circuit or counter electromotive force detector unit detecting the rotation of motor.Driving In the case of motor rotation is detected by rotor position detection unit or counter electromotive force detector unit beyond during motor, enter Row short-circuit braking.
Figure 51 is the circuit diagram (for example, referring to patent document 1) of conventional washing machine.
The winding to motor 940 of conventional washing machine provides the inverter circuit 941 of electric current and has switch element 942 ～947, its on-off is controlled by control unit 948.
Conventional washing machine have shunt resistance 950,951 and the amplification biasing circuit 952 including operational amplifier etc., 953, to detect the electric current of the winding for flowing through motor 940.The output signal for amplifying biasing circuit 952,953 is imported into control Portion 948, can detect the current value of U phases and V phases, and the current value of W phases also can be calculated based on the galvanometer of U phases and V phases, from And the whole electric current of three-phase can be detected.
In addition, in overcurrent, over-current detection signal is also defeated from overcurrent probe portion 956 via diode 954,955 Enter to control unit 948.
Figure 52 is flow chart when conventional washing machine starts.From the beginning of startup, (step S960) is transferred to short-circuit (step S961), three mutually short circuits of the winding of motor 940 are made.
Stop in (step S962) in ensuing rotor, detected winding electricity is judged by gallon unit Whether stream more than three-phase consistent, in the case of consistent is judged as that motor 940 stops.
Afterwards, into positioning (step S963), forced commutation (step S964), steady running (step S965), from startup It is transferred to steady running.
Figure 53 be conventional washing machine in rotation in the case of short-circuit braking in winding current waveform figure.
In rotation, although the instantaneous value of 2 phase currents in the electric current of 3 phases is consistent sometimes, but will not 3 it is mutually homogeneous Cause, be judged as stopping in the consistent time point of the current value of 3 phases.
Though in addition, illustrated, by the current detecting of a phase in the interval of 1 cycle is short than current waveform Value is judged as stopping in the case where which is consistent with reference to more than 2 times.
However, in conventional structure, in current detection value doped with noise in the case of, although sometimes in rotation But the current detection value of 3 phases is also consistent, and 2 primary current detected values of 1 phase are consistent sometimes.In addition, due to amplifying biasing The failure of circuit and in the case of have input the fixed signal voltage such as such as 0V, 5V to control unit, be judged to the condition for stopping Set up.It is when the lid of cylinder is opened in this condition, dangerous.
In addition, the technology of conventional washing machine is disclosed in patent document 2～5.
Patent document 1：Japanese Unexamined Patent Publication 2005-6453 publications
Patent document 2：Japanese Unexamined Patent Publication 2011-5588 publications
Patent document 3：Japanese Unexamined Patent Publication 2000-175485 publications
Patent document 4：Japanese Unexamined Patent Publication 2012-130111 publications
Patent document 5：Japanese Unexamined Patent Publication 2003-275494 publications
The content of the invention
The present invention is conventional for solving the problems, such as, there is provided one kind is not provided with the position sensors such as Hall IC and ensures that peace The washing machine of full property.
The washing machine of the present invention has：Cylinder, its storage clothing；Motor, which possesses the winding of permanent magnet and 3 phases, should Motor-driven cylinder；Lid, its opening portion to cylinder is opened and closed；And lid sticking department, its locking lid.In addition, having inverse Become device circuit and control unit, from dc source to the inverter circuit supply electric power, the inverter circuit is using multiple switch unit Part to provide electric current to motor, and the control unit carries out on-off control to switch element.Control unit possesses probe current Gallon portion and the speed calculating part exported to calculate the speed of motor in reception gallon portion.In addition, in cylinder Braking during, control unit controlling switch element is changed into regulation in speed so that the input voltage of motor remains substantially zero After value is following, enabling lid is opened by lid sticking department.
Thus, despite the simple and inexpensive structure without position sensors such as such as Hall ICs, also in safety Property it is sufficiently high in the state of allow user open lid action.Due to this physical quantity of calculating speed, therefore, it is possible to effective The successional response of speed existed because of inertia is make use of to be also carried out adjustment.Thus, strongly eliminate gallon portion defeated The impact of the noise for going out, even if also, being independently fixed as fixing with actual current value due to gallon portion failure In the case of value, will not also falsely determine that to stop.
The washing machine of the present invention is not provided with the position sensors such as Hall IC and ensures that security.
Description of the drawings
Fig. 1 is the block diagram of the DC-to-AC converter in embodiments of the present invention 1.
Fig. 2 is the detailed construction in the central control 135 for represent the DC-to-AC converter in embodiments of the present invention 1 Block diagram.
Fig. 3 is DC-to-AC converter in embodiments of the present invention 1 because anomaly detection signal is changed into the feelings of short-circuit braking Movement oscillogram under condition.
Fig. 4 is the movement oscillogram before and after the cylinder of the DC-to-AC converter in embodiments of the present invention 1 stops.
Fig. 5 is DC-to-AC converter in embodiments of the present invention 1 because of the brake request signal from sequential generating unit Into the movement oscillogram in the case of during short-circuit braking.
Fig. 6 is DC-to-AC converter in embodiments of the present invention 1 because brake request signal is transferred to the short-circuit braking phase Between after and cylinder stop before and after the movement oscillogram centered on speed calculating part.
Fig. 7 is to represent the tumbling-box washing machine for possessing the DC-to-AC converter in embodiments of the present invention 1 from side observation When internal structure figure.
Fig. 8 be represent the power supply of the DC-to-AC converter in embodiments of the present invention 1 be just switched on after action flow chart.
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 frame of the detailed construction of the central control for representing the DC-to-AC converter in embodiments of the present invention 3 Figure.
Figure 12 is the block diagram of the short-circuit braking control unit of the DC-to-AC converter in embodiments of the present invention 3.
Figure 13 is the input-output characteristic of the function generator for representing the DC-to-AC converter in embodiments of the present invention 3 Chart.
Figure 14 is to represent from side the inverter dress for being referred to as tumbling-box washing machine observed in embodiments of the present invention 3 The figure of internal structure when putting.
Figure 15 is DC-to-AC converter in embodiments of the present invention 3 because brake request signal is changed into the feelings of short-circuit braking Movement oscillogram under condition.
Figure 16 is the movement oscillogram of the DC-to-AC converter in embodiments of the present invention 3.
In the case of braking is entered with midway during Figure 17 is embodiments of the present invention 3, when dehydration action etc. is completed Flow chart.
Figure 18 is the block diagram of the central processing department of the 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.
In the case of braking is entered with midway during Figure 20 is embodiments of the present invention 4, when dehydration action etc. is completed Flow chart.
Figure 21 be represent speed in embodiments of the present invention 5, the cylinder in braking be changed into substantially zero after and to The figure of each portion's action waveforms before and after during the electric current offer of motor offer electric current.
Figure 22 is situation (or the fracture for representing the normal situation of belt and belt dropping in embodiments of the present invention 5 Situation) under motor permanent magnet phase place figure.
Figure 23 is that speed in the DC-to-AC converter for represent embodiments of the present invention 6, the cylinder in braking is changed into big The figure of the action waveforms in each portion before and after during causing the electric current for providing electric current after zero and to motor to provide.
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 the DC-to-AC converter in embodiments of the present invention 7.
Figure 26 is the block diagram of the short-circuit braking control unit of the DC-to-AC converter in embodiments of the present invention 7.
Figure 27 be represent the DC-to-AC converter in embodiments of the present invention 7 function generator and function generator it is defeated Enter the chart of output characteristics.
Figure 28 is DC-to-AC converter in embodiments of the present invention 7 because brake request signal is changed into the feelings of short-circuit braking Movement oscillogram under condition.
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 unit of the DC-to-AC converter in embodiments of the present invention 8.
Figure 32 is that the short circuit duration ratio for representing the DC-to-AC converter in embodiments of the present invention 8 expands speed configuration part Characteristic chart.
Figure 33 is the block diagram of the short-circuit braking control unit of the DC-to-AC converter in embodiments of the present invention 9.
Figure 34 is that the short circuit duration ratio for representing the DC-to-AC converter in embodiments of the present invention 9 expands speed configuration part Characteristic chart.
Figure 35 is the action ripple of the part during the entrance short-circuit braking of the DC-to-AC converter in embodiments of the present invention 9 Shape figure.
Figure 36 is the block diagram of the short-circuit braking control unit of the DC-to-AC converter in embodiments of the present invention 10.
Figure 37 is that the short circuit duration ratio for representing the DC-to-AC converter in embodiments of the present invention 10 expands speed command The chart of the characteristic in portion.
Figure 38 is to represent from side the inverter for being referred to as tumbling-box washing machine observed in embodiments of the present invention 11 The figure of internal structure during device.
Figure 39 is the flow chart after the power supply of the DC-to-AC converter in embodiments of the present invention 11 is just switched on.
Figure 40 is the block diagram of the DC-to-AC converter of embodiments of the present invention 12.
Figure 41 is the current phasor during the short-circuit braking for representing the DC-to-AC converter in embodiments of the present invention 12 Figure.
Figure 42 is the movement oscillogram during the short-circuit braking of the 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 the DC-to-AC converter in embodiments of the present invention 13.
Figure 45 is the movement oscillogram of the microcomputer of the DC-to-AC converter in embodiments of the present invention 13.
Figure 46 represents the figure of the double situation less 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 that the load for representing the DC-to-AC converter in embodiments of the present invention 14 stops the figure of the characteristic of estimator Table.
Figure 49 is the figure of internal structure when representing from side the dewaterer observed in embodiments of the present invention 15.
Figure 50 is the movement oscillogram of the dewaterer in embodiments of the present invention 15.
Figure 51 is the circuit diagram of conventional washing machine.
Figure 52 is flow chart when conventional washing machine starts.
Figure 53 be conventional washing machine in rotation in the case of short-circuit braking in winding current waveform figure.
Specific embodiment
Below, embodiments of the present invention are explained with reference to.Additionally, the present invention is not limited to the 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 100,101 and 3 phase of permanent magnet.In addition, having storage The cylinder 106 of clothing 105, by belt pulley 107 and belt 108 come carry out rotation driving motor 109 and 6 switch unit Part 111,112,113,114,115,116.In addition, with the inverter electricity that alternating current Iu, Iv, Iw are provided to motor 109 Road 117 and the control unit 118 of on-off control is carried out to switch element 111,112,113,114,115,116.In addition, control Portion processed 118 has the gallon portion 119 of detection alternating current Iu, Iv, Iw and receives the output in gallon portion 119 to count Calculate the speed calculating part 120 of the speed of motor 109.Gallon portion 119 with by 3 mutually respective current transformations for voltage Shunt resistance 121,122,123 and the A/ of A/D conversion is carried out during the switch element 114,115,116 of low potential side is connected D converters 124.Speed calculating part 120 has phase error probe portion 126 and the amplification as variable frequency oscillating portion 127 Device 128 and integrator 129.
In the present embodiment, as gallon portion 119, the 3 each corresponding shunt resistance electricity with 3 phases have been used Resistance 121,122,123.They are known as the structure of 3 shuntings.In the phase that the switch element 114,115,116 of low potential side is connected Between, detect the voltage produced at each shunt resistance two ends.But it is also possible to visited based on 1 shunt resistance for being referred to as 1 shunting Each current value Iu, Iv, Iw of 3 phases are detected during measure.Or, can also such as be referred to as DCCT (Direct using 2～3 Current-Current Transformer：DC current transformer) such can be examined based on direct-current component The current sensor of survey.
Here, amplifier 128 has P components (proportional component) and I component (time integral component relative to input.So that Input, the i.e. output of phase error probe portion 126 to amplifier 128 is stably that zero mode carries out action.
Control unit 118 has low speed detection unit 130, and the low speed detection unit 130 judges the output of variable frequency oscillating portion 127 Signal ω has turned into abundant low speed.Low speed detection unit 130 includes threshold generator 131, comparing section 132.
Also, control unit 118 has central control 135.Control unit 118 carries out the control for inverter circuit 117 Signal generation, output signal Iua, Iva from gallon portion 119, the signal of Iwa accept, from speed calculating part 120 Signal ω, θ signal accept, the J signals of low speed detection unit 130 accept.Control unit 118 will be these various signal transactings complete Portion is in a digital manner carrying out.
Pwm circuit 136 receives Duty from central control 135, and output is carried out to Duty with the triangular wave of 64 microsecond of cycle Signal B after pulsewidth modulation (PWM).With regard to the signal S1～S6 of central control 135, via being arranged at the central control Switching part 137, drive circuit 138 between 135 and inverter circuit 117 to switch element 111,112,113,114,115, 116 provide signal.In the case where the K signals of central control 135 are for height, switching part 137 is changed into the shape shown by Fig. 1 State, using S1～S6.On the other hand, in the case where K signals are low, each switch being changed in the switching part 137 of Fig. 1 is connected to The state of downside.
Dc source 144 includes AC power 141, full-wave rectifier 142 and the capacitor 143 of AC230V50Hz.Directly Stream power supply 144 provides DC voltage VDC to the DC voltage detection circuit 148 in inverter circuit 117.DC voltage detection electricity Road 148 includes resistance 146 and 147.During the output A of DC voltage detection circuit 148 is output to as analog voltage signal Centre control unit 135.In the inside of central control 135, A/D conversion is carried out to exporting A, be subsequently processed as digital value.
Fig. 2 is the frame of the detailed construction of the central control 135 for representing the DC-to-AC converter in embodiments of the present invention 1 Figure.
Additionally, the part for constituting central control 135 is in most cases the microcomputer of single-chip.However, it is possible to Realize with by the software of 1 microcomputer Fig. 1 also including the knot including the part in the outside of central control 135 Structure.Furthermore it is also possible to realize constituting the part of central control 135 by several hardware.Alternatively, it is also possible to pass through DSP (Digital Signal Processor：Digital signal processor) etc. various processors realizing.That is, can both lead to Cross single-chip to realize, it is also possible to realize by multi-chip, in addition, both can realize by hardware, it is also possible to by soft Part is realizing.
In fig. 2, corresponding to signal Iua, Iva, Iwa and the phase theta signal one for being calculated of 3 phase current Iu, Iv, Iw Rise and be imported into the first coordinate converting section 150.In the first coordinate converting section 150, carried out to Id's and Iq using (formula 1) Conversion, i.e. from static coordinate to the conversion of rotational coordinates, export Id and Iq.Subtraction portion 151,152 is provided with, setting is calculated respectively The error and setting value Iqr of value Idr and Id and the error of Iq.The output of subtraction portion 151,152 be imported into make PI (ratio, Integration) the error enlarging section 153,154 that plays a role of gain, the output of the error enlarging section 153,154 is used as Vd1 and Vq1 It is imported into switching part 156.The output Vd and Vq of switching part 156 is imported into the second coordinate converting section together with phase theta signal 158, the conversion of the value of voltage instruction value from dq coordinates to 3 phases Vu, Vv, Vw from is carried out using (formula 2).Voltage instruction value Vu, Vv, Vw are imported into PWM portions 159, make the triangular wave of 64 μ s of cycle with ratio of the voltage instruction value of 3 phases relative to a-signal Carrier wave plays a role.Voltage instruction value Vu, Vv, Vw are carried out instantaneous value with the carrier wave to compare and plus idle time, next life Into upper and lower drive signal S1～S6.
[formula 1]
[formula 2]
Additionally, in the present embodiment, gallon portion 119 is configured to detect the electric current of all 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, it becomes possible to according to Kirchhoff's law To calculate remaining 1 phase.Thus, it is also possible to only detect 2 phases.
In the present embodiment, the difference of speed setting value ω r and ω is calculated in subtraction portion 160.In error enlarging section 161 In, make output of the gain of PI (ratio, integration) to subtraction portion 160 play a role.It is in Idr configuration parts 162, fast based on calculating Spend ω to determine setting value Idr.Detect in short-circuit braking control unit 163, abnormity detection portion 165 abnormal.In delay portion 166 In, based on J signals with the time delay of 0.3 second exporting Z signals.In sequential generating unit 167, drive motor 109 is produced When setting speed ω r and brake request signal B4RQ.In voltage instruction limiting unit 168, brake request signal B4RQ is received, With start to short-circuit braking change when Vd1 and Vq1 as input, export be close to zero value.
DC-to-AC converter is carried out between action, therefore sequential generating unit 167 and the structural element of outside as washing machine Send receive various signals (stop button signal Sstop, feedwater valve signal Skb, draining valve signal Shb, lid locking signal Srk, Lid shutdown signal Scl etc.), and send the reception various signals relevant with the operating of motor 109.
Certain in the absolute value of the instantaneous value of signal Iua, Iva, the Iwa in the short-circuit state of short circuit current detection unit 170 One more than 1.7A in the case of make Cl signals for height, instantaneous value absolute value be entirely below 0.6A in the case of believe Cs Number for height.
The speed of cylinder 106 is scaled in ω values and in the case of being below 400r/min, the output of Idr configuration parts 162 0A As setting value Idr.In the case where ω values are scaled the speed of cylinder 106 more than 400r/min, Idr configuration parts 162 make Idr <0A so as to which absolute value gradually increases with the increase of ω.Accompany with this, be 1200r/ in the speed for being scaled cylinder 106 During min, Idr=-5A is made.This is to apply weak magnetic control at high speeds.
In the case where washing machine occurs certain exception and in the splitting time point of action, short-circuit braking control unit 163 Motor 109 is controlled with on-position.There is overcurrent, overvoltage, the situation for also having superfluous vibration etc. in each portion Under, short-circuit braking control unit 163 receives anomaly detection signal B99RQ from abnormity detection portion 165, receives from sequential generating unit 167 Brake request signal B4RQ.In these cases, short-circuit braking control unit 163 is to the switch element in inverter circuit 117 111st, 112,113,114,115,116 grid control is carried out so that the input of motor 109 is gradually short-circuit condition, i.e. 3 phases Voltage between input terminal is essentially a zero.In the present embodiment, in the situation and reception for receiving anomaly detection signal B99RQ To brake request signal B4RQ in the case of, short-circuit braking is, but specifically to the signal very much not phase of inverter circuit 117 Together.
Fig. 3 is that the DC-to-AC converter in embodiments of the present invention 1 is changed into short-circuit braking because of anomaly detection signal B99RQ In the case of movement oscillogram.In figure 3, (a) be anomaly detection signal B99RQ oscillogram, (b) be K signals waveform Scheme, (c) be the oscillogram of Duty.
From power run duration, brake request signal BRQ of central control 135 is changed into high in moment T1.K believes simultaneously It is number from high to low.In the time point, Duty is zero, therefore the IGBT of switch element 111,112,113,114,115,116 (Insulated Gate Bipolar Transistor：Insulated gate bipolar transistor) partly all go off.This is The all off period of 5ms.
Additionally, in all off period, in the case where motor 109 is low speed, being changed into the almost nil shape of electric current State, but in the situation (the high state of induced electromotive force) of high speed, by switch element 111,112,113,114,115,116 Diode section to dc source circulate regenerative current.
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 all off period, T2 to T5 is during the short circuit duration ratio that Duty increases expands.On the other hand, it is high Current potential side switch element 111,112,113 is remained off due to the effect of switching part 137.
Afterwards, when every time through T3, T4, the expansion of slope, i.e. short circuit duration ratio (Duty) relative to the time is fast Degree is passed through over time and is reduced.In addition, short circuit duration ratio is closer to 100%, then the expansion of short circuit duration ratio (Duty) Speed is lower.
With regard to the input voltage of motor 109, it is repeated as with instantaneous value by the induced electromotive force produced due to rotation It is positive/negative.But, it is forced to zero in short circuit duration, and absolute value is suppressed.
Be controlling switch element 114 during therefore, in the present embodiment, the short circuit duration ratio of T2～T5 expands, 115th, 116 so that the voltage that reduces with the increase of short circuit duration of the absolute value of voltage reduces during.
100% time point is reached in T5, Duty, control unit 118 makes the low potential side in inverter circuit 117 switch unit Part 114,115,116 is on-state.In the short circuit duration ratio for expanding input terminal U, V, W short circuit for making 3 phase windings (Duty) after during short circuit duration ratio expansion, during being changed into short-circuit braking.During short-circuit braking, by short circuit duration Ratio Duty remain to greatest extent, i.e. 100%, absorb load kinergety.
It is changed into 100% time point in Duty, the IGBT's, diode in low potential side switch element 114,115,116 Input voltage of the amount of pressure drop that amount of pressure drop and the wiring because of inverter circuit 117 to motor 109 cause as motor 109 And such as residue 2V～3V or so.But, this voltage is substantially zero category.
By making like this gradually to increase as the Duty of short circuit duration ratio, it is prevented from being transferred to the short-circuit braking phase Between during transient current rise sharply such that it is able to prevent overcurrent.Thereby, it is possible to prevent each structure of inverter circuit 117 Key element damaged and the failure caused because of the overcurrent of motor 109.
Particularly, in the present embodiment, the expansion speed by making short circuit duration ratio is gradually lowered, even if entering short The velocity conditions of the time point motor 109 during the braking of road are in interior fluctuating on a large scale, it is also possible to prevent transient current from rising sharply.Cause And, under the conditions of fast can with T2～T3 near the design of expansion speed of Duty carry out correspondence, and in speed Correspondence can be carried out with the design of the expansion speed of the Duty near T4～T5 under conditions of low.
Additionally, particularly, for the overvoltage caused because of the regeneration to dc source 144 under suppressing at a high speed, it is designed as The short circuit duration ratio (Duty) improved in the later half T3～T5 during expanding as short circuit duration ratio expands speed.By This, can be Min. by Overvoltage suppressing.
Thus, it is possible to prevent under conditions of the velocity interval of motor 109 is big enter short-circuit braking during when line electricity The overcurrent of stream.Can suppress because of the overvoltage for regenerating and causing to dc source 144.In addition, it is not necessary that velocity information, therefore The structure that motor 109 is the not low cost of the sensor of the sensor with position sensing and speed detection can be made. This structure is referred to as without sensor.
Even also, the direction of rotation of motor 109 as washing machine be not a direction but turn right or to The DC-to-AC converter of left-hand rotation, it is also possible to the control during independently carrying out being changed into short-circuit braking with phase sequence.
Fig. 4 is the movement oscillogram before and after the cylinder 106 of the DC-to-AC converter in embodiments of the present invention 1 stops.Fig. 4 Action waveforms when representing during shown in Fig. 3 through the more time.
In the diagram, the speed of cylinder 106 (a) is shown, the current waveform of Iu, Iv, Iw (b) is shown, short-circuit electricity (c) is shown The Cs signals exported by stream detection unit 170.
109 speed of motor for being changed into short-circuit braking is gradually lowered.Meanwhile, the frequency of line current substantially with motor 109 Speed proportionally reduce, the amplitude of line current is also finally reduced, and is converged in the time point that the speed of motor 109 is zero Zero.
In the present embodiment, the gallon portion 119 during zero current is output as the substantially median of 5V power supplys i.e. 2.5V left and right.The value that switch element 114,115,116 before operation start is previously stored under off-state is used as and zero current Suitable bias, as the critical value of the line current of each phase.
From time of the time point into short-circuit braking to stopping by into short-circuit braking time point under it is electronic Under the speed of machine 109, the inertia of load, the inductance of motor 109, resistance value, the on-state of switch element 114,115,116 Voltage (VCE (SAT)) etc. be driven.In the present embodiment, gallon portion 119 is by detecting as because of the reduction of speed And the current value of the physical phenomenon for occurring, carry out the state that speed of detection has fully been reduced.
Specifically, in the present embodiment, the absolute value in three line currents Iu, Iv, the instantaneous value of Iw is entirely below The time point Tja of 0.6A, Cs signals are changed into high, and 106 speed of cylinder is reduced to 7r/min or so.
Short-circuit braking control unit 163 is received and is changed into high Cs signals, proceeds short-circuit braking based on above-mentioned 7r/min, So as to cylinder 106 stops.Time point for example in the time delay that have passed through 0.15 second is judged as stopping.According to from sequential The instruction in life portion 167 etc., is transferred to the next operation needed as washing machine.
Additionally, in order to make every effort to perfectly safe, it is also possible to be set to following structure：In short circuit current detection unit 170, when Between also reaffirm out that line current is fully reduced after point Tja after, make Cs signals be height output.Or can also be set to following Structure：In short circuit current detection unit 170, the shape of 0.6A is entirely below in the absolute value of line current Iu, Iv, the instantaneous value of Iw In the case that state continues more than the stipulated time, Cs signals are made to be height output.
As described above, present embodiment despite non-use position sensor, velocity sensor it is inexpensive and simple Structure, but can guarantee by using short-circuit braking and by suitably judging stopping based on the electric current during this Security.
Fig. 5 is DC-to-AC converter in embodiments of the present invention 1 because of the brake request signal from sequential generating unit 167 B4RQ and during entering short-circuit braking in the case of movement oscillogram oscillogram.In Figure 5, (a) illustrate that brake request is believed Number B4RQ, (b) illustrates that the value of input value Vq (solid line) and Vd (dotted line) of the second coordinate converting section 158, (c) are illustrated and be calculated Speed omega (solid line) and actual angular speed (dotted line).
In the power run duration before the T1 time points that brake request signal B4RQ rises, switching part 156 and downside Contact.Therefore, the output Vd1 and Vq1 of error enlarging section 153,154 is connected to Vd and Vq.That is, becoming The current control of Id and Iq state of function by subtraction portion 151,152.
It is changed into high time point, i.e. T1 in brake request signal B4RQ, voltage instruction limiting unit 168 internally keeps Vd1 And Vq1.After T1, the absolute value of Vd and Vq was reduced with fixed voltage change speed (dV/dt) relative to the time.Switching part 156 are output with the contact of upside, the signal Vd and Vq from voltage instruction limiting unit 168.
In the example as shown in fig. 5, in T1, Vq1 is positive value, and Vd1 is negative value on the other hand.Therefore, voltage instruction Limiting unit 168 makes Vq be close to zero by making Vq reduce from Vq1, makes Vd be close to zero by making Vd increase from Vd1.Thus, to The direction for making absolute value little changes.
In fig. 5 it is shown that situation of the absolute value of Vd1 less than the absolute value of Vq1.Voltage instruction after T1 is limited In the restriction action in portion 168, make absolute value and be gradually lowered with regular time ratio.In (b), T1 later Vd's and Vq is oblique The absolute value of rate is equal, and Vd is zero at the T2, and further Vd and Vq is zero at the T3.The input voltage of motor 109 it is exhausted Substantially zero, during motor 109 enters the short-circuit braking for absorbing kinergety is reduced to value.
The input voltage of motor 109 be by the voltage instruction value Vu of the output as the second coordinate converting section 158, Vv, Vw and determine.In a period of T1 to T3, though from the point of view of voltage between lines to be also, by switch element 111,112,113, 114th, 115,116 it is controlled and voltage reduction, therefore during reducing for voltage.
Additionally, in the present embodiment, Vd and Vq not vanishing simultaneously, but during voltage is reduced, T1～T3 is tens What the comparison of ms or so was carried out in the short time, therefore significantly will not present because Vd is different and caused with the curve of Vq bad Affect.It is unlikely to overcurrent is produced because of the rising sharply for line current of transition or produces because of the regenerated electric power to dc source 144 The overvoltage of DC voltage, so as to problem will not be become.
In addition, in the present embodiment, with regard to the ω shown in (c), only by the output of amplifier 128 during voltage reduction ω is fixed as calculating speed ω 1 under the T1 time points that brake request signal B4RQ starts.Thus, it is ensured that what is fed back stablizes Property.
Vd and Vq voltage reduction during in change can also be other change, for example can also the tuned slope cause Vd With Vq while vanishing etc..
The speed of the motor 109 during alternatively, it is also possible to according to into during short-circuit braking is changing the time of Vd and Vq The size (absolute value of slope) of change.When the slope for making Vd and Vq it is little under the low speed, it is big at high speeds when, no matter in which speed Rising sharply (overcurrent) for transient current in during voltage can be suppressed under degree to reduce, particularly strongly can also suppress in height Because the regenerative current to dc source produces overvoltage under speed.
Alternatively, it is also possible to the slope a of Vd and Vq in changing during voltage is reduced, initially make slope big, make slope afterwards It is little, so as to tackle large-scale speed.
Anyway, in the case where brake request signal B4RQ is changed into height, voltage instruction value Vd and Vq over time and Zero is restricted to gradually.Therefore, in during voltage reduction, to make the input of motor 109 be gradually short-circuit condition, i.e. to making Voltage between the input terminal of 3 phases be substantially zero direction to the switch element 111 in inverter circuit 117,112,113, 114th, 115,116 it is controlled.Afterwards, into the input voltage that voltage instruction value Vd and Vq are zero, motor 109 be substantially zero Short-circuit braking during.
But, there is situations below：Even at the state of the equal vanishing of voltage instruction value Vd and Vq, motor 109 Input voltage also no complete vanishing.Particularly carry out 3 mutually modulate in the case of, can be with the half of DC voltage VDC electricity Centered on position, the polarity of line current Iu, Iv, Iw with instantaneous each phase correspondingly produces current potential within the time of idle time Up and down.In addition, also producing situation of the pressure drop caused by IGBT, diode for 2V～below 3V sometimes.
Also sometimes using the structure of dead-time compensation is referred to as reducing these voltages.Washing machine is being applied to particularly In the case of, from from the viewpoint of preventing noise, up to more than ten kilo hertzs degree of carrier frequency, thus while leaving several V sometimes The input voltage of the motor 109 of left and right, but the input voltage of a few V or so is substantially zero category.
Fig. 6 is because brake request signal B4RQ is transferred to short circuit with the DC-to-AC converter in embodiments of the present invention 1 During braking after with the time pass through and motor 109 and as load cylinder 106 stop before and after speed calculating part 120 be The movement oscillogram at center.In figure 6, line current Iu is shown (a), angular velocity omega (b) is shown, the phase theta of Iu (c) is shown, (d) The waveform of J signals is shown.
During short-circuit braking, motor current Iu, Iv, Iw flowing of sizable amount.Therefore, in present embodiment In, the signal Iua corresponding with U phases in the signal in gallon portion 119 is taken into into phase error probe portion 126, is produced Life is with U phase current Iu waveforms signal corresponding with the phase difference of the output θ of variable frequency oscillating portion 127.
Specifically, using the comparison or the multiplication etc. of two input signals of the phase difference from the timing of zero point.Its Output forms a kind of Phase synchronization ring (PLL) including the control ring that make use of amplifier 128 and integrator 129.Thus, short During the braking of road, the phase locked phase theta with Iu is produced, angular velocity omega corresponding with the speed of motor 109 is obtained Value, i.e. calculating speed (or calculated value of angular speed).
So, the speed in during the ω outputs of amplifier 128 can act as short-circuit braking.Therefore, threshold value is less than in ω The time point T1 of the value ω th of generator 131, exports the J signals of comparing section 132.In the present embodiment, time point T1 is set Speed for cylinder 106 is changed into the time point of 35r/min, and J signals are uprised at ω th.
Determine whether to reach the shape of the low speed for being close to stopping in the instantaneous value of each line current for being based only upon motor 109 In the case of state, it is easy to affected by the noise for happening suddenly.Even if in the case of rotating for example under at a relatively high high speed, also Jing The situation of the output valve chance coincidence in the gallon portion 119 of 3 phases often occurs.Even if in addition, at one than electrical angle In the case of the current detection value of a phase of more than 2 times is detected in the interval of cycle is short, current detection value is one because of noise The possibility of cause also can be elongated over time and be increased, and is set to sufficiently low speed so as to judge by accident sometimes.
Even if in addition, increasing the number of times of detection to prevent the impact of noise, it is impossible to effectively reduce the situation of the impact of noise Also it is a lot.Conversely, there is also situations below：Even at halted state, but due to the impact of noise, determine in abundant The state of low speed will expend the very long time.
On the other hand, in the present embodiment, introduce speed or with its physical quantity as one-to-one frequency To be judged.Thus, particularly in the case of the tumbling-box washing machine of present embodiment, effectively utilizes are due to cylinder 106 Inertia more than 0.3kg square meters or so to produce the boundary this point of speed fluctuation (acceleration), additionally it is possible to can be abundant Realize in the range of the response of ω, using low pass key element.Thus, it is possible to the noise of the output in gallon portion 119 is brought Impact suppress especially low.Thus, the high ω signals of reliability can be accessed till it will stop.
After J signals enter central control 135, postpone 0.3 second in delay portion 166 afterwards, Z signals are changed into high. Time needed for stopping from speed 35r/min to the continuation because of short-circuit braking equivalent to cylinder 106 for this 0.3 second.
Additionally, with regard to Cl signals, in any one absolute value more than 1.7A and with being enough to based on electric current come look-in frequency In the case of amplitude, Z signals are made to be changed into high.Thus, by making J signals and Cl signal multiplications, obtain the detection of speed and fill The reliability divided.
As described above, in the present embodiment, in basis from brake request signal B4RQ of sequential generating unit 167 In the case of being changed into short-circuit braking, operating speed calculating part 120.Thus, even if being loaded with temporary noise in electric current Iu etc. In the case of, as long as in the scope of 126 normal work of phase error probe portion, just will not be affected by noise completely.In addition, As long as the scope in impact is not produced on the action as Phase synchronization ring, then even if there is the phase error detection of moment The misoperation in portion 126, it is also possible to suppress the impact as speed calculating part 120 by the storage gain in amplifier 128.Cause And, judge to guarantee security by the high stopping of reliability.
Additionally, when under the influence of above-mentioned idle time, the input voltage of motor 109 deviates from zero, according to feelings Condition is different, produces the regenerative current to dc source 144 sometimes.Thus, the DC voltage because of the charging of capacitor 143 sometimes The rising of VDC can become problem.But, there is also by dead-time compensation and repressed situation.
Thus, from from the viewpoint of the overvoltage for preventing DC voltage VDC, and from high-precision till low speed as far as possible From the viewpoint of degree ground calculates the speed of motor 109, appropriate dead-time compensation effectively plays a role.
As described above, in the present embodiment, short-circuit braking of the control unit 118 in the kinergety absorbed from cylinder Period, the control of switch element 111,112,113,114,115,116 is carried out so that the input voltage of motor 109 is remained greatly Zero is caused, after calculating speed ω is changed into below setting ω th, stopping judgement being carried out.
Thus, despite the simple structure without position sensors such as such as Hall ICs, but electricity can suitably be judged The stopping of motivation 109.Thus, it is possible to guarantee security.
Additionally, in the present embodiment, in brake request signal B4RQ, Cs signals are not used in stopping judging, but Being can also be while uses Cs signals.The state of Cs signal can also be reaffirmed after Z signals are produced after 0.3 second for example, it After carry out stopping judgement.
In addition, there is also situations below：In the case of the deceleration that contingency occurs very drastically etc., carrying out 35r/min Judgement before electric current diminish, Cl signal step-downs, so as to not carry out stopping judgement always, cause DC-to-AC converter not work.But It is, also sometimes through being used together with Cs signals or suitably while the judgement stopped using timer etc., Stopping judgement being carried out after the sufficient time.Thereby, it is possible in the form of compromise between security, the convenience of DC-to-AC converter To enter next program.
In addition it is also possible to be, in the absolute value entirely below value of regulation, the example of three line currents Iu, Iv, the instantaneous value of Iw Such as the time point Tja of 0.6A, speed calculating part 120 be judged to calculating speed for below setting so as to be judged to motor 109 Stop.
When Fig. 7 is to represent from side the commonly referred to as DC-to-AC converter of tumbling-box washing machine observed in present embodiment Internal structure figure.
In the figure 7, DC-to-AC converter have storage clothing 105 cylinder 106, by belt pulley 182 and belt 108 come right Cylinder 106 carries out the motor 109 of rotation driving and the inverter circuit of the alternating current of 3 phases is provided to motor 109 117。
Inverter circuit 117 is operated according to 6 control signals from control unit 118.DC-to-AC converter correspondence Believed based on B99RQ respectively through shown in Fig. 3 in the anomaly detection signal B99RQ and brake request signal B4RQ of described above Number voltage reduce during and Fig. 5 shown in based on brake request signal B4RQ voltage reduce during after, be transferred to short During road is braked.
With regard to the judgement that stops similarly, either by the structure of the anomaly detection signal B99RQ of described above entering Stopping in during row short-circuit braking judges or by the structure of brake request signal B4RQ of described above carrying out short circuit Stopping judgement in during braking, may insure security.
In the present embodiment, cylinder 106 is rotated in the inside of resinous receiving barrel 190.According to from control Feedwater valve signal Skb, the draining valve signal Shb in portion 118 being opened and closed to water-supply valve 193, draining valve 194, thus to receiving Plumbing in cylinder 190, together with the other detergent thrown in is washed and is dehydrated.
In the lid 196 that the front of cylinder 106 is provided with being opened and closed, the handle for user's open-close lid 196 is provided with 197.When washing and dehydration intermediate roll 106 is rotated, lid 196 is closed, and to guarantee the safety of user, prevents fine grinding Dissipate.
Show in phantom the state that lid 196 is opened by the operation of handle 197.
If lid 196 is opened and closed centered on the hinge fraction being connected with main body, but lid 196 can also be sliding door Structure, foldable structure, shutter, can also be the structure that can remove etc..
Lid sticking department 200 be used to keeping the state that lid 196 is closed, including solenoid 201, plunger 202, spring 203 with And lock control circuit 204.In the state of the diagram not being powered to solenoid 201, lid 196 is in the lock state.Therefore, i.e., Making user pull handle 197 or carries out other any operations, cannot also open lid 196.
Lock control circuit 204 is powered to solenoid 201 based on lid locking signal Srk from control unit 118, Enter line-locked releasing.So user can pull handle 197 opening lid 196.
Additionally, lid search switch 206 is used for the open and-shut mode for detecting lid 196, lid shutdown signal Scl is delivered to into control unit 118.In the case where lid 196 is opened, lid shutdown signal Scl is changed into low, from from the viewpoint of guaranteeing safety, not to inverter Circuit 117 provides signal, does not provide alternating current to motor 109, does not enter to exercise the operating of the rotation of cylinder 106.
In addition it is also possible to provide DC current to motor 109 in this condition, cylinder 106 is made to become in direction of rotation On more reliably fixed state, thus, it is possible to guarantee sufficient security.
Then, in the case where dehydration operating etc. terminates, control unit 118 sends cover lock after stopping judgement being carried out to be believed surely Number Srk.Lid sticking department 200 by being powered and the state that unlocked to solenoid 201, so as to user can open lid 196。
In addition to reaching the situation of dewatering time of regulation, stop button 208 is operated in user and produce stopping and press In the case of button signal Sstop, dehydration operating stops.In addition, in inverter circuit 117, when the exception such as overload is produced, The abnormal signal in control unit 118 can be also produced, so as to carry out the braking of motor 109.In the time point that cylinder 106 stops, In control unit 118, stopping is made based on brake request signal B4RQ and is judged, so as to be unlocked state by lid sticking department 200. User 197 can open lid 196 by pulling handle.Thus it is ensured that security.
Additionally, in the present embodiment, or, in three line currents Iu, Iv, the absolute value whole of the instantaneous value of Iw Less than regulation value, such as 0.6A time point Tja, speed calculating part 120 be judged to calculating speed for below setting by Lid sticking department 200 unlocks state.
Fig. 8 be represent the power supply of the DC-to-AC converter in embodiments of the present invention 1 be just switched on after action flow chart.
The control units such as situation about being switched in the power switch of DC-to-AC converter 118 have been carried out the stage of action, constitute control The program of the microcomputer in portion processed 118 starts (step S210).Short-circuit braking (anomaly detection signal is transferred to from startup B99RQ), carry out the action (step S211) in the case of the generation anomaly detection signal B99RQ shown in Fig. 3.So, it is then electric During pressure enters short-circuit braking during reducing afterwards.
It is changed into high time point as the Cs signals for stopping judging after during into short-circuit braking and shown in Fig. 4, It is transferred to latch-release (step S213).Here carries out the energization of solenoid 201 to enable a user to open lid 196.So Ensure that security.
Can open in the state of not yet completing in the operating of the stage after power on, such as last time braking in user In the case of lid 196, it is possible to user is produced due to remaining revolving force dangerous.
In the present embodiment, after power on during short-circuit braking.Also, guarantee by stopping judgement The Cs signals of security unlock after being changed into height, thus, it is possible to eliminate danger.Thus, it is possible to realize safe laundry Machine.
So, in the present embodiment, the latch-release for being covered after the stopping that suitably determined motor, makes User can open lid 196.Thus, it is possible to realize safe washing machine.
Particularly, the braking based on anomaly detection signal B99RQ is carried out in short-circuit braking (anomaly detection signal B99RQ) (step S211), even therefore operating speed sensor, position sensor are not referred to as the structure without sensor extremely yet Effectively.Its reason is as follows：Even if after power supply is just switched on still in the case of the remaining rotation for having cylinder 106, it is also possible to its speed And position (phase place) independently suppresses inverter circuit 117 to produce overcurrent, overvoltage.
In addition, in the present embodiment, using the output valve in the gallon portion 119 under correct zero current condition as inclined Put value to be processed.Thus, such as in the case that in short-circuit braking, gallon portion 119 breaks down, output signal with The possibility that actual current value is independently fixed as 0V, 5V etc. is high.In this case, the possibility that Cs signals are uprised is extremely low, Ensure that high security.
Additionally, in the present embodiment, the rotary shaft of cylinder 106 is level, but can also be vertical or inclination.
Power transfer path for the rotation driving of cylinder 106 has used belt pulley 182, belt 108, but does not limit In this.Gear (gear) can be used, it is also possible to directly arrange electronic on the axle of cylinder 106 as being referred to as directly driving Machine and rotated etc. with same speed.
In addition, the structure that the structure of lid sticking department 200 is described in being also not limited to present embodiment.Can also arrange multiple Lid sticking department.For example, it is also possible to be configured to while using the first lid sticking department and the second lid sticking department, the first lid sticking department energy Unlocking at any time, the second lid sticking department is released enough handle operations based on user based on the signal from control unit Lock-out state.Or, it is also possible to it is configured to be always lock-out state in the state of lid is closed, based on the signal from control unit Carry out latch-release.Alternatively, it is also possible to cause to carry out handle operation based on the signal from control unit.No matter at which In the case of, as long as can change based on the signal from control unit whether user can open lid.
As described above, the washing machine of present embodiment has cylinder 106 and motor 109, and the cylinder 106 receives clothing 105, the motor 109 possesses the winding 102,103,104 of 100,101 and 3 phase of permanent magnet, and the motor 109 drives cylinder 106.In addition, the lid sticking department 200 of the lid 196 being opened and closed with the opening portion to cylinder 106 and locking lid 196.In addition, With inverter circuit 117, from 144 pairs of 117 supply electric powers of inverter circuit of dc source, the inverter circuit 117 is used Multiple switch element 111,112,113,114,115,116 provides electric current to motor 109.In addition, with to switch element 111st, 112,113,114,115,116 carry out the control unit 118 of on-off control.Control unit 118 possesses the electricity of probe current Stream probe portion 119 and the speed calculating part 120 exported to calculate the speed of motor 109 in reception gallon portion 119.Control During the braking of cylinder 106, controlling switch element 111,112,113,114,115,116 is so that motor 109 in portion processed 118 Input voltage remains substantially zero, after speed is changed into below setting, enabling lid is opened by lid sticking department 200 196.Thus, despite simple structure, it is also possible to guarantee security.
In addition, the gallon portion 119 of the control unit 118 of the washing machine of present embodiment detects more than 2 phases in 3 phases Electric current, value of the speed calculating part 120 based on electric currents more than 2 phases in 3 phase is come calculating speed.Thus, despite simple Structure, it is also possible to guarantee security.
In addition, the control unit 118 of the washing machine of present embodiment possesses the detection of variable frequency oscillating portion 127, phase error Portion 126 and coordinate converting section 150, the permanent magnet of the time integral value of the output comprising speed of variable frequency oscillating portion 127 100th, 101 phase place.In addition, the output in gallon portion 119 is transformed to from static coordinate by coordinate converting section 150 using phase place Export after rotational coordinates, the current value signals that speed calculating part 120 is received under rotational coordinates carry out calculating speed.Thus, despite Simple structure, it is also possible to guarantee security.
In addition, before the washing machine of present embodiment is during braking, with controlling switch element 114,115,116 so that During the voltage that the absolute value of the input voltage of motor 109 is reduced is reduced.Thereby, it is possible to avoid the input of motor excessively electric Pressure.
In addition, the washing machine of present embodiment has system before lid 196 is opened making it possible to by lid sticking department 200 During dynamic.Thus, despite simple structure, it is also possible to guarantee security.
In addition, the washing machine of present embodiment is motor 109 with position sensor without approach sensor.By This, using the teaching of the invention it is possible to provide can not only suitably judge the stopping of motor 109 and the washing machine of low 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, the structure of particularly calculating speed and phase place is different from first embodiment.Other are same Deng, therefore only illustrate the parts different from embodiment 1.
In fig .9, speed calculating part 221 has variable frequency oscillating portion 127 and receives from central control 135 The phase error probe portion 223 of Vd, Vq, Id, Iq signal.Variable frequency oscillating portion 127 has amplification in the same manner as embodiment 1 Device 128 and integrator 129, the amplifier 128 have P components and I component, export calculating speed ω, and the integrator 129 is counted The time integral of speed omega is calculated exporting calculating phase theta.
In the present embodiment, calculating speed ω is also input to phase error probe portion 223.Phase error probe portion 223 parameters (resistance value, maximum induction, minimum inductance) for being previously stored motor 109, based on voltage instruction value and detected Current value calculating phase error.The ε in the case where calculating phase theta is advanced relative to actual phase>0, calculating phase theta Relative to actual phase it is delayed in the case of ε<0.
At steady state, the control ring of amplifier 128 and phase error probe portion 223 carries out action so that amplifier It is zero that 128 input is the output ε of phase error probe portion 223.As speed calculating part 221, the electricity under rotational coordinates is received Voltage value signal Vd and Vq under flow valuve signal Id and Iq and rotational coordinates, calculating speed ω and phase theta are simultaneously exported.
Additionally, based on the ω of the last time calculated using each carrier frequency by such as inverter circuit 117 such as 64 μ s come Calculate calculation speed omega.Thus, it is to avoid the circulation of having no limits of above-mentioned control ring.
The structure of other parts is equal, in the case of generation brake request signal B4RQ action with embodiment 1 Also it is equal with embodiment 1.
Structure by more than, in the DC-to-AC converter of present embodiment, in the feelings for producing brake request signal B4RQ Under condition, with embodiment 1 comparably, after being zero in the absolute value of Vd and Vq is made during voltage reduction, in short-circuit braking Vd and Vq is made to be zero in period.
In the stage, there is sizable Id and Iq, therefore they are added to into calculating in phase error probe portion 223 and want In element.Therefore, during short-circuit braking in calculating phase theta be retained as the phase place phase with actual phase, i.e. permanent magnet 100,101 Deng, during short-circuit braking in can also obtain the high ω of precision.
It is changed into the time point of the speed suitable with 35r/min, calculating speed ω in the speed of cylinder 106<ω th, J signal Rise to it is high after to stop judge during action it is identical with embodiment 1.
In the present embodiment, as the structure of phase error probe portion 223, with the calculating for needing slightly complexity correspondingly, Need the computing power for realizing the processors such as its microcomputer high.But it is possible to phase theta will be calculated relative to actual phase Error and actual speed suppress very little with the error of calculating speed ω.Also, the reliability pole of the speed omega for calculating It is high.Thus, it is possible to realize the also high DC-to-AC converter of the reliability for stopping judgement.The high inverter dress of security can be realized Put.
Even if in addition, in power run duration beyond during short-circuit braking, there is no position in motor 109 Sensor, velocity sensor be referred to as " without sensor " action when, DC-to-AC converter can be used as the speed for calculating The outstanding high-performance washing machine of the response of ω and phase theta and carry out action.Thus, the DC-to-AC converter of present embodiment also can The speed being enough used in power run action is calculated, phase calculation.
Additionally, there is following condition in during short-circuit braking：The input voltage of motor 109 is substantially zero, and Vd, Vq are equal It is fixed as zero.Therefore, it is different when some control structures are run from power.Thus, it is also possible to so that speed calculate correspond to it is lower For the purpose of speed etc., by the gain used in the error amplifier for the error of feedback phase, (proportional component is used, quadrature components are used Deng) switch to values different when running from power.
Of course it is also possible to using the DC-to-AC converter for possessing the position sensors such as Hall IC.It is used in the past stopping in contingency In the case that the position sensor of judgement breaks down, it can be ensured that multiple security.
Additionally, in the present embodiment, phase error, the dimension i.e. as angle are calculated in phase error probe portion 223 The physical quantity of degree.But, many times only enough spies can be also obtained using the component of voltage in the direction of the magnetic flux for calculating Property.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, it is possible to Completed with simpler calculating.
In addition, being many times commonly referred to as produced by a side and the permanent magnet 100,101 of orthogonal two axle of vector controlled Magnetic flux direction it is consistent.But, orthogonal two axle is not particularly limited in the structure fitted like a glove with the d axles as magnetic flux axle.Just Hand over two axles for example can also be more advanced than d axle to use values different from the inductance value of the reality that motor 109 has The axle of phase place is used as benchmark.Thus, it is deeply buried in the motor 109 of the structure in rotor in permanent magnet 100,101, also exists The advantages of electric current being cut down reasonably.
Error in the present embodiment, it is also possible to the voltage equation based on general motor with permanent magnet, with voltage, The control such as the error of electric current, the error of speed, the error of inductance value, error of resistance carrys out calculation error ε.Can also use makes Error ε converges to the numerical expression for project little to performance impact during real-world operation etc. being omitted on the basis of zero and being simplified.No matter which In the case of kind, can be reducing correspondingly that ability is low, low cost, inhibit the microcomputer of power consumption with amount of calculation Constitute used microcomputer.
(embodiment 3)
Figure 10 is the block diagram of the DC-to-AC converter in embodiments of the present invention 3.
In Fig. 10, permanent magnet 340,341 of the DC-to-AC converter in embodiment 3 with the neodymium as telescope structure with And 3 phase winding 342,343,344.In addition, with the cylinder 346 by 348 pairs of storage clothings 345 of belt pulley 347 and belt Carry out the motor 349 and 6 switch elements 351,352,353,354,355,356 as prime mover of rotation driving.Separately Outward, with carry out from direct current to exchange inverse transformation and to motor 349 provide alternating current Iu, Iv, Iw inverter circuit 357 and the control unit 358 of on-off control is carried out to switch element 351,352,353,354,355,356.In addition, control Portion 358 has the gallon portion 359 of detection alternating current Iu, Iv, Iw.Gallon portion 359 has amplifier 364 and incites somebody to action Shunt resistance 361,362,363 of the 3 mutually respective current transformations for voltage.Switch element of the amplifier 364 in low potential side 354th, the voltage produced at the two ends of shunt resistance 361,362,363 is received during 355,356 connections, by the line of -10A～+10A Electric current Iu, Iv, Iw are exported after being transformed to the analog voltage of 0V～5V.
In the present embodiment, as gallon portion 359, the 3 each corresponding shunt resistances with 3 phases have been used 361、362、363.They are known as the structure of 3 shuntings.But it is also possible to be existed based on 1 shunt resistance for being referred to as 1 shunting Detection timing detects each current value Iu, Iv, Iw of 3 phases.Or, can also be referred to as using 2～3 can as DCCT The current sensor detected based on direct-current component.
Also, control unit 358 has central control 366.Control unit 358 is for the control for inverter circuit 357 Signal generation, output signal Iua, Iva from gallon portion 359, the signal of Iwa accept, all by numeral side Formula is carrying out.
Pwm circuit 367 receives Duty from central control 366, and output carries out pulsewidth tune with the triangular wave of 64 microsecond of cycle Signal B after system (PWM).With regard to the signal S1～S6 of central control 366, via be arranged at the central control 366 with it is inverse Become the switching part 369 between device circuit 357, drive circuit 370 grid are provided to switch element 351,352,353,354,355,356 Pole signal.In the case where the K signals of central control 366 are for height, switching part 369 is changed into the state shown by Figure 10, adopts S1～S6.On the other hand, in the case where K signals are low, each switch being changed in the switching part 369 of Figure 10 is connected to downside State.
Dc source 374 includes AC power 371, full-wave rectifier 372 and the capacitor 373 of AC230V50Hz.Directly Stream power supply 374 provides DC voltage VDC to the DC voltage detection circuit 378 in inverter circuit 357.DC voltage detection electricity Road 378 includes resistance 376 and 377.During the output A of DC voltage detection circuit 378 is output to as analog voltage signal Centre control unit 366.In the inside of central control 366, A/D conversion is carried out to exporting A, processed as digital value.
Figure 11 is the detailed construction of the central control 366 for representing the DC-to-AC converter in embodiments of the present invention 3 Block diagram.
Additionally, the part for constituting central control 366 is in most cases the microcomputer of single-chip.However, it is possible to Realize with by the software of 1 microcomputer Figure 10 also including the knot including the part in the outside of central control 366 Structure.Furthermore it is also possible to realize constituting the part of central control 366 by several hardware.Alternatively, it is also possible to pass through DSP etc. Various processors are realizing.That is, both can be realized by single-chip, it is also possible to realized by multi-chip, in addition, Both can be realized by hardware, it is also possible to realized by software.
In fig. 11, corresponding to signal Iua, Iva, Iwa and the phase theta signal for being calculated of 3 phase current Iu, Iv, Iw The first coordinate converting section 380 is imported into together.In the first coordinate converting section 380, carried out using (formula 3) to Id and Iq Conversion, i.e. from static coordinate to the conversion of rotational coordinates, export Id and Iq.Subtraction portion 381,382 is provided with, is calculated respectively and is set The error and setting value Iqr of definite value Idr and Id and the error of Iq.The output of subtraction portion 381,382 is imported into makes PI (ratios Example, integration) the error enlarging section 383,384 that plays a role of gain.The output Vd and Vq and phase of the error enlarging section 383,384 Position θ signals are imported into the second coordinate converting section 388 together, and the voltage instruction from dq coordinates to 3 phases is carried out using (formula 4) The conversion of value Vu, Vv, the value of Vw.Voltage instruction value Vu, Vv, Vw are imported into PWM portions 389, relative with the voltage instruction value of 3 phases The carrier wave of the triangular wave of 64 μ s of cycle is made to play a role in the ratio of a-signal.PWM portions 389 by voltage instruction value Vu, Vv, Vw with The carrier wave carries out instantaneous value relatively and plus idle time, generates upper and lower drive signal S1～S6.
[formula 3]
[formula 4]
Additionally, in the present embodiment, gallon portion 359 is configured to detect the electric current of all 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, it becomes possible to according to Kirchhoff's law To calculate remaining 1 phase.Thus, it is also possible to only detect 2 phases.
Speed estimation portion 390 is previously stored the parameter (resistance value, maximum induction, minimum inductance) of motor 349, although do not have There is velocity sensor, but the velocity estimation of motor 349 is carried out using the voltage equation of motor 349.Velocity estimation Portion 390 receives output Id, Iq and input Vd, Vq of the second coordinate converting section 388 of the first coordinate converting section 380, and output is estimated Meter speed omega, ω 2.
Additionally, in speed estimation portion 390, being calculated based on the magnitude of voltage and current value of motor 349 and phase error Corresponding ε.The error for carrying out possessing integration or proportional integral key element etc. is amplified and is fed back, so that ε converges to zero.
Integrator 392 receives the output ω 2 of speed estimation portion 390, carries out time integral to ω 2, in the time for being changed into 2 π Point output is reset to zero phase theta signal.
Central control 366 also has subtraction portion 394, error enlarging section 395, the control of Idr configuration parts 396, short-circuit braking Portion 398 and sequential generating unit 399.The difference of 394 calculating speed setting value ω r of subtraction portion and ω.Error enlarging section 395 makes PI The gain effect of (ratio, integration) is in the output of subtraction portion 394.Idr configuration parts 396 determine setting value based on calculating speed ω Idr.Sequential generating unit 399 carries out speed setting value ω r, the signal of brake request signal BRQ is produced.
In the case where the speed that ω values are scaled cylinder 346 is below 400r/min, the output 0A of Idr configuration parts 396 makees For setting value Idr.In the case where the speed of cylinder 346 is scaled more than 400r/min, Idr configuration parts 396 make Idr<0A, makes Its absolute value gradually increases with the increase of ω.Be scaled cylinder 346 speed be 1200r/min when, Idr configuration parts 396 output Idr=-5A.Thus, apply weak magnetic control in high speed.
DC-to-AC converter is carried out between action, therefore sequential generating unit 399 and the structural element of outside as washing machine Send and receive various signals.Various signals refer to stop button signal Sstop, feedwater valve signal Skb, draining valve signal Shb, lid Locking signal Srk, lid shutdown signal Scl etc..Sequential generating unit 399 also sends simultaneously and receives relevant with the operating of motor 349 Various signals.
In braking, the speed of cylinder 346 is changed into after substantially zero, and switching part 400 is received from sequential generating unit 399 Each contact is switched to b from a by signal Ka.Thus, the value of setting value Idr, setting value Iqr, phase theta is switched to by switching part 400 Output Idr0, Iqr0, θ 0 of signal generator 401.
The absolute value of the instantaneous value of current signal Iua, Iva, Iwa of 3 phases in the short-circuit state is entirely below 0.6A In the case of, short circuit current detection unit 403 makes Cs signals for height.
Figure 12 is the block diagram of the short-circuit braking control unit 398 of the DC-to-AC converter in embodiments of the present invention 3.
In fig. 12, short-circuit braking control unit 398 has function generator 405, integrator 406, delay portion 407.Postpone Portion 407 makes brake request signal BRQ carry out the time delay of time delay Td1=5ms and produce the INTEG of integrator 406.
In integrator 406, in the state of INTEG is low, integrated value Duty is zero as initial value.From INTEG Rising to the high time lights, the action of time started integration, thus exports Duty.
In the present embodiment, the Duty of the output as integrator 406 is used as the input of function generator 405.By This, despite the simple structure of the time counting eliminated from starting to integrate, but can change with from short circuit duration ratio The expansion speed of the time corresponding short circuit duration ratio started during expansion.
Here, integrator 406 is built-in with following functions：Carry out Duty's by applying the upper amplitude limit for limiting with 100% Limit.By the restriction action, Duty is finally reached 100% as higher limit, in the stage, is transferred to from PWM and connects all the time Logical state.
Additionally, it is changed into 100% time point in Duty, the IGBT, two poles in low potential side switch element 354,355,356 The amount of pressure drop of pipe and the amount of pressure drop that causes because of the wiring from inverter circuit 357 to motor 349 are used as the defeated of motor 349 Enter voltage and such as residue 2V～3V or so.Think that this voltage is in substantially zero category.
Figure 13 is that the input and output of the function generator 405 for representing the DC-to-AC converter in embodiments of the present invention 3 are special The chart of property.Input is taken for transverse axis, is taken and is output as the longitudinal axis.Function generator 405 is output as the input of integrator 406, therefore Expand the implication of speed dDuty/dt with short circuit duration ratio.
In the present embodiment, in during the expansion of short circuit duration ratio Duty, replacing to starting from this period Time is counted and is calculated the function of the dDuty/dt that gathers way for Duty.
Thereby, it is possible to cut down the quantity of the variable for using in the calculation.Thus, even cheap and small-sized miniature calculating Machine can also be calculated.
However, being not that the special pattern of wants is this structure, it is also possible to using following structure：To the time from the outset Counted, the time is exported as function.
As long as in addition, sufficient characteristic can be obtained, then can also replace the curve (curve) shown in Figure 13 and use straight Line, stair-stepping line.Thereby, it is possible to mitigate the computation burden in microcomputer.
In the case where washing machine occurs certain exception and in the splitting time point of action, short-circuit braking control unit 398 Motor 349 is made to become on-position and stop.Short-circuit braking control unit 398 is receiving the system from sequential generating unit 399 In the case of dynamic request signal BRQ, the input of motor 349 is made to gradually become short-circuit condition.That is, control inverter circuit 357 The grid voltage of interior switch element 351,352,353,354,355,356 so that the voltage between the input terminal of 3 phases substantially Zero.
Figure 14 is to represent from side the inverter dress for being referred to as tumbling-box washing machine observed in embodiments of the present invention 3 The figure of internal structure when putting.
In fig. 14, power is transmitted to belt pulley 410 by belt 348 from motor 349, so as to receiving clothing 345 Cylinder 346 carry out rotation driving.Controlled from control unit 358 to motor 349 provide 3 phases alternating current inverter electricity Road 357.
Cylinder 346 is rotated in the inside of resinous receiving barrel 411.Believed according to the water-supply valve from control unit 358 Number Skb, draining valve signal Shb are being controlled to the opening and closing of water-supply valve 413, draining valve 414.Thus, to giving in receiving barrel 411 Draining, together with the other detergent thrown in is washed and is dehydrated.
Here, the lid 416 for being provided with being opened and closed in the front of cylinder 346.It is provided with lid 416 and is opened and closed for user The handle 417 of lid 416.It is closed washing and being dehydrated lid 416 when intermediate roll 346 is rotated, to guarantee the safety of user, Prevent fine grinding from dissipating.
Additionally, a part for lid 416 is by made by transparent glass, also it can be seen that cylinder 346 in washing action The state of interior washing.
Show in phantom the state that lid 416 is opened by the operation of handle 417.
In the present embodiment, lid 416 is opened and closed centered on the hinge fraction being connected with main body.However, it is possible to Being sliding door structure, foldable structure, shutter, the structure that can remove from main body etc. is can also be.
Lid 416 is remained lid sticking department 419 state of closure.Lid sticking department 419 include solenoid 420, plunger 421, Spring 422 and lock control circuit 423.In the state of the diagram not being powered to solenoid 420, lid 416 is in lock Determine state.Thus, even if user pulls handle and 417 or carries out other any operations, cannot also open lid 416.
Lock control circuit 423 is powered to solenoid 420 based on lid locking signal Srk from control unit 358, Enter line-locked releasing.When the releasing for being locked, user can pull handle 417 opening lid 416.
Lid search switch 425 detects the open and-shut mode of lid 416.In the case where lid 416 is opened, lid shutdown signal Scl It is changed into low, is passed to control unit 358.From from the viewpoint of guaranteeing safety, do not carry from inverter circuit 357 to motor 349 For alternating current.Thus, cylinder 346 is not rotated.
When be dehydrated operating terminate after etc. lid locking signal Srk is have sent to lock control circuit 423 from control unit 358 When, lid sticking department 419 is by carrying out energization come the state of unlocking to solenoid 420.Thus, user can open lid 416.
As the situation that dehydration operating stops, in addition to reaching the situation of dewatering time of regulation, also there is user Operation stop button 426 and pass through that stop button 426 produces the situation of stop button signal Sstop and to produce overload etc. different Normal situation.In either case, the abnormal signal in control unit 358 can be all produced, the braking of motor 349 is carried out and is made Cylinder 346 stops.In the time point that cylinder 346 stops, sentencing stopping is made based on brake request signal BRQ of control unit 358 Unlocked state by lid sticking department 419 after fixed.When lock-out state is released from, user can by pull handle 417 come Open lid 416.
Figure 15 is the DC-to-AC converter in embodiments of the present invention 3 because brake request signal BRQ is changed into short-circuit system Movement oscillogram in the case of dynamic.In fig .15, brake request signal BRQ is shown (a), K signals (b) is shown, (c) is illustrated Duty。
From power run duration, it is changed into high in brake request signal BRQ of moment T1 central control 366, while K letters It is number from high to low.It is zero in time point Duty, therefore the IGBT parts of switch element 351,352,353,354,355,356 It is transferred to all off period Td1 of the 5ms for all going off.
Additionally, in all off period Td1, in the case where motor 349 is low speed, electric current is almost nil.In electricity Motivation 349 is in the case of high speed (the high state of induced electromotive force), by switch element 351,352,353,354,355,356 The regenerative current that circulates to dc source 374 of diode section.
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 all off period, T2 to T3 is during the short circuit duration ratio that Duty increases expands.On the other hand, it is high Current potential side switch element 351,352,353 is remained off due to the effect of switching part 369.
The expansion speed of the short circuit duration ratio (Duty) in during the expansion of short circuit duration ratio is passed through over time and is dropped It is low, and, closer to 100%, then its expansion speed is lower for short circuit duration ratio.
With regard to the input voltage of motor 349, it is repeated as with instantaneous value by the induced electromotive force produced due to rotation It is positive/negative, but it is forced to zero in short circuit duration, and absolute value is suppressed.
Therefore, it is controlling switch element 354,355,356 during the short circuit duration ratio of T2～T3 expands so that voltage During the voltage that absolute value is reduced with the increase of short circuit duration is reduced.
In T3, short circuit duration ratio Duty becomes maximum limit, i.e. 100%, into the short circuit of the kinergety for absorbing load During braking.
It is changed into 100% time point in Duty, the IGBT's, diode in low potential side switch element 354,355,356 Amount of pressure drop as motor 349 input voltage and such as residue 2V～3V or so.In addition, because inverter circuit 357 arrives electronic The amount of pressure drop that the wiring of machine 349 causes is also equal.But, this voltage is substantially zero category, is considered short circuit.
Gradually increased by making short circuit duration ratio Duty like this, the mistake being prevented from during short-circuit braking is transferred to In journey, transient current rises sharply.In addition, being prevented from overcurrent.Thus, it is possible to prevent each structural element of inverter circuit 357 Failure that is damaged and causing because of the overcurrent of motor 349.
Particularly, in the present embodiment, it is gradually lowered expansion speed dDuty/dt of short circuit duration ratio.Thus, Even if the velocity conditions into the motor 349 under the time point during short-circuit braking are in interior fluctuating on a large scale, it is also possible to prevent Transient current rises sharply.Under the conditions of fast can with T2 near the design of expansion speed of Duty carry out correspondence, and, Correspondence can be carried out with the design of the expansion speed of the Duty near T3 under conditions of speed is low.
Additionally, from the viewpoint of the overvoltage under suppressing at a high speed regenerating and causing to dc source 374, can using as The short circuit duration ratio near later half T3 during the expansion of short circuit duration ratio expands speed dDuty/dt and is suppressed to irreducible minimum Degree.This it is designed to realize it by the rising sharply for transient current improved in the range of allowing under middling speed～low-speed conditions.
The mistake of line current when during being prevented from entering short-circuit braking under conditions of the velocity interval of motor 349 is big Electric current.In addition it is possible to suppress the overvoltage caused because of the regeneration of dc source 374 to produce.Due to not needing velocity information, because This being capable of being referred to as without the electronic of sensor using the not sensor of the sensor with position sensing and speed detection Machine 349, therefore, it is possible to form the structure of low cost.
Even the direction of rotation of motor 349 as washing machine is not a direction but turns right or turn left DC-to-AC converter, it is also possible to during being independently changed into short-circuit braking (short-circuit brake) with phase sequence.
Figure 16 is the movement oscillogram of the DC-to-AC converter in embodiments of the present invention 3.Figure 16 is shown from Figure 15 institutes Rise during showing through the more time, motor 349 and as load cylinder 346 stop before and after action waveforms.
In figure 16, (a) be the speed for representing cylinder 346 movement oscillogram, (b) be the current wave that represents Iu, Iv, Iw The movement oscillogram of shape, (c) be the Cs signals for representing that short circuit current detection unit 403 is exported movement oscillogram.D () is to represent As the movement oscillogram of the K signals of the input signal to switching part 369, it is (e) to represent the cover lock for being input to lid sticking department 419 Determine the movement oscillogram of signal Srk.
The speed for being changed into the motor 349 of short-circuit braking state is gradually lowered, meanwhile, the frequency of line current substantially with speed Proportionally reduce.The amplitude of line current is finally also reduced, and converges to zero in the time point of speed vanishing.
In the present embodiment, the gallon portion 359 during zero current is output as the substantially the center of 2.5V of 5V power supplys Left and right.The value that switch element 354,355,356 before operation start is previously stored under off-state is used as suitable with zero current Bias use, processed with the critical value of the line current of each phase.
From time of the time point into short-circuit braking to stopping by into short-circuit braking time point under it is electronic The speed of machine 349, the inertia of load are driven.In addition, also by the inductance of motor 349, resistance value, switch element 354,355, Voltage (VCE (SAT)) under 356 on-state etc. is driven.From the time point into short-circuit braking to stopping when Between be not the set time, therefore in the present embodiment, by using as the physical phenomenon occurred the reduction because of speed Current value, carrys out the state that speed of detection is reduced enough to low speed.
Specifically, in the present embodiment, the absolute value in three line currents Iu, Iv, the instantaneous value of Iw is entirely below The time point T1 of 0.6A, Cs signals are changed into high.The speed of cylinder 346 is reduced to 7r/min or so.
Short-circuit braking control unit 398 after T1 is received and is changed into high Cs signals, after the time delay of 0.15 second T2 time points make K and Ka signals for height.Change switching part 369, the state of switching part 400, make 6 switch elements 351,352, 353rd, 354,355,356 on-off control is effective.Also, since automatic signal generator 401 Idr0, Iqr0, θ 0 it is effective The form that plays a role, the winding 342,343,344 from dc source 374 to motor 349 provides controlled electric current.
That is, in braking, the speed of cylinder 346 is changed into substantially zero.Afterwards, 358 controlling switch element 351 of control unit, 352, 353rd, 354,355,356 with the offer electric current from dc source 374 to winding 342,343,344.
Output Idr0, Iqr0, θ 0 of signal generator 401 is 0 in T2 time points, but in the T3 after 20ms, Only Idr0 is changed into 3A, and it continues 300ms.
Therebetween, produced by the electric current of winding 342,343,344 in motor 349 and do not rotated and size is also fixed Static magnetomotive force.Then, in the state of it referred to as can position, speed vanishing stabilizes to totally stationary state.
Afterwards, as shown in (e), signal Srk is determined from control unit 358 to lid sticking department 419 with the high cover lock that sends.Lid sticking department 419 are changed into the state to the energization of 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, being transferred to conduct Washing machine and the next operation that needs.
As described above, despite non-use position sensor, the inexpensive and simple structure of velocity sensor, but Security can be guaranteed by using short-circuit braking and by appropriate stopping judgement being carried out based on the electric current during this.
Figure 17 is in embodiments of the present invention 3 when dehydration action etc. is completed and in the case that midway enters braking Flow chart.
In fig. 17, when starting into braking maneuver (step S430), it is transferred to short-circuit braking (BRQ) (step S431), as shown in Figure 15, during entering short-circuit braking after during then voltage is reduced.
The time point of the speed for being close to stopping is proceeded to being judged to slow down by Cs (step S432), offer electricity is provided Stream (step S434).In the present embodiment, so that Ka signals are changed into height to be flexibly used in the electricity also used when power runs The form of flow control function, provides the electric current of direct current in a period of 300ms (=0.3 second) from U terminals to V terminals and W terminals. In the case of wiring in the action of the time point inverter circuit 357 and to motor 349 is normal, the institute of U, V, W There is the absolute value of line current of phase more than 0.6A.
When current control is effective, the absolute value whether judgement (step S435) more than 0.6A of line current is carried out. Latch-release (step S437) is transferred in the case of "Yes", here, being powered to solenoid 420 and enabling a user to open lid 416。
On the other hand, in the case of "No", till the absolute value of the standby line current until all phases is more than 0.6A.Not Latch-release is transferred to, it is ensured that the security of user.
Additionally, in the present embodiment, it is also carried out shown in a Figure 17 in the stage of the power on of DC-to-AC converter Action.For example, there is remaining rotation in cylinder 346 in the case where the operating braking of last time is not yet completed, in the situation Under in order to strongly avoid the danger of user, keep the state of lid sticking department 419 so that user cannot open lid 416.
Particularly, in the present embodiment, during being provided with short-circuit braking, therefore, it is possible to come real with simple program structure Existing control unit 358.Also, the electric current in the terminal stage during with regard to short-circuit braking, also by under correct zero current condition The output valve in gallon portion 359 is processed with critical current value as bias.Thus, for example in short-circuit braking In the case that middle gallon portion 59 breaks down, what the current value of output signal and reality was independently fixed as 0V, 5V etc. can Can property height.In this case, the possibility that Cs signals are uprised is extremely low, it is ensured that high security.
Electric current provide during, controlling switch element 351,352,353,354,355,356 with from dc source 374 to around Group 342,343,344 provides electric current.Whether effectively completed to judge broken string for connecting up etc. according to the offer of the electric current.Therefore, In the case of there is broken string in during short-circuit braking, lid sticking department 419 also makes user open lid 417.Thus it is guaranteed that Security.
In the present embodiment, as electric current offer during in the current value to motor 349, each winding 342, 343rd, the value more than 0.6A is all set in 344, but can also be below 0.6A.As long as the minimum in gallon portion 359 Electric current more than resolution ratio, effectively will set up as current control.In the case of broken string that there is no wiring etc., the electricity Stream probe portion 359 has reaction, therefore, it is possible to detect the difference that the situation with normal condition of broken string etc. occur.Thus, it is also possible to same When using the judgement based on the applied voltage in current control.
In addition, the size during providing with regard to electric current with electric current, will reliably carry out cylinder 346 built with clothing 345 In the state of location action in the case of, needs are long during making, or make current value bigger.
But, carry out location action it is not necessary to, as long as whether effectively can be acted as according to current control merely It is for determining whether disconnection fault, just effective enough.Although the energization of the DC current of more than 1 second reliably can be carried out Location action, but the wasting of resources that the long life and power consumption of the duration of runs cause can be caused.
Length during electric current used in present embodiment is provided is 300ms, and current value is the degree more than 0.6A, For smaller value, thus, the rotation of the cylinder 346 caused by torque that electric current is produced after just starting during providing is suppressed to Less than 1 turn per minute.
Particularly, in the present embodiment, the electric current in the state of the input short of motor 349 is sufficiently small and electronic It is confirmed whether there is broken string under the stage that machine 349 substantially stops.So, even if must not necessarily carry out location action, be produced The phase difference of raw D.C. magnetic field and d axles becomes the action of sufficiently small value.Therefore, by being 500ms during making electric current offer During following Min., new motion will not be produced in this period cylinder 346.Thus, it is possible to realize can be in short-term It is interior to carry out stopping judgement and the DC-to-AC converter for not having the quality of useless motion high.
Current value during electric current is provided is also more to increase, and the torque for positioning is bigger.But, during electric current is provided For example in the case of shortening to such as 1ms etc., the torque product (producing torque and the product of time) for putting on cylinder 346 is little.The torque The new motion (angular acceleration) of the caused cylinder 346 of product is suppressed to the degree that can ignore.Thus, the phase is provided in electric current Between the kinergety that produced due to the friction of bearing etc. etc. of cylinder 346 absorbed in very short time, cylinder 346 is static. Therefore, it is possible to more reliably be made whether that presence is disconnected based on the current value significantly more than the minimum resolution in gallon portion 359 The judgement of line.Thus, it is possible to realize the short time and there is no the DC-to-AC converter of the high-quality of useless motion.
According to the discussion of inventor, during electric current is provided in the case of interior offer electric current, if within 500ms and each The absolute value of the current value of line current is below 1.5A, then less than 1 turn per minute can be suppressed within 10 seconds.Particularly, If within 300ms, 1A, then less than 1 turn per minute can be suppressed within 2 seconds.Thus, the inverter of present embodiment Device from the safety of user guarantee and quality from the perspective of be effective.
So, due to, during there is electric current offer, producing torque, cylinder 346 can be fully suppressed to carry out rotating this on the contrary The undesirable condition of sample.Thus, in the state of at least opening lid 117 after user is just released in lid sticking department 419, also will not be by Cause danger in the rotation of the cylinder 346 caused by the torque produced during electric current is provided.
Additionally, in the present embodiment, the rotary shaft of cylinder 346 is level, but can also be vertical or inclination.
With regard to the power transfer path of the rotation driving for cylinder 346, it is also shown for using belt pulley 410, belt 348 Power transfer path.The power transfer path can use gear (gear), it is also possible to as be referred to as direct drive Directly motor is set on the axle of cylinder 346 and is rotated etc. with same speed.
In addition, the structure that the structure of lid sticking department 419 is described in being also not limited to present embodiment.Can also arrange multiple Lid sticking department.For example, it is also possible to be configured to while using the first lid sticking department and the second lid sticking department, the first lid sticking department energy Unlocking at any time, the second lid sticking department is released enough handle operations based on user based on the signal from control unit Lock-out state.Or, it is also possible to it is configured to be always lock-out state in the state of lid is closed, based on the signal from control unit Carry out latch-release.Alternatively, it is also possible to cause to carry out handle operation based on the signal from control unit.No matter at which In the case of, as long as can change based on the signal from control unit whether user can open lid.
As described above, the speed of the control unit 358 of the washing machine of present embodiment cylinder 346 when motor 349 is braked Degree is changed into after substantially zero, switch element 354,355,356 is controlled with from dc source 374 to winding 342,343, 344 provide electric current.Then, enabling lid 417 is opened by lid sticking department 419.Thus, despite simple structure, but It is able to ensure that security.
In addition, the control unit 358 of the washing machine of present embodiment braking when cylinder 346 speed be changed into substantially zero it Afterwards, gallon portion 359 is output as setting to be controlled such that to switch element 354,355,356.Then, enabling Lid 417 is opened by lid sticking department 419.Thus, despite simple structure, but it is able to ensure that security.
In addition, the control unit 358 of the washing machine of present embodiment speed of cylinder 346 in braking is changed into after substantially zero And the output in gallon portion 359 makes the shape of lid 417 is opened by lid sticking department 419 less than in the case of setting State continues.Thus, despite simple structure, but it is able to ensure that security.
(embodiment 4)
Figure 18 is the block diagram of the central processing department 440 of the 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 are equal 's.The structural elements different from embodiment 3 are illustrated only.
In figure 18, control unit 440 has short-circuit braking control unit 441, sequential generating unit 442, switching part 443, signal Generator 444.When basis is connected to b side terminals from the Kb signals of sequential generating unit 442, by the second coordinate converting section 388 input signal Vd, Vq and θ switch to Vd0, Vq0, the θ 0 for carrying out automatic signal generator 444.In addition, the first coordinate is become Input signal θ for changing portion 380 switches to the θ 0 for carrying out automatic signal generator 444.Thus, apply the voltage of regulation to motor 349.
The structure of other parts and embodiment 3 are equal.
Figure 19 is the movement oscillogram of the DC-to-AC converter in embodiments of the present invention 4.
The speed of cylinder 346, in Figure 19, (a) is shown, the current waveform of Iu, Iv, Iw (b) is shown, short-circuit electricity (c) is shown The Cs signals exported by stream detection unit 403.In addition, (d) is shown as the K signals of the input signal to switching part 369, (e) show Go out to be input to lid locking signal Srk of lid sticking department 419.
The action that the T3 time points of present embodiment are later is different from first embodiment.Length during electric current is provided It is set to this short time spans of 20ms.As current value, it is set to be close in gallon portion 359 without noise problem Detected it is lower limit, just over the value of 0.6A.
Figure 20 is in embodiments of the present invention 4 when dehydration action etc. is completed and in the case that midway enters braking Flow chart.
In fig. 20, when starting into braking maneuver (step S450), it is transferred to short-circuit braking (BRQ) (step S451), as shown in Figure 15, during entering short-circuit braking after during then voltage is reduced.
The time point (step S452) of the speed for being close to stopping is proceeded to being judged to slow down by Cs, offer electricity is provided Pressure (step S454).Kb signals are changed into high, in a period of 20ms, from dc source 374 by switch element 351,352, 353rd, 354,355,356 pairs of U terminals apply positive voltage, apply common negative voltage to two terminals of V and W.
In the time point, the normal situation of wiring in the action of inverter circuit 357 and to motor 349 Under, the absolute value of the line current of all phases of U, V, W is more than 0.6A.
In the present embodiment, by current value judge, by 20ms during each phase line current absolute value peak value Minimum of a value be compared (step S455) to judge whether to exceed with the 0.6A as threshold value.It is transferred in the case of exceeding Latch-release (step S457), here are powered to solenoid 420 and enable a user to open lid 416.
On the other hand, not less than in the case of, it is being changed into mistake display (step S458), is keeping user open lid 416 state, and notify to there occurs mistake to user, so that it is guaranteed that the security of user.
Additionally, in the DC-to-AC converter for not using vector controlled, as long as carrying out the setting of the magnitude of voltage of U, V, W phase i.e. Can.Despite simple structure, but electric current can be reliably determined in the case of broken string and not flowed.
Further, since electric current is as short as 20ms during providing, thus during electric current is provided in produce torque product (torque with The product of time) it is little.Therefore, in the case where cylinder 46 is for the inertia 0.3kg square meters in the case of sky, angular speed 1rad becomes very little, It is per point less than 1 turn.Thus, it is due to the friction etc. of bearing etc., static in 100ms or so.
Particularly, lid 417 a part of transparent and user it can be seen that cylinder 346 rotation structure in, once The new motion of cylinder 346 occurs in cylinder 346 after stopping when, user can be made to entertain uneasy sense, not believe sense.Thus, this reality The DC-to-AC converter for applying mode eliminates this sensation such that it is able to realize also outstanding DC-to-AC converter in quality.
As described above, with regard to the washing machine of present embodiment, braking when cylinder 346 speed be changed into substantially zero it Afterwards, the speed of cylinder 346 is per point less than 1 turn.Thereby, it is possible to realize the high security of user.
(embodiment 5)
Figure 21 be represent in embodiments of the present invention 5 after in braking, the speed of cylinder 346 is changed into substantially zero and The figure of each portion's action waveforms before and after during the electric current offer of electric current is provided to motor 349.In figure 21, (a) illustrate to electricity Electric current Iu, Iv, Iw that each winding 342,343,344 of motivation 349 is provided, (b) illustrate Cs signals, (c) illustrate K signals.
In the present embodiment, the waveform of the electric current for providing from inverter circuit 359 to motor 349 is different, other portions It is equal to divide with embodiment 3 and 4.As the power transfer path between motor 349 and cylinder 346, belt has been used 348.In the present embodiment, in during electric current offer, T3～T4 is set to into 500ms and also sets greatly by electric current is provided. Thus, even if in the state of being placed with clothing 345 in cylinder 346, it is also possible to be reliably completed location action in T4 time points.Under Illustrate in the face of the later actions of T4.
During the 80ms of T5～T6, electric current is provided from V terminals to W terminals.It is dynamic relative to positioning is carried out in T3～T4 The magnetic pole of the permanent magnet 340,341 under the T5 time points after work, produces the weak magnetic of the phase place of advanced 90 degree of electrical angle in T5～T6 Kinetic potential.
Figure 22 is to represent situation that 348 normal situation of belt and belt 348 in embodiments of the present invention 5 come off The figure of the phase place of the permanent magnet 340,341 of the motor 349 of (or situation of fracture).In fig. 22, (a) it is under T4 time points Phase place, (b) and (c) is phase place under T6 time points, (d) and (e) is the phase place under T8 time points.
Additionally, the quantity of permanent magnet 340,341 is number of poles, in fig. 22, it is set to 2 pole machines and makes mechanical angle and electrical angle It is equal should be readily appreciated that.Can also be 4 poles, 6 poles, 8 poles etc. in reality.
In (a), in a period of T3～T4, big electric current is provided with sufficiently long period.Therefore, either in belt In the case of 348 is normal or in the case where belt 348 comes off, the direction of the direction of the permanent magnet 340 of expression N poles, i.e. d axles The direction roughly the same with current phasor Ia is, becomes the state after the completion of positioning.
Additionally, with regard to location action, also assume sometimes to be difficult to avoid that the situation at dead point when a D.C. magnetic field is produced and Enter to exercise electrical angle and stagger that to provide this method for providing rotating excitation field etc. also effective for 90 degree etc. of many primary currents.
Then, the detent force during the 80ms of T5～T6 dies down.Thus, for T6 time points, normally connect in belt 348 In the state of connecing, the Friction essentiality at big inertia J d that cylinder 346 has and the bearing of cylinder 346 will also be added.Therefore, As shown in (b), the direction of d axles has almost no change relative to (a).
On the other hand, in the case where the belt 348 shown in (c) came off before T5, only inertia J m of motor 349 And the minimum friction of the bearing in motor 349.Thus, it is changed into the situation that the positioning of T5～T6 effectively plays a role, becomes 90 degree of phase place is differed for electrical angle relative to (a) substantially.
Additionally, the inertia of equivalent cylinder when seeing as the axle from motor 349, is used at the axle of cylinder 346 Values of the amount Jd divided by square gained of belt pulley speed reducing ratio.But, in common tumbling-box washing machine, even if in cylinder 346 In the state of for sky, it is also sizable value compared with Jm.That is, the difference whetheing there is caused by belt 348 is very big.
If providing big electric current in T5～T6 for a long time, even if then belt 348 is normal, also effectively carry out by skin With 348 location actions for making the rotation of cylinder 346.In the present embodiment, in following state：Time and electric current are provided by electric current Value is defined as the value of the degree not positioned in the state of having belt 348.
In T7～T8, again with T3～T4 during same phase place provide electric current within extremely short period as 2ms. In the present embodiment, electric current rate of climb dI/dt based on this period and the relation of voltage V, obtain electricity by (formula 5) Inductance value L.
[formula 5]
Permanent magnet 341,342 is telescope structure, therefore there is Lq>The relation of Ld.
In fig. 22, in belt 348 normal (d), relative to the phase place of the electric current Ia for being provided, L substantially Ld.With This is relative, and (e) substantially Lq will appreciate that the phase place under T8 time points (T6, T7 are also substantially equal).Thus, according to whether having The location action of T5～T6 is carried out effect, can interpolate that whether belt 348 is normal.
T7～T8 is final before releasing state (user opens the state of lid 417) to enable lid sticking department 419 Electric current provide during.By being set to very short time as 2ms, will not send out in the case of 348 normal presence of belt The new motion of raw cylinder 346.Thus, the DC-to-AC converter of present embodiment is outstanding in secure context, and will not produce useless Motion, therefore, it is possible to make quality high.
Thus, can not only confirm that motor 349 stops, additionally it is possible to confirming power transfer path to be constituted in the stage Belt 348 do not fall off or unbroken.
Particularly, in the case that in the state of the terminal stage of close braking, belt 348 comes off or ruptures, cylinder 346 Rotation can be continued due to inertia (inertia).Thus, in the case of the stopping of only motor 349 judges correctly, can remain Problem for security.
In this regard, in the present embodiment, belt 348 can be detected normal and to motor 349 There is no broken string in wiring yet.In addition, can detect all normal to the path of cylinder 346 from inverter circuit 359 and be in Halted state.In the case where them are not met, it is judged to detect the disconnected of the failure of power transfer path, i.e. belt 348 Split.Thus, lid sticking department 419 is prevented to continue user from opening the state of lid 417.Thus, it is possible to realize that security is higher DC-to-AC converter.
Additionally, in the present embodiment, carried out carrying for the electric current for obtaining inductance L by the current source being controlled by the current For.But, it is not particularly limited to current source.The voltage V for specifying, the increase of size or electric current based on electric current can also be applied Speed (dI/dt) is being calculated.Alternatively, it is also possible to replace with fixed phase place offer curtage, but with Time changes phase place, the size of current value intermittently provides the electric current of short time on one side, or continuously provides faint electric current Deng.As long as providing the electric current at least in 348 normal state bottom roll 346 of belt and motor 349 almost non-rotary degree Or voltage, to finding d axles, the direction of q axles be exactly effective.Alternatively, it is also possible to being following structure etc.：Except detect self-induction L with Outward, also based on the phase place relative to the voltage, electric current for being provided in the component for electrically deviateing 90 degree voltage, the value of electric current, To detect the rotor-position using mutual inductance.
In the present embodiment, with belt 348 as power transfer path, therefore the power transfer path phase with other forms Than, in terms of the reliabilities such as belt dropping, belt fracture on it is slightly unfavorable.But, suitably detect this enforcement of belt dropping The validity of the structure of mode is high.
But, as power transfer path, also sometimes using gear etc. in addition to belt 348, by present embodiment Structure be used for they in the case of, it may have solution hinder for some reason generation problem for security effect.
As described above, the washing machine of present embodiment has power transfer path between motor 349 and cylinder 346 348, the speed of cylinder 346 in braking of control unit 358 is changed into the substantially zero rear electric current for providing electric current to motor 349 and provides In the case of the failure of power transfer path 348 is detected in period, user is caused from opening lid by control unit 358 417 state continues.The cylinder rotation that can be produced in the case of accordingly, for breaking down in power transfer path 348, also can High security is realized enough.
(embodiment 6)
When Figure 23 is the braking in the DC-to-AC converter for represent embodiments of the present invention 6, the speed of cylinder 346 is changed into big The figure of the action waveforms in each portion before and after during causing the electric current for providing electric current after zero and to motor 349 to provide.
In fig 23, current waveform from V to W that provide from is shown (a), the change of its frequency (b) is shown, (c) illustrate V with The amplitude (absolute value) of the voltage produced between W.Here, the value to eliminate pulsating quantity.
In the case where belt 348 is normally hung between the belt pulley 410 of 346 side of motor 349 and cylinder, according to Get off to calculate the mechanism's anti-resonance frequency at the axle of motor 349.That is, mainly according to the elasticity on the length direction of belt 348 Inertia J m [kg square meters] of torsion spring constant K [Nm/rad] and motor 349 at the axle of caused motor 349 is come Calculate mechanism's antiresonance frequency.Calculated by (formula 6) of simple harmonic oscillation mechanism's anti-resonance frequency at the axle of motor 349, Even if relative to resonant frequency f that torque angular speed and angular acceleration are maximum.
[formula 6]
Additionally, here, the angular speed (speed) and torque (power) that are by mechanism are replaced into the voltage and electricity of electric system respectively Stream, due to being to make the great frequency of impedance, therefore the referred to as such expression of mechanism's anti-resonance frequency is also correct.In this explanation In book, resonance and antiresonance are referred to as into resonance.Mechanism's anti-resonance frequency is contained in mechanism's resonant frequency.
In addition, the vibration mode with using when determining the tension force of belt 348 etc. using belt as string to play when produce Vibration mode is different.The vibration mode be stretch caused in the longitudinal direction by belt 348 rigidity (inverse of elasticity), with And the tensile elongation of belt, the radius of pulley section of extension belt of 349 side of motor etc. are determining.In present embodiment In, it is 55Hz.
Under conditions of inertia J d of cylinder 346 is big to a certain extent, anti-resonance frequency f is substantially fixed.Only rolling During cylinder 346 in the case where inertia J d at the axle of cylinder 346 is 0.3 [kg square meters], anti-resonance frequency f is by addition as content The impact of the clothing 345, water of thing is smaller.
But, there is the impact of inertia J d due to cylinder 346, the temperature characterisitic of belt, last change etc. caused by become Change and deviation etc. and factor that f changes.Thus, in the present embodiment, during electric current is provided in T10～T11, will The frequency shift of the electric current for being provided is 30Hz～80Hz.
Therefore, in T10～T11 during electric current offer, the electric current provided to motor 349 is not to produce a direction Torque, but produce positive and negative alternate torque.Its frequency is comprising being drawn as motor 349, belt 348 and cylinder 346 The component of the 55Hz of the mechanism's resonant frequency for rising.Thus, the generation of motor 349 as prime mover of cylinder 346 includes mechanism Resonant frequency is in interior, frequency range before and after which alternating torque.
In the case of there is the maximal point R of absolute value of voltage | Vv-Vw | near the 55Hz as mechanism's resonant frequency f, The alternating torque produced in motor 349 by the alternating current provided between VW is solid line.Maximal point R and belt 348 It is poor to exist between dotted line in the case of coming off.Thus, can interpolate that belt 348 in normal by detecting the presence of R points State.
That is, prime mover i.e. motor that rotation driving is carried out to the cylinder 346 as load is used in via belt 348 The alternating torque of 349 harmonic frequency components for producing the mechanism's key element for including prime mover.Produce and the alternating torque in the windings The induced electromotive force of the permanent magnet 340,341 that the size (amplitude of speed) of caused vibration is substantially directly proportional.Therefore, pass through The amplitude of the vibration of the motor 349 as prime mover is detected according to the amplitude of the input voltage of motor 349, according to having Belt 348 is determined whether without mechanism's resonant frequency.
Additionally, the phase place according to permanent magnet 340,341 is different, the electric current between VW is provided and will not produce torque sometimes.Therefore, If electric current offer is also carried out to phase UW beyond VW etc., in the case of belt 348 is normal, some phase can provided Between alternating current when detect characteristic illustrated in (c).Also 3 mutually whole wirings can be detected simultaneously not break Deng.
In the present embodiment, the frequency of electric current is set to into 30Hz～80Hz especially, thus, during providing as electric current In cylinder 346 motion, produce will not cylinder 346 for detection new motion.Thus, even the week of cylinder 346 Side, it is also possible to be suppressed to the so extremely small vibrations of below 0.1mm.Even if in addition, user is by with clear glass Lid 417 observes cylinder 346, will not also feel not believing sense, uneasy sense etc., and quality is high.Also, exist in belt 348 and come off, break In the case of splitting, it is also possible to accurately detect the exception.Thus, cylinder 346 is positively ensure that in complete halted state, It is able to ensure that the high DC-to-AC converter of security.
As 348 whether normal unit of judgement belt, it is also possible to be to produce the pass between torque, basis and angular acceleration It is calculating the structure of inertia etc..But, there is also situations below：When the stopping in T10 time points in motor 349 judges When applying to move to cylinder 346 by producing torque again in the state of completing, the meaning for specially carrying out stopping judgement subtracting It is weak.Thus, if present embodiment, then 346 setting in motion of cylinder will not be made in order to judge belt 348 whether normal, be Favourable.
It is as discussed above, in the DC-to-AC converter of present embodiment 3～6, make the state of lid sticking department 419 It is as follows：In the stage that cylinder 346 stops completely, user can open lid 417.Thus, it is possible to guarantee security.
Additionally, in each embodiment, it is configured to especially not arrange being referred to as " without sensing for the position sensors such as Hall IC The structure of device ".Thus, it is possible to obtain low cost and affect caused by eliminating the institute such as installation site deviation of position sensor etc. Various effects.And, the broken string of the wiring to motor 349 is detected, the de- of power transfer path (belt) 348 is also detected in addition Fall etc. abnormal.Hereby it is achieved that user opens safe as lid 417 in the state of cylinder 346 reliably stops DC-to-AC converter.
Additionally, in the present embodiment, using making mechanism's impedance (angular speed/torque) greatly anti-resonance frequency, but The resonant frequency that can also make mechanism's impedance (angular speed/torque) minimum.Now, it is 13Hz or so, is by cylinder 346 With the resonance of belt 348 and produce, therefore use the frequency component, angular speed relative to torque, i.e. relative to motor The voltage of 349 input currents diminishes.Therefore, it still is able to determine whether belt 348.
With regard to the variation of the inertia of cylinder 346, this can be covered by changing frequency (frequency sweep etc.) in slightly wider scope Change.The quality of the clothing 345 in cylinder 346 can also then be detected to detect the degree being for example dehydrated.Particularly, with regard to skin Come off with 348, it is also possible to be applied to the DC-to-AC converter with position sensor.Thus, it is possible to than be usually used every Position sensor of 60 degree of generation signal intensities of electrical angle etc. more precisely judges belt 348 whether there is and comes off.
Certainly, in the DC-to-AC converter using position sensor just in case position sensor breaks down, Guarantee so as to can also carry out multiple security.
In addition, the control structure in the case of as being braked, the short-circuit braking used in embodiment 3～6, but It is electric braking can also to be applied to motor 349 by other structures.As long as can detect motor 349 stopping when Between put under there is no failure from inverter circuit 359 to the path of cylinder 346, that is, break and there is no power transfer path It is abnormal.Thus, as long as user can be made to open lid 417 in cylinder 346 in the state of real halted state .
As described above, the power transfer path 348 of the washing machine of present embodiment is belt, electric current provide during in The frequency for providing the electric current of motor possesses motor 349, belt and the mechanism's resonant frequency caused by cylinder 346 point Amount.Thus, do not apply to cylinder 346 new motion just can whether there is belt with very high precision detection, Gao An can be realized Quan Xing.
(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 500,501 and 3 phase of permanent magnet.In addition, having Motor 509 and 6 switch elements 511,512,513,514,515,516, the motor 509 pass through belt pulley 507 and belt The load (cylinder) 506 of 508 pairs of storage clothings 505 carries out rotation driving.In addition, providing alternating current with to motor 509 The inverter circuit 517 of Iu, Iv, Iw and on-off control is carried out to switch element 511,512,513,514,515,516 Control unit 518.Control unit 518 has the gallon portion 519 of detection alternating current Iu, Iv, Iw.In the present embodiment, Gallon portion 519 include by 3 mutually respective current transformations for voltage shunt resistance 521,522,523 and A/D converters 524.A/D converters 524 carry out A/D conversion during the switch element 514,515,516 of low potential side is connected.
Also, control unit 518 has central control 535, carries out the control for inverter circuit 517 by digital form The signal generation of system, output signal Iua, Iva from gallon portion 519, the signal of Iwa accept.
Pwm circuit 536 receives Duty from central control 535, and output is carried out to Duty with the triangular wave of 64 microsecond of cycle Signal B after pulsewidth modulation (PWM).With regard to the signal S1～S6 of central control 535, via being arranged at the central control Switching part 537, drive circuit 538 between 535 and inverter circuit 517 come provide switch element 511,512,513,514, 515th, 516 signal.In the case where the K signals of central control 535 are for height, switching part 537 is shown by Figure 24 State, using S1～S6.On the other hand, in the case where K signals are low, each switch being changed in switching part 537 is connected to down The state of side.
From including the AC power 541 of AC230V50Hz, full-wave rectifier 542, capacitor 543 dc source 544 to Inverter circuit 517 provides DC voltage VDC.Including the output A conducts of the DC voltage detection circuit 548 of resistance 546,547 Analog voltage signal and be imported into central control 535.In the inside of central control 535, A/D changes are also carried out to exporting A Change, processed as digital value.
Figure 25 is the detailed construction of the central control 535 for representing the DC-to-AC converter in embodiments of the present invention 7 Block diagram.
Additionally, the part in most cases constituting central control 535 is the microcomputer of single-chip.However, it is possible to The structure of the part in the outside for also including central control 535 of Figure 24 is realized with by the software of 1 microcomputer.Separately Outward, can also realize constituting the part of central control 535 by several hardware.Alternatively, it is also possible to pass through the various places such as DSP Manage device to realize.That is, both can be realized by single-chip, it is also possible to realized by multi-chip, in addition, both can be with Realized by hardware, it is also possible to realized by software.
In fig. 25, corresponding to 3 phase current Iu, Iv, Iw signal Iua, Iva, Iwa with estimate phase theta signal together with by It is input to the first coordinate converting section 550.In the first coordinate converting section 550, the change to Id and Iq is carried out using (formula 7) Change, i.e. from static coordinate to the conversion of rotational coordinates, export Id and Iq.Subtraction portion 551,552 is provided with, setting value is calculated respectively The error and setting value Iqr of Idr and Id and the error of Iq.The output of subtraction portion 551,552 is imported into makes PI (ratio, product Point) the error enlarging section 553,554 that plays a role of gain.The output Vd and Vq of the error enlarging section 553,554 and conduct product Divide the phase theta signal of the output of device 555 to be imported into the second coordinate converting section 558 together, carry out from dq sitting using (formula 8) Mark the conversion of the value of voltage instruction value Vu, Vv, Vw to 3 phases.Voltage instruction value Vu, Vv, Vw are imported into PWM portions 559, with 3 The voltage instruction value of phase makes the carrier wave of the triangular wave of 64 μ s of cycle play a role relative to the ratio of a-signal.By voltage instruction value Vu, Vv, Vw carry out instantaneous value with the carrier wave and compare and add idle time, generate upper and lower drive signal S1～S6.
[formula 7]
[formula 8]
Additionally, in the present embodiment, gallon portion 519 is configured to detect the electric current of all 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, it becomes possible to according to Kirchhoff's law To calculate remaining 1 phase.Thus, it is also possible to only detect 2 phases.
The subtraction portion 560 of the central control 535 of the present embodiment also difference with calculating speed setting value ω r and ω with And the gain effect of PI (ratio, integration) is made in the error enlarging section 561 of the output of subtraction portion 560.In addition, having based on estimation Speed omega is determining Idr configuration parts 562 and the short-circuit braking control unit 563 of setting value Idr.In addition, having abnormity detection portion 565 and produce motor 509 driving when setting speed ω r sequential generating unit 567.
There is certain abnormal, overcurrent in for example each portion or overvoltage, also have superfluous vibration etc. in DC-to-AC converter In the case of, 565 output abnormality detection signal B99RQ of abnormity detection portion.Will washing, dehydration etc. as washing machine action In the case that splitting time point makes motor 509 with on-position stopping, sequential generating unit 567 produces brake request signal B4RQ。
In the present embodiment, in the case where anomaly detection signal B99RQ is received and receive brake request letter In the case of number B4RQ, into same short-circuit braking state.No matter in the case of which, inverter circuit 517 is all controlled Interior switch element 511,512,513,514,515,516 is so that the input of motor 509 is gradually short-circuit condition, i.e. 3 phases Voltage between input terminal is essentially a zero.That is, with 3 common Duty to the low potential side in inverter circuit 517 Switch element 514,515,516 carry out grid control, the switch element 511,512,513 of hot side is remained into disconnection shape State.
The instantaneous value of current signal Iua, Iva, Iwa of 3 phases in the short-circuit state of short circuit current detection unit 570 it is absolute Value makes Cs signals for height in the case of being entirely below 0.6A.
In the case where the speed that ω values are scaled load (cylinder) 506 is below 400r/min, Idr configuration parts 562 are defeated Go out 0A as setting value Idr, in the case where the speed of load (cylinder) being scaled more than 400r/min, Idr configuration parts 562 make Idr<0A so as to which absolute value gradually increases with the increase of ω, is 1200r/min in the speed for being scaled load (cylinder) When, Idr=-5A is made, applies weak magnetic control at high speeds.
Speed estimation portion 556 is stored with the parameter (resistance value, maximum induction, minimum inductance) of motor 509, although not having Velocity sensor, but can be the velocity estimation for carrying out motor 509.Now, using the voltage equation of motor 509.Speed Degree estimator 556 receives output Id, Iq and input Vd, Vq of the second coordinate converting section 558 of the first coordinate converting section 550, defeated Go out the estimating speed ω 2 of estimating speed ω and the input as integrator 555.
In speed estimation portion 556, the magnitude of voltage and current value based on motor 509 is corresponding with phase error to calculate ε.Speed estimation portion 556 includes reponse system, and the reponse system carries out possessing the error of integration or proportional integral key element etc. and amplifies So that ε corresponding with phase error converges to zero.
Figure 26 is the block diagram of the short-circuit braking control unit 563 of the DC-to-AC converter in embodiments of the present invention 7.
In fig. 26, short-circuit braking control unit 563 has and obtains brake request signal B4RQ and anomaly detection signal B99RQ Logic or OR circuits 574 and receive a-signal comparator 575.In addition, having voltage ascending amount generating unit 576, addition Device 577 and keeper 578.In short-circuit braking control unit 563, by brake request signal B4RQ or anomaly detection signal The DC voltage VDC that B99RQ is changed under high time point is worth as threshold obtained from being added with the voltage ascending amount equivalent to 50V Value and the negative input of comparator 575 is supplied to from keeper 578.
Short circuit duration ratio expands speed command portion 580 and has function generator 581, function generator 582, switching part 583rd, keeper 585.The short circuit duration ratio for expanding the output in speed command portion 580 as short circuit duration ratio expands speed letter Number it is imported into integrator 586.Output (brake request signal) BRQ of OR circuits 574 is imported into delay portion 587.Delay portion 587 send signal with the time delay of time delay Td1=5ms, and the signal is the INTEG to integrator 586.
In integrator 586, in the state of INTEG is low, integrated value Duty is zero as initial value.From INTEG Rise to the high time light the time started integration, export Duty.
Particularly, in the present embodiment, the Duty of the output as integrator 586 is expanded as short circuit duration ratio The input in speed command portion 580.Thus, by function generator 581,582 functions, despite eliminate from start integration The simple structure of the counting of the time risen, it is also possible to correspondingly change with the time from starting during short circuit duration ratio expands The expansion speed of short circuit duration ratio.
Additionally, the output as comparator 575 is changed into high condition, it is that threshold value is exceeded by the rising of signal A.Straight Stream voltage VDC rises the time point of more than 50V, and keeper 585 keeps Duty, fixes the input of function generator 582.Separately Outward, switching part 583 switches to b from a, therefore the output valve from the fixation of function generator 582 is short circuit duration ratio later Expand speed.
Therefore, in this case Duty is gradually increasing with fixed speed over time.
Here, integrator 586 is built-in with following functions：Carry out Duty's by applying the upper amplitude limit for limiting with 100% Limit.By the restriction, Duty is finally reached 100% as higher limit, is transferred to from PWM in the stage and connect all the time shape State.
Additionally, being changed into 100% time point in Duty, used as the input voltage of motor 509, such as residue 2V～3V is left It is right.The voltage is IGBT in low potential side switch element 514,515,516, the amount of pressure drop of diode and from inverter circuit Amount of pressure drop caused by 517 wirings for arriving motor 509.But, the voltage is in substantially zero category.
Figure 27 is the function generator 581 and function generator for representing the DC-to-AC converter in embodiments of the present invention 7 The chart of 582 input-output characteristic.In figure 27, input is taken for transverse axis, take and be output as the longitudinal axis.In figure 27, solid line A is illustrated The input-output characteristic of function generator 581, dotted line B illustrate 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 with midway via guarantor The input terminal connection of the form and function generator 582 of gripping member 585.The input of function generator 581 and function generator 582 Output characteristics is constantly decline, and in Duty<In the range of 90%, relative to solid line A, dotted line B is located above, Duty >= It is equal value when 90%.
It is changed into the input of integrator 586 after output as the longitudinal axis of Figure 27, therefore expands with short circuit duration ratio The implication of speed dDuty/dt.
Particularly, in the present embodiment, in during the expansion of short circuit duration ratio Duty, replace to opening from this period The time begun is counted and is possessed the function of the dDuty/dt that gathers way relative to Duty.
Thereby, it is possible to cut down the quantity of the variable for using in the calculation, even cheap and small-sized microcomputer Can use.
It is not necessary, however, to be specially constructed as this structure, it is also possible to using following structure：Time from the outset is entered Row is counted, and is exported with the function of the time.
In addition, if sufficient characteristic can be obtained, then can also replace the curve (curve) shown in Figure 27 and use straight Line, stair-stepping value, additionally it is possible to mitigate the computation burden in microcomputer.
Figure 28 is the DC-to-AC converter in embodiments of the present invention 7 because brake request signal BRQ is changed into short-circuit system Movement oscillogram in the case of dynamic.In Figure 28, brake request signal BRQ (a) is shown, K signals (b) is shown, (c) is illustrated Duty。
From power run duration, it is changed into high in brake request signal BRQ of moment T1 central control 535, while K letters It is number from high to low.It is zero in time point Duty, therefore the IGBT parts of switch element 511,512,513,514,515,516 It is all off, effect based on delay portion 587 and become all off period of 5ms.
Additionally, in all off period, in the case where motor 509 is low speed, being changed into the almost nil shape of electric current State.
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 all off period, T2 to T5 is during the short circuit duration ratio that Duty increases expands.On the other hand, it is high Current potential side switch element 511,512,513 is remained off due to the effect of switching part 537.
In the present embodiment, the time change of short circuit duration ratio Duty has and puts down as shown in the solid line A of Figure 27 Sliding curve characteristic.Thus, as the block curve of (c) of Figure 28, timeliness slope (short circuit duration ratio expands speed) Gradually decrease to process over time and continuity.
In addition, the dotted line of (c) of Figure 28 be make function generator 581 characteristic be it is stair-stepping in the case of one, be Via (T3, D3), the broken line of (T4, D4).Either which, the expansion speed of short circuit duration ratio (Duty) Jing over time Cross and reduce, short circuit duration ratio then expands speed lower closer to 100% in addition.
With regard to the input voltage of motor 509, repeat positive/negative with instantaneous value due to the induced electromotive force of rotation generation. But, it is forced to zero in short circuit duration, and absolute value is suppressed.
Be controlling switch element 514 during therefore, in the present embodiment, the short circuit duration ratio of T2～T5 expands, 515th, 516 so that the voltage that reduces with the increase of short circuit duration of the absolute value of voltage reduces during.
In T5, Duty reaches 100%.In the time point, by control unit 518 to the electronegative potential in inverter circuit 517 The on-off control of side switch element 514,515,516, makes motor 509 for on-state all the time.
Thus, to by 3 phase windings input terminal U, V, W short circuit short circuit duration ratio (Duty) be enlarged it is short Road time ratio expand during after, be changed into short circuit duration ratio Duty being remained to greatest extent, i.e. 100% absorbing load Kinergety short-circuit braking during.
By making like this gradually to increase as the Duty of short circuit duration ratio, it is prevented from being transferred to the short-circuit braking phase Between during transient current rise sharply such that it is able to prevent overcurrent.Thus, it is possible to prevent each structure of inverter circuit 517 Key element damaged and the failure caused because of the overcurrent of motor 509.
In the structure of reducing gear of belt etc. has been set using, be referred to as directly drive motor is directly connected The structure for being connected to load is compared, and motor 509 can be minimized, cost degradation.But, there is the trend that inductance diminishes, therefore on The change that rises sharply of the transient current stated is big.In addition, it is also possible to more than the maximum current in DC-to-AC converter operating, therefore suppress electricity The necessity that stream rises sharply is improved.
Particularly, in the present embodiment, the expansion speed by making short circuit duration ratio is gradually lowered, even if entering short The velocity conditions of the motor 509 under time point during the braking of road are in interior fluctuating on a large scale, it is also possible to prevent transient current rapid Rise.Under the conditions of fast can with T2～T3 near the design of expansion speed of Duty carry out correspondence, and in speed Correspondence can be carried out with the design of the expansion speed of the Duty near T4～T5 under conditions of low.
Additionally, in terms of voltage, in a period of T2～T5, being had from motor 509 and load (cylinder) 506 The part of kinergety produce regeneration to dc source 544, capacitor 543 is electrically charged.The direct current of dc source 544 Pressure VDC rises.But, in the case where the static capacity of capacitor 543 is big, the DC voltage VDC's lighted from the T1 times is upper Rise not over 50V.In addition, signal A is unlikely to make the output HV of comparator 575 be changed into high.Thus, with regard to the resistance to of each structure member For waiting in terms of pressure, in the range of the maximum of DC voltage VDC is converged in and has no problem.Thus, even if including motor 509 The high condition of running speed including, will not also produce overvoltage.
Now, the angle of the overvoltage for particularly causing because of the regeneration to dc source 544 under suppressing at a high speed, It is set to following design.That is, it is set under middling speed～low-speed conditions to allow to improve in the range of the rising sharply of transient current The expansion speed of the short circuit duration ratio (Duty) in later half T3～T5 during expanding as short circuit duration ratio is this to be set Meter.Thereby, it is possible to by Overvoltage suppressing be Min..
In this case, the output HV of comparator 575 will not be changed into high.The no matter short-circuit braking under which velocity conditions When, the action that can be all changed into shown in Figure 28, the state all the time in being only connected with a terminals of switching part 583.Thus, it is not required that Switching part 583, function generator 582, keeper 585, comparator 575, voltage ascending amount generating unit 576, adder 577, guarantor Gripping member 578.That is, it is also possible to which they are saved from structural element.
Figure 29 is the movement oscillogram of the DC-to-AC converter in embodiments of the present invention 7.The action waveforms diagram of Figure 29 Go out capacitor 543 static capacity it is little and from the operating than higher speed based on brake request signal BRQ and be changed into short-circuit braking from And the rising of DC voltage VDC becomes big situation.In Figure 29, it is (a) brake request signal BRQ, (b) is Duty, (c) be straight The DC voltage VDC exported by power supply 544 is flowed, (d) is the output HV signals of comparator 575.
In t0, brake request signal RRQ is changed into high, in all off period of the 5ms to t1, if motor 509 speed is high, then regenerated to dc source 544 due to induced electromotive force, and thus DC voltage VDC begins to ramp up.In t1 After, with the increase of Duty, DC voltage VDC is further up.
The VDC0 of t0 time points is added and is obtained plus the output of voltage ascending amount generating unit 576 by adder 577 Value be maintained in keeper 578.The stage of VDC0+50V is reached by the charging of capacitor 543 in DC voltage VDC T2, the output HV of comparator 575 are changed into high, are changed into high-voltage region.
In t2, by the effect of keeper 585, the Duty 83% couple under the output of function generator 582 with the time point The output answered.The b contacts of switching part 583 are connected and are input to integrator 586.Expand speed accordingly, as short circuit duration ratio Degree dDuty/dt and function and be kept by keeper 585.Thus, from t3 afterwards until Duty reaches 100% it is Only, Duty expands speed with fixed short circuit duration ratio and linearly increases.
Here, and function generator 581 is compared, the output relative to input Duty of function generator 582 is big.Therefore, Compared with the situation (reaching Duty=100% in t4) that the function generator 581 shown in dotted line continues function, in early stage T3 time points reach 100%.
By this action, in the present embodiment, the speed of and motor 509 little in the static capacity of capacitor 543 In the case of big condition, the time till Duty reaches 100% shortens.As the peak value of the DC voltage VDC shown in (c), Converge to and rise 10V or so relative to Vth, therefore, it is possible to suppress the charging electricity of the surplus to capacitor 543 caused because of regeneration Lotus.Thus, it is possible to prevent from causing the generation of the reliable overvoltage for reducing of each structural element.
Here, each line electricity of the motor 509 caused with regard to the imbalance of the transition between 3 phases because producing Flow valuve rises sharply, during short circuit duration ratio expands in, in Duty<50% or so stage, the generation that this rises sharply are suppressed. Thus, do not affect with afterwards during Duty under suitable t2～t3 rapidly increase.As a result, by present embodiment Structure, the speed that can carry out motor 509 whatever can meet setting for overvoltage and overcurrent these two aspects Meter.
Additionally, in the present embodiment, add threshold value obtained from 50V by making HV signals be output as VDC0, easily press down The generation of the overcurrent that system is caused by the voltage change of AC power 541.But, it is not particularly limited to the structure.As Vth, it is also possible to all the time using fixed value, or the upper limit to Vth settings, lower limit etc..Thereby, it is possible to carry out following setting Meter：No misoperation etc. in the voltage change range of the AC power 541 for being used, and it is reliably prevented overcurrent and excessively electric Pressure.
Therefore, even little small-sized, the inexpensive structure of the static capacity of capacitor 543, it is also possible to prevent motor 509 with large-scale velocity conditions enter short-circuit braking during in the case of line current overcurrent.In addition it is possible to suppress Because of the generation of the overvoltage that the regeneration of dc source 544 causes.Further, since velocity information is not needed, therefore conduct is referred to as Motor 509 without sensor, can be configured to the sensor of the not sensor with position sensing and speed detection Low cost structure.
Even also, the direction of rotation of motor 509 as washing machine be not a direction but turn right or to The DC-to-AC converter of left-hand rotation, it is also possible to carry out independently being changed into short-circuit braking (short-circuit brake) phase with phase sequence Between control.
Figure 30 is the movement oscillogram of the DC-to-AC converter in embodiments of the present invention 7.The action waveforms diagram of Figure 30 Gone out DC-to-AC converter be changed into short-circuit braking based on brake request signal B99RQ, during shown in Figure 28, Figure 29 through more Many times and motor 509 and load (cylinder) 506 stop before and after action waveforms.
In fig. 30, the speed of load (cylinder) (a) is shown, the current waveform of Iu, Iv, Iw (b) is shown, (c) illustrate short The Cs signals exported by road electric current detection unit 570.
509 speed of motor for being changed into short-circuit braking state is gradually lowered.Meanwhile, the frequency of line current substantially with speed into Direct ratio ground is reduced.The amplitude of line current is finally also reduced, and converges to zero in the time point of speed vanishing.
It is driven from time of the time point into short-circuit braking to stopping by following parameter.That is, into short circuit system The speed of the motor 509 under dynamic time point, the inertia of load, the inductance of motor 509, resistance value, switch element 514, 515th, under 516 on-state voltage (VCE (SAT)) etc..Time to stopping is not the set time, therefore in this reality Apply the current value as the physical phenomenon occurred the reduction because of speed used in mode.Thus, whether speed of detection is abundant Reduce.
Specifically, in the present embodiment, the absolute value in three line currents Iu, Iv, the instantaneous value of Iw is entirely below The time point Tja of 0.6A, makes Cs signals be changed into high.That is, the speed for being changed into load (cylinder) is reduced to the stage of 7r/min or so. Sequential generating unit 567 in the case where the Cs signals for being changed into high are received, in the time point after the time delay of 0.3 second, It is 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 stop in load (cylinder) completely Almost no dead time ground enters next operation afterwards.
As described above, in the braking of load (cylinder), despite non-use position sensor, velocity sensor it is low Cost and the simple structure without approach sensor, but can be using short-circuit braking and based on the electric current during this come appropriate Carry out stopping judgement.
As described above, possess short circuit duration after the washing machine of present embodiment is during the expansion of short circuit duration ratio During ratio remains short-circuit braking to greatest extent, wherein, during the short circuit duration ratio expands, control unit 518 passes through The on-off control of the switch element 514,515,516 of inverter circuit 517 is come to by the winding 502,503,504 of 3 phases Input terminal short circuit short circuit duration ratio be enlarged.Thereby, it is possible to the mistake for preventing from causing each structural element reliably to reduce The generation of voltage.
(embodiment 8)
Figure 31 is the block diagram of the short-circuit braking control unit 590 of the DC-to-AC converter in embodiments of the present invention 8.
In the present embodiment, the structure beyond short-circuit braking control unit 590 is also used and the embodiment 7 shown in Figure 25 Equal structure.
In Figure 31, with regard to OR circuits 574, integrator 586, delay portion 587, the structure equal with embodiment 7 is used. In addition, there is the DC-to-AC converter of present embodiment short circuit duration ratio to expand speed configuration part 592, receive and DC voltage The keeper 595,596, subtracter 597 of the corresponding a-signals of VDC.Also, with the normal of value of the output equivalent to Duty=70% Number generator 599 and comparator 600.
Figure 32 is that the short circuit duration ratio for representing the DC-to-AC converter in embodiments of the present invention 8 expands speed configuration part The chart of 592 characteristic.In Figure 32, transverse axis is Duty, and the longitudinal axis is that short circuit duration ratio expands speed dDuty/dt.In Duty When≤70%, it is the continuous single straight line for declining, but in Duty>When 70%, according to the Δ A values being input into from keeper 596, DDuty/dt switches to 4 stages.
In structure more than, as present embodiment the short-circuit braking for entering DC-to-AC converter in the case of it is dynamic Make as follows.The value of the A corresponding with DC voltage VDC under the time point that the output of OR circuits 574 is uprised is maintained at keeper In 595.After all off time of the 5ms based on delay portion 587, INTEG is changed into high, and integrator 586 is from initial value of zero Proceed by time integral.From the condition of the left end of Figure 32, Duty is gradually increasing.It is changed into regulation in short circuit duration ratio Duty The time point of value 70%, the output of comparator 600 are changed to height from undercut.DC voltage VDC under the time point is initial with conduct The difference of the keeper 595 of VDC values, the Δ A values of the ascending amount i.e. equivalent to DC voltage VDC are maintained in keeper 596.With Its size correspondingly, carries out the choosing of the characteristic in 4 stages shown in Figure 32 in short circuit duration ratio expands speed configuration part 592 Select.
Thus, at high speeds, the characteristic for selecting Δ A big, in the case of low speed, the characteristic for selecting Δ A little.
At high speeds, even if by Duty>Short circuit duration ratio when 70% expands speed and sets greatly, does not also exist Produce the possibility of overcurrent.In order to suppress because capacitor 543 is charged for regeneration and in the surplus of caused DC voltage VDC Rise, it is effective to bring up to rapidly Duty=100%.
Conversely, in the case of low speed, in Duty>The overcurrent of transition is produced when 70%.Accordingly, it would be desirable to by Duty> Short circuit duration ratio when 70% expands speed and suppresses little.On the other hand, asking for the superfluous risings of DC voltage VDC will not be produced Topic.
Thus, the DC-to-AC converter of present embodiment reasonably carries out action.Thus, fill in the inverter of present embodiment In putting, despite fairly simple structure, but when during can suppressing to enter short-circuit braking under conditions of big velocity interval Produce overvoltage and overcurrent.
(embodiment 9)
Figure 33 is the block diagram of the short-circuit braking control unit 605 of the DC-to-AC converter in embodiments of the present invention 9.
In the present embodiment, the part beyond short-circuit braking control unit 605 also uses and the embodiment 7 shown in Figure 25 Equal structure.
In fig. 33, only illustrate and 7,8 different key element of embodiment.
In addition, the DC-to-AC converter of present embodiment has following structure.Brake request signal BRQ is postponed 3ms by output The delay portion 606 of signal afterwards.The exhausted of its instantaneous value is calculated using output signal Iua, Iva in gallon portion 519, Iwa To be worth 3 phases in maximum and output line current probe portion 607.Being changed into high timing in brake request signal BRQ is carried out The keeper 608 of holding.Short circuit duration ratio expands speed configuration part 610.
Figure 34 is that the short circuit duration ratio for representing the DC-to-AC converter in embodiments of the present invention 9 expands speed configuration part The chart of 610 characteristic.In Figure 34, transverse axis is Duty, and the longitudinal axis is that short circuit duration ratio expands speed dDuty/dt.According to work For the output of keeper 608 free-running operation during electric current size, dDuty/dt switches to the curve in several stages.Protecting In the case of the output signal height of gripping member 608, it is changed into big output.
Figure 35 is the action ripple of the part during the short-circuit braking of the entrance DC-to-AC converter in embodiments of the present invention 9 Shape figure.The waveform of short circuit duration ratio Duty, in Figure 35, (a) is shown, (b) illustrates that load (cylinder) 506 is this per points 300 turns Line current Iu, Iv, the waveform of Iw in the case of the comparison low speed of sample, (c) illustrate load (cylinder) be per points 1000 turns so Ratio higher speed in the case of line current Iu, Iv, the waveform of Iw.
In the t0～t2 during the free-running operation as 5ms, in the low speed shown in (b), the permanent magnetism in motor 509 Induced electromotive force caused by body 500,501 is low.Therefore, during free-running operation in do not produce regeneration to dc source 544 Electric current.On the other hand, the induced electromotive force caused by permanent magnet 500,501 in the high speed shown in (c), in motor 509 It is high.Therefore, during free-running operation in produce regenerative current to dc source 544.Thus, in low speed and during high speed, have Clear and definite difference.
In the present embodiment, the time point of interior t1=3ms during equivalent to free-running operation, to three line currents Detection value signal Iua, Iva, Iwa all take absolute value, the absolute value of the maximum in exporting three.Thus, (b) and (c) are recognized Difference, selection be suitable for respective short circuit duration ratio Duty expansion speed pattern.
Thus, even if into the speed under the time point during short-circuit braking on a large scale, to be also changed into corresponding respectively with which Short circuit duration ratio Duty expansion speed.Thus, it is possible to carry out whichever speed all without generation by overcurrent and mistake The design of the problem caused by voltage.
Additionally, in the present embodiment, the curve used in the characteristic shown in Figure 34, but curve can also be replaced and made With steps function.Switch over according only to current value alternatively, it is also possible to irrelevant with Duty.
In addition, in the present embodiment, changed according to the size of the line current under the t1 in during as free-running operation Short circuit duration ratio expands speed.But, as the timing of probe current, during being not particularly limited to free-running operation in. Time point after can terminating during being set to free-running operation and after Duty begins to ramp up.Alternatively, it is also possible to multiple timings are entered Row combination.
Thereby, it is possible to larger range of speed, the short circuit duration ratio for obtaining being most suitable for each speed expands speed.Make For as a result, it is possible to more effectively suppress overcurrent and overvoltage.
In addition, in the present embodiment, receiving 607 probe current of line current probe portion of the output in gallon portion 519 Size.But, in addition to size, frequency key element can also become detected object.In high speed, during the free-running operation in The detection of frequency can be effectively utilized.In low speed, it is also possible to enter the inspection of line frequency in during short circuit duration ratio expands Survey.
With regard to the generation of the overcurrent of transition during low speed, it is being changed into the higher stage generations of Duty.Thus, as straight It is to the rate of climb of 50% or so Duty, equal with during high speed, in the stage that can detect frequency, carry out the frequency with them The expansion of the corresponding short circuit duration ratio of detected value.Thus, equally can be while overcurrent, overvoltage be suppressed to short circuit system Transformation during dynamic.
(embodiment 10)
Figure 36 is the block diagram of the short-circuit braking control unit 612 of the DC-to-AC converter in embodiments of the present invention 10.
In the present embodiment, the part beyond short-circuit braking control unit 612 is also equal with embodiment 7.
In Figure 36, the parts different from embodiment 7 are also only illustrated.
Short circuit duration ratio expands the speed detection portion that speed command portion 613 receives the speed from detection motor 509 615 rate signal ω.Speed detection portion 615 is arranged in motor 509, with according to relative permanent magnet 500,501 The polarity of magnetic pole is exporting high and low Hall IC 617 and based on the output come the velocity calculator 618 of arithmetic speed.
Figure 37 is that the short circuit duration ratio for representing the DC-to-AC converter in embodiments of the present invention 10 expands speed command The chart of the characteristic in portion 613.In Figure 37, transverse axis is the rate signal from the input of speed probe portion 615, and the longitudinal axis is as output Short circuit duration ratio expand speed dDuty/dt.
In the present embodiment, with following characteristic：It is unrelated with Duty, more then export bigger at a high speed.Thus, over time Process, short circuit duration ratio linearly progressively increases to 100%.Thus, slope changes according to speed.
Additionally, in the present embodiment, the not output to speed detection portion 615 arranges keeper etc..Therefore, in short circuit Between ratio expand during in, short circuit duration ratio expand speed command value be gradually lowered.Thus, the application side according to braking Method, additionally it is possible to correspondence middle velocity variations for producing during short circuit duration ratio expands.Thus, even if in load (cylinder) 506 Inertia it is little in the case of speed drastically reduce, it is also possible to prevent the overcurrent of transition.
But, it is, for example, to be as short as the time of 100ms or so and produce in this period during short circuit duration ratio expands Velocity variations it is little in the case of, little with the difference being provided between the situation of keeper etc., which structure can.
In addition, in the present embodiment, having used the structure of the Hall IC 617 used in speed detection portion 615.But, In general, Hall IC is not used in the electric motor drive system without sensor is referred to as.Instead of based on the defeated of motor 509 Enter voltage, input current to be estimated.Thus, by using the estimation of the speed before during being close to free-running operation Signal, can be configured to not use position sensing, the structure of speed detection of Hall IC etc. completely.
As described above, the washing machine of present embodiment selects the voltage detection portion of the voltage of detection dc source 544 548th, the gallon portion 519 of probe current, detection motor 509 speed speed detection portion 615 at least any one Probe portion.Control unit 518 according to selected probe portion output come change short circuit duration ratio expand during short circuit duration The expansion speed of ratio.Thus, though into the motor 509 under the time point during short-circuit braking velocity conditions in big model Enclose interior fluctuating, it is also possible to prevent rising sharply for transient current.
In addition, the control unit 518 of the washing machine of present embodiment is according to from starting during short circuit duration ratio expands Time changes the expansion speed of short circuit duration ratio.Thus, even if into the motor under the time point during short-circuit braking 509 velocity conditions are in interior fluctuating on a large scale, it is also possible to prevent rising sharply for transient current.
(embodiment 11)
Figure 38 is to represent from side the inverter for being referred to as tumbling-box washing machine observed in embodiments of the present invention 11 The figure of internal structure during device.
In Figure 38, DC-to-AC converter has the load (cylinder) 621 of storage clothing 620 and passes through 622 He of belt pulley Belt 623 is carrying out the motor 624 of rotation driving.In addition, the inversion with the alternating current that 3 phases are provided to motor 624 Device circuit 626.
Inverter circuit 626 is operated according to 6 control signals Sd from control unit 628.Control signal Sd is used Brake request signal B99RQ illustrated in embodiment 7 in correspondence and brake request signal B4RQ.The phase is being reduced through voltage Between after, during being transferred to short-circuit braking.In addition, as illustrated in embodiment 7, control signal Sd is short for carrying out Stopping in during the braking of road judges.
In the present embodiment, load (cylinder) is rotated in the inside of resinous receiving barrel 630.According to carrying out automatic control Feedwater valve signal Skb, the draining valve signal Shb in portion processed 628 is being controlled to the opening and closing of water-supply valve 633, draining valve 634.By This, to plumbing in receiving barrel 630, together with the other detergent thrown in is washed and is dehydrated.
Here, the lid 636 for being provided with being opened and closed in the front of load (cylinder) 621.It is provided with lid 636 for using The handle 637 of person's open-close lid 636.When in washing and dehydration, load (cylinder) 621 is rotated, lid 636 is closed, so as to true The safety of user is protected, prevents fine grinding from dissipating.
Show in phantom the state that lid 636 is opened by the operation of handle 637.
Lid sticking department 640 remains the state that lid 636 is closed.Lid sticking department 640 include solenoid 641, plunger 642, Spring 643 and lock control circuit 644.In the state of the diagram not being powered to solenoid 641, lid 636 is in lock Determine state.Thus, even if user pulls handle and 637 or carries out other any operations, can not firmly will lid by lid sticking department 640 636 open.
Lock control circuit 644 is powered to solenoid 641 based on lid locking signal Srk from control unit 628. By unlocking, user can open lid 636.
Lid search switch 646 detects the open and-shut mode of lid 636.In the case where lid 636 is opened, lid shutdown signal Scl It is changed into low, is passed to control unit 628.From from the viewpoint of guaranteeing safety, do not carry from inverter circuit 626 to motor 624 For alternating current.Thus, rotated load (cylinder) 621.
Additionally, DC current can also be provided to motor 624 in this condition, become load (cylinder) 621 and more may be used By ground fixation state in a rotational direction, therefore, it is possible to guarantee sufficient security.
Dehydration operating etc. terminate in the case of, control unit 628 carries out stopping judgement, backward lock control circuit 644 Lid locking signal Srk is sent, lid sticking department 640 is powered to solenoid 641.
As the situation for stopping dehydration operating, in addition to reaching the situation of dewatering time of regulation, also there is user Operate stop button 648 and pass through stop button 648 and produce the situation of stop button signal Sstop and in inverter circuit There is the exception such as overload in 626 and produce the situation of abnormal signal Sab.Whichever signal is all imported into control unit 628, Carry out the braking of motor 626 and stop load (cylinder) 621.In the time point that load (cylinder) 621 stops, by control After portion processed 628 has carried out stopping judging, unlocked state by lid sticking department 640.When lock-out state is released from, user 637 lid 636 can be just opened as long as pulling handle.
Figure 39 is the flow chart after the power supply of the DC-to-AC converter in embodiments of the present invention 11 is just switched on.
In Figure 39, the stage for waiting control unit 628 to be activated in the case where the power switch of DC-to-AC converter is connected, structure Program into the microcomputer of control unit 628 starts (step S650).Short-circuit braking (step S651) is transferred to from startup, is entered The situation of generation brake request signal B99RQ or brake request signal B4RQ of the row in the explanation of embodiment 7 shown in Figure 26 Under action, then voltage reduce during after enter short-circuit braking during.
Then, the Cs signals for judging in the stopping shown in Figure 27 are changed into high time point, are transferred to latch-release (step S653), here carries out the energization of solenoid 641 so as to enable a user to open lid 636.
Power on such as last time in stage operating braking not yet complete in the case of etc., if it is possible to by cover lock Determine the lock-out state that portion 640 releases lid 636, it is likely that user can be produced dangerous due to remaining rotation.
As the control of lid sticking department 640, it is controlled such that user cannot open lid 636 in operation.Washing, The time point of the releases such as dehydration, becomes releasing state, becomes user and can open lid 636 and hand is stretched into cylinder State in 621.In addition, in the state of power supply disconnects, user is also free to open-close lid 636.
However, user cannot open lid in the state of waiting power supply to disconnect in the case of there is also generation power failure in operation 636 state (lock-out state).It is also possible to exist lid 636 close but remain cylinder 621 rotation situation.
In this condition, if just in case cylinder 621 still remains rotation, being set to pass through cover lock in upper once power on Determine portion 640 and form user and can open the state of lid 636 to be possible to user is placed in danger.In the present embodiment, After power on then voltage reduction during after there is short-circuit braking during, complete the stage in the braking of cylinder 636, general Lid sticking department 640 is controlled to the state for enabling a user to open lid 636.Thereby it is ensured that high security.
Additionally, in the present embodiment, no matter the time point lower cover sticking department 640 in power on is in the lock state also It is non-locking state, arranges after power supply is just switched on during voltage is reduced and during short-circuit braking.At least in the locked state In terms of security is guaranteed it is effective during short-circuit braking is set.But, non-locking shape is in the time point of power on In the case of state or in the case of the opening of lid 636, during reducing even if there be no voltage, during short-circuit braking, in security Difference will not be also produced on guaranteeing.Thus, it is also possible to save during the voltage after power supply is just switched on is reduced and during short-circuit braking.
In the present embodiment, after power on during short-circuit braking, and it is changed in the Cs signals for stopping judging After height, the state that user can open lid 636 is formed by lid sticking department 640.Thereby, it is possible to eliminate danger.Thus, Safe DC-to-AC converter can be realized.
So, 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, it is possible to realize safe DC-to-AC converter.
Particularly, (step is braked based on brake request signal B99RQ or brake request signal B4RQ in short-circuit braking Rapid S651).Thus, it is even operating speed sensor, position sensor are not referred to as the structure without sensor, firm in power supply The overcurrent of inverter circuit 626, excessively electric can also be suppressed in the case of the rotation of load (cylinder) 621 is remained after connection Pressure.Thus, with the speed and position (phase place) of load (cylinder) 621 independently, the DC-to-AC converter of present embodiment extremely has Effect.
Additionally, in the present embodiment, the rotary shaft of load (cylinder) 621 is level, but can also be vertical or incline Tiltedly.
With regard to for load (cylinder) 621 rotation driving power transfer path similarly, show and use belt pulley 622nd, the power transfer path of belt 623.It can also use gear (gear), or negative as being referred to as direct drive Directly arrange motor to rotate etc. with same speed on the axle of lotus (cylinder) 621.
In addition, with regard to lid sticking department 640 structure similarly, the structure being not limited to described in present embodiment.Can also Multiple lid sticking departments are set.For example, it is also possible to be configured to while using to be released by using the handle operation of person at any time The lid sticking department of the lid sticking department of locking and the state that unlocked by the signal from control unit.Or, it is also possible to structure Becoming and lock-out state being always in the state of lid is closed, latch-release is carried out by the signal from control unit.In addition, also may be used To cause to carry out handle operation by the signal from control unit.No matter in the case of which, as long as can be by coming Change whether user can open lid from the signal of control unit.
(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 3 of the DC-to-AC converter The formula used by phase/2 phase inversion portion.
[formula 9]
In Figure 40, DC-to-AC converter is with the belt 746 as power transfer path, belt pulley 747, load 748, electricity Motivation 750, the dc source 751 of output voltage VDC, the inverter circuit 758 that alternating current is provided to motor 750 and control Circuit processed 760.Motor 750 has the winding 743,744,745 of 741,742 and 3 phase of permanent magnet.Inverter circuit 758 has 6 Individual switch element 752,753,754,755,756,757.Control circuit 760 to switch element 752,753,754,755,756, 757 carry out on-off control.
With regard to dc source 751, using the power supply as battery from itself output DC voltage, using rectifier pair The AC power of 100V, 200V of single-phase or 3 phases with frequencies such as 50Hz or 60Hz etc. carries out rectification and by electrochemical capacitor Device etc. smoothed obtained from power supply etc..Dc source 751 plays a role as power source when power runs.
Additionally, permanent magnet 741,742 is set to into 2 in Figure 40 illustrated with simplifying, but the actually structure of 4 poles. Permanent magnet 741,742 is in the state of with 1 circle of mechanical angle rotation in electrically 2 circle of rotation (being enclosed with electrical angle rotation 2).
Control circuit 760 has gate driver circuit 761, gallon portion 766, the output for receiving gallon portion 766 Come periodically look-in frequency frequency sonding portion 768, and judge motor 750 stopping stopping detection unit 770.Electric current Probe portion 766 detects the alternating current for being input to motor 750 using resistance 762,763,764 and amplifying circuit 765.Frequency Probe 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) come calculate static coordinate (α β) α components (the magnetomotive force direction identical component with U phase current Iu) and β components (from The quadrature component of the advanced pi/2s of α).
But, (formula 9) is an example, it is also possible to be used in mixed way cosine function (cos) and SIN function (sin). Further, since being constant, therefore cosine function, SIN function can not also be used.In addition, with regard to the value as coefficient or constant Similarly, if only from the stopping for being used in present embodiment judge this point from the point of view of, or the multiplication of appropriate real number after Value.Replace with subduplicate number (irrational number) alternatively, it is also possible to the fraction (rational) using approximation.
Control circuit 760 during short-circuit braking enter to exercise switch element 755,756,757 connect, make switch element 752, 753rd, 754 control for disconnecting.Thus, during the braking of load 748, the input voltage of motor 750 is changed into substantially zero.Frequency Probe portion 768 during short-circuit braking in the phase theta of the current phasor under static coordinate (α β) is carried out by differential portion 774 it is micro- Point, the size for being hereby based on Temporal changes carrys out computing angular velocity omega.From output static coordinate of 3-phase/2 phase transformation portion 772 (α β).
Additionally, frequency f is ω=2 π f with the relation of angular velocity omega.Frequency sonding portion 768 is exported as corresponding with frequency The ω of value.The output ω in frequency sonding portion 768 is compared with benchmark angular velocity omega th in comparator 777, in ω>ωth In the case of, it is judged as that angular speed, more than setting, exports high RST from comparator 777.
In addition, in the present embodiment, output | the I | in polar coordinate transform portion 773 is also directed into comparator 778, with base Quasi- current value Ith is compared.In | I |>In the case of Ith, it is judged as the size of current phasor more than setting, from comparator 778 output high RSTs.The logical AND of the output of 779 output comparator 777,778 of AND circuit, in | I |>Ith and ω>ω th's In the case of, high RST is output to stopping detection unit 770.
Stopping detection unit 770 includes the clock oscillator 781 of 100Hz, counter 782, comparator 783.Counter 782 exists In the case of the signal from AND circuit 779 of E terminals is input to for height, cleared condition is set to.It is being input to coming for E terminals In the case of being low from the signal of AND circuit 779, the pulse to 100Hz is exported from clock oscillator 781 to comparator 783 and entered Row count up obtained from value CNT.The time that comparator 783 is counted more than the Tth=30 as negative input in positive input CNT Point, makes output S1 for height and exports stopping and judge signal.
Figure 41 is the current phasor during the short-circuit braking for representing the DC-to-AC converter in embodiments of the present invention 12 Figure.In Figure 41, for static coordinate α β, the current phasor of the electric current of inflow motor 750 are expressed as Ia, I α and I β is each axle Component, its output equivalent to 3-phase/2 phase transformation portion 772.
In polar coordinate transform portion 773, current phasor is transformed to into polar coordinates, angle (phase place) θ i.e. relative to α axles and The such expression of absolute value | I |.In its differential portion 774 followed by, temporal differential is carried out to phase theta, with ω=Δ θ/Δ t is carrying out the calculating of angular speed.
Figure 42 is the movement oscillogram during the short-circuit braking of the DC-to-AC converter in embodiments of the present invention 12.In figure The U phase current Iu waveforms of motor 750, in 42, (a) are shown, output | I | waveforms in polar coordinate transform portion 773 (b) are shown, (c) The output phase θ waveform in polar coordinate transform portion 773 is shown.In addition, (d) illustrates the waveform of the output ω in differential portion 774, (e) show Go out count value CNT of counter 782, the output S1 for stopping detection unit 770 (f) is shown.
Electric current with regard to flowing into the motor 750 as 3 phases, in addition to the Iu shown in (a), though illustrated Also Iv, Iw, phase place distinguish delayed 120 degree, 240 degree relative to Iu.B the ω of () | I | and (d) is in final speed vanishing On this point of time point vanishing, is closely similar.ω<The moment t1 of ω th is to be slightly sooner in time than | I |<The timing of the moment t2 of Ith, because The onset of rise of the CNT shown in this (e) be t1, (f) shown in S1 for height.
Thus, through first from the time point t1 that the output ω in frequency sonding portion 768 becomes less than setting ω th It is judged to after 0.3 second stipulated time that motor 750 stops.Therefore, in the present embodiment, it is changed into setting in angular velocity omega After below, then stopping judgement being carried out after the first stipulated time.Here, as 0.3 second of the first stipulated time electronic It is as follows in the state of 750 short circuit of machine.That is, this be within 0.3 second than to by it is under the speed suitable with angular rate ω th, with inertia The kinergety that has of load 748 all consume light and rotary speed is time length till zero i.e. complete halted state Value.
The time ratio of the kinergety of load 748, the work(braked are absorbed as the motor 750 in short-circuit condition , there is amount and the amount because of mechanical type friction consumption that the winding 743,744,745 in motor 750 is consumed with copper loss in rate.Deposit Deviation, the deviation of the magnetic flux of permanent magnet 741,742 in the resistance value of winding 743,744,745, switch element 752,753, 754th, the deviation of 755,756,757 connection voltage (or connecting resistance), deviation of the friction of bearing etc..In addition, with regard to load 748, in addition to the value of the quality of dehydrated thing, also there is the various factors such as the deviation of deflected condition, therefore from angular rate The time point of ω th plays load 748 and can change in time of halted state.In the present embodiment, by by first Stipulated time is set to 0.3 second, is set to certain longer than the deviation produced due to above-mentioned various variables.Thus, must So output can stop judging that signal S1=is high in the state of load 748 stops.
Particularly, the current value (size) being not based under short-circuit condition is judged, but passes through frequency sonding portion 768 Judged based on the angular velocity omega of the current phasor under static coordinate.Thereby, it is possible to not by the resistance of winding 743,744,745 The deviation of value, the deviation of the magnetic flux of permanent magnet 741,742 are affected.In addition, can not by due to switch element 752,753, 754th, the deviation of 755,756,757 connection voltage (or connect resistance) and the deviation institute shadow of the size of short circuit current that produces Ring.Thus, it is possible to carry out stable stopping judge.
Additionally, the reduction of size | I | of current phasor, during from ω th to stopping, also occurring certainly.Therefore, Frequency sonding portion 768 is difficult to ω is correctly detected.But, in the present embodiment, being compared with reference current value Ith and For | I |<In the case of Ith, low signal is exported from comparator 778, be entered into AND circuit 779.Thus, do not occur at | I | the situation of undesirable condition is caused due to the misoperation in frequency sonding portion 768 in the state of minimum, stable stopping can be carried out Only judge.
Additionally, in the present embodiment, enter to exercise the braking that motor 750 absorbs the kinergety from load 748.Cause This, only remains on-state so that the input voltage of motor 750 with by the switch element 755,756,757 of low potential side During being changed into substantially zero short-circuit braking.But it is also possible to during being braked beyond during there is short-circuit braking.Example Such as, it is also possible to before during short-circuit braking have it is following during：Iq is set as bearing using vector controlled, in dc source In the scope that 751 DC voltage VDC will not be superfluous, by by regenerated electric power, suitably effectively utilizes are in resistance or other are electric Load etc. is consuming regenerated electric power.Alternatively, it is also possible to be controlled as follows：Do not make switch element 755,756,757 rapid So connect together but switch element is changed into on-state successively or is made electronic according to the phase place of permanent magnet 41,42 The input voltage of machine 750 gradually becomes zero within specified time limit.Can also like this during short-circuit braking before be provided for During preventing the overcurrent of transition etc..
I.e., it is also possible in the short circuit system that the ratio of the turn-on time into three switch elements 755,756,757 is 100% During there is following braking before during dynamic：At least one of switch element of low potential side to 3 phases is not up to 100% pulsewidth modulation and make generation torque be changed into negative.
In addition, in the present embodiment, for the action in frequency sonding portion 768, during by whole interior during short-circuit braking Between be set to the Temporal changes of phase theta based on the current phasor under static coordinate and visit come the electric current angular speed of computing angular velocity omega During survey.Although but it is also possible to during being short-circuit braking, such as in ω sufficiently high periods, using as Ith2 Threshold value is sufficiently high to judge | I |, although especially not making 768 action of frequency sonding portion also will forcibly stop judging signal S1 is set to low.Or, it is also possible to the structure being appended below：Using OR circuits etc. by stop detection unit 770 input forcibly Remain height.In this case, in frequency sonding portion 768, need normally to detect the velocity interval (scope of ω) of ω The upper limit is lowered, the part during being changed into short-circuit braking during angular rate detection.In this case, it is also possible to using honest and clean Microcomputer that energy is low, processing speed is low that valency or action are consumed etc..
Either which, be all finally make motor 750 input voltage be substantially zero short-circuit braking during, obtain with The equal result of present embodiment such that it is able to carry out stable stopping and judge.
Additionally, in the present embodiment, describe with hardware circuit diagram describe frequency sonding portion 768, comparator 777, 778th, the structure of AND circuit 779, stopping detection unit 770 etc..But, also can be by preparing in microcomputer in reality Program being processed with software mode.
As described above, the control unit 760 of the washing machine of present embodiment is also equipped with：Frequency sonding portion 768, which receives electricity The output of probe portion 766 is flowed, periodically look-in frequency；Stop detection unit 770, which judges the stopping of motor 750；Short circuit system During dynamic, during which is in the braking of load (cylinder) 748, during the short-circuit braking in controlling switch element 755,756, 757 so that the input voltage of motor 750 is changed into substantially zero, wherein, become not to be regulation in the output from frequency sonding portion 768 From during the value above after the first stipulated time, stop detection unit 770 and be judged to stop by motor 750.Thus, despite Simple structure, it is also possible to suitably judge the stopping of motor 750.
In addition, the frequency sonding portion 768 of the washing machine of present embodiment is interior during short-circuit braking possessing based on static seat During the Temporal changes of the phase place of the current phasor under mark carry out the electric current angular velocity detection of computing angular speed, it is changed in angular speed Stopping judgement being carried out after below setting.Thus, despite simple structure, it is also possible to suitably judge motor 750 Stop.
(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 is used Microcomputer 789, ceramic vibrator 790.Other structures key element and embodiment 12 are equal.
Simulation output Iu, Iv, Iw from gallon portion 766 is connected to the input of microcomputer 789 respectively Sub- AD1, AD2, AD3.The simulation output is transformed to by digital value by the analog digital converter that inside is made up of hardware.From pottery Porcelain oscillator 790 is input into the clock signal of high frequency to Clock terminals, carries out calculating process with the signal of tens MHz.To raster data model Pwm signal after 6 pulsewidth modulations of total of 761 output switch element 752,753,754,755,756,757 of circuit, is carried out each The on-off control of switch element.As the result of program operation, signal S1 is judged from the stopping of OUT terminal output numeral.
Figure 44 is the flow chart of the program of the microcomputer 789 of the DC-to-AC converter in embodiments of the present invention 13. Additionally, in the present embodiment, microcomputer 789 is built-in with flash memory.In addition, being referred to as except utilizing Beyond the special utensil of Flash Writer is written over, additionally it is possible to by various communication lines of the user by wire/wireless To be written over.
Inside microcomputer 789, the interrupt signal of 128 μ s of cycle is constantly produced.Flow chart shown in Figure 44 every 128 μ s perform the process (step S795) of " 128 μ s interruptions ".By " T1 ← T1+ Δ T, T2 ← T2+ Δ T " come to T1's and T2 Δ T (step S796) of the variable plus 128 μ s.Afterwards, enter " the electric current fortune processed by the signal to gallon portion 766 Example journey " (step S797), as " Iu, Iv, Iw ", to be taken into and be transformed to the input value of AD1～AD3 the value (step after numeral S798), by its Unit alteration be ampere.Additionally, current value herein is with from inverter circuit 758 to the direction of motor 750 For just, be that the negative argument table for having symbol (Signed) reaches with reverse electric current.
In " α β conversion ", the orthogonal coordinates α β (step S799) being transformed under static coordinate.By " Ia2←Iα2+Iβ2” Come square (step S800) of the size (absolute value) of calculating current vector Ia.By " Ia2>Ith2" carrying out gallon portion Whether more than the setting Ith judgement (step S801) of output level Ia.Additionally, here, for output level Ia and regulation Both values Ith, square after value between be compared, but can also make even root (Square root), square It is compared between root.As in the present embodiment square after value between be compared in the case of, can be at high speed Carry out the process inside microcomputer 789.
In " Ia2>Ith2" in be less than for (step S801), the i.e. output level in gallon portion 766 in the case of "No" In the case of setting, proceed directly to constitute " stopping detection unit " (step S810) by routine.In this case, jump Cross the part of the renewal for carrying out look-in frequency being set forth below.
In " Ia2>Ith2" in for (step S801) in the case of "Yes", proceed to by routine and constitute that " frequency is visited Survey portion " (step S812).Pass through " θ new ← tan first-1(I β/I α) " carrys out the phase theta (step S813) of calculating current vector.This The function tan at place-1The scope of θ=0～2 π [radian] is exported accordingly with 4 quadrants of α β coordinates, for obtaining polar coordinates change The phase theta changed.
“T1<375μs" whether the elapsed time T1 that lights of time for carrying out obtaining phase theta from last time less than the first regulation The judgement (step S814) of time.In the case of "No", in the case of i.e. long than elapsed time T1, if after being judged as being used as The computing interval of the angular velocity omega of narration is then long, does not carry out ω computings.
In " T1<375μs" for "Yes" in the case of (step S814), by " Δ θ ← θ new- θ old ", count as Δ θ The change [radian] (step S815) of the phase theta that the time that calculation goes out phase theta from last computation lights.Then, by " Δ θ<0” " Δ θ ←+2 π of Δ θ " was lighted in the case of θ=0 (equal with=2 π) come the time for carrying out the phase theta detection from last time Correction (step S816, S817).Afterwards, by " ω ← Δ θ/T1 " carrying out the calculating (step S818) of electric angle frequencies omega, i.e., Carry out the action (step S812) as frequency sonding portion.
Utilize " ω >=ω th" the output ω to carry out frequency sonding portion be whether more than setting ω th judgement (step Rapid S820).In the case of big, the process (step S821) of " T2 ← 0 " carried out, the process is skipped if little.Therefore, value T2 Representing becomes not for the elapsed time more than setting ω th from the output ω (step S812) in frequency sonding portion.By " θ Old ← θ new ", " T1 ← 0 " come carry out θ renewal and from last time update elapsed time removing (step S823, S825), Enter through routine afterwards and constitute " stopping detection unit " (step S810).
In " T2>Tb" in set Tb=0.3 [second] (step S828).In the case of "Yes", in from frequency sonding portion The state of 0.3 second is exceeded from output ω becomes when not being more than setting ω th, therefore has carried out " stopping determination flag arranging " (step S829).In the case of "No", the setting is not carried out, directly to " end ", interrupt processing terminates (step S830).
In the present embodiment, except shown in Figure 44 in addition to the interrupt handling program of 128 μ s, though do not carry out figure Show, but also there is " initially setting routine ", " Interrupt Service Routine of cycle 3.3ms ".In " initially setting routine ", such as " T1 ← 1000 μ s " etc. sets the value bigger than 375 μ s like that, and makes " T2 ← 0 " etc., thus, it is possible to start electric current angular velocity detection Appropriate process in period.In " the interrupt processing service routine of cycle 3.3ms ", carry out stopping the confirmation of determination flag. In the case where mark is established by " stopping determination flag arranging " (step S829), in " the interrupt processing clothes of cycle 3.3ms In business routine ", start the process needed as DC-to-AC converter in the state of having carried out stopping judging.Subsidiary one carries, When power runs, the process for carrying out the speeds control of motor 750 also can be at " Interrupt Service Routine of cycle 3.3ms " In carry out.
The structure of explanation above action in the present embodiment below.Figure 45 is inverse in embodiments of the present invention 13 Become the movement oscillogram of the microcomputer 789 of device device.The size (absolute value) of current phasor, in Figure 45, (a) is shown | I |, electrical angle θ (b) is shown, the output of angular rate ω (c) is shown.In Figure 45, every Δ t=128 μ s, shown in Figure 44 in Disconnected routine carries out action, is processed in t1, t2, t3 ....
With regard to size | I | of current phasor, such as shown in (a), the quality of load 48 has a deflection, or also Iu, Iv, Iw sometimes Current signal comprising noise component(s) etc., therefore there is variable factor.Particularly in t4, become less than setting Ith state, That is the output level in gallon portion 766 becomes the state of below setting Ith, at other regularly in the state more than Ith. With regard to electrical angle θ shown in (b), actually it is also pace of change (slope) the entering with braking (brake) of electrical angle θ certainly Journey and change, but here is in order to simple, if the pace of change of electrical angle θ is approximately fixed being illustrated.
In addition to the size of current phasor is less than the t4 of Ith, by " θ new ← tan-1(I β/I α) " is carrying out electric current arrow The calculating (step S813) of the phase theta of amount.Calculating (the step of angular rate ω is carried out when by " ω ← Δ θ/T1 " also S818), ω is updated after spent time td is calculated.On the other hand, the renewal of phase theta is not carried out in t4, is not carried out yet The renewal of ω, otherwise in the case where output level | the I | in gallon portion 766 is for more than setting Ith (step S812), frequency Rate probe portion carries out the renewal of look-in frequency ω.Thereby, it is possible to prevent the calculation error institute of the phase theta produced because | I | is too small The misoperation for causing.
In 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<375μ s" judgement be "Yes" (step S814), therefore based on the phase theta change between 256 μ s calculating ω 5 and be updated.
Additionally, in t1, t5, t6 of the calculating carried out in the interval of θ=0 (equal with=2 π), by " Δ θ<0" and " Δ θ ←+2 π of Δ θ " is corrected (step S816, S817).Thus, calculate normal ω values.
Figure 46 is the figure of the double situations less than setting Ith of size | I | for representing current phasor in Figure 45.With figure 45 similarly, in figures 4-6 can, (a) illustrates size (absolute value) | I | of current phasor, (b) illustrates electrical angle θ, (c) illustrate electric angle The output of speed omega.In figures 4-6 can, in t2 and t3, | I | is double less than setting Ith, therefore in t4, detects from last time The elapsed time T2 that the time point t1 of phase theta rises reaches 384 μ s.In this case, " T1<375μs" judgement be "No" (step Rapid S814), do not carry out the calculating (renewal) of ω.
In the present embodiment, electric current angle is entered with the speed for being up to maximum 50,000 turns per minute of motor 750 sometimes During speed detection.1 cycle (2 π [radian]) of the angular speed (electrical angle) under the speed is 600 μ s.By will be shorter than which 375 μ s are set to the upper limit of the time interval of the computing of angular velocity omega, are prevented from the mistake detection that ω falls behind a circle.
Additionally, 375 μ s this threshold value for arranging in the present embodiment directly represent the time, and the cycle interrupted is 128 μ s.Thus, it is also possible to periodically to interrupt as " less than 2 times of the situations " and " more than 3 times of situations " of the interrupt cycle Number of times being judged, the benchmark relevant with the length of time is set.Then, it is | I | in the stage t4 more than 375 μ s> Ith, the ω when phase theta therefore, it is possible to effectively detect is used in next t5 are calculated.
Therefore, in the DC-to-AC converter of present embodiment, output level | the I | in gallon portion 766 is setting In the case of more than Ith, the phase theta of the current phasor Ia under frequency sonding portion storage static coordinate α β.From last stored phase Position θ rise elapsed time T1 it is longer than 375 μ s of setting in the case of, do not carry out the renewal of look-in frequency ω.From last stored In the case that the elapsed time T1 that phase theta rises is below 375 μ s of setting, based on phase difference θ and Jing between last time Time T2 is crossed, look-in frequency ω is calculated by division arithmetic and (step S812) is updated.It is thereby achieved that need not worry to fall behind Caused stopping mistake detection, that reliability and stability are high of one circle judges.
In the judgement of levels of current, using the size of the current phasor under static coordinate α β.Thus, not by each of 3 phases The variation of sinuous instantaneous value etc. observed in line current is affected, can with | I | of approximately D. C. value be worth into The stable judgement of row, obtains high reliability in stopping judging.
With regard to this point, the structure judged with the size of the current phasor obtained under dq coordinates is equal.But It is, if only judging the stopping in short-circuit braking, without the need for estimating d axles, even if simply being calculated, reliability exactly It is high, additionally it is possible to obtain using the effect of low cost and the microcomputer of energy-conservation.
As described above, output level of the frequency sonding portion 768 of the washing machine of present embodiment in gallon portion 766 For the renewal of look-in frequency is carried out in the case of more than setting.Stopping thereby, it is possible to carrying out having reliability judges.
In addition, the frequency sonding portion 768 of the washing machine of present embodiment is by the computing angle in during electric current angular velocity detection The week of 1 cycle is short of the angular speed under the time interval of speed maximum speed interior during being set to than electric current angular velocity detection Phase.Judge thereby, it is possible to carry out the high stopping of reliability and stability.
In addition, output level of the frequency sonding portion 768 of the washing machine of present embodiment in gallon portion 766 is regulation The phase place of the current phasor under static coordinate is stored in the case of more than value, in the elapsed time from last stored phase place than rule The renewal of look-in frequency is not carried out in the case of definite value length, is below setting in the elapsed time from last stored phase place In the case of based on the phase difference between last time and elapsed time calculating and update detection frequency.Thereby, it is possible to be had The stopping of reliability judges.
(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 knot Structure and embodiment 13 are equal.The control program of the Flash memory part being only written in microcomputer 789 Algorithm it is different.The flow chart that Figure 47 specifically illustrates " Interrupt Service Routine of cycle 3.3ms ".
In the present embodiment, similarly carry out the interrupt action of 128 μ s of cycle illustrated in embodiment 13.And And, the program shown in the flow chart is performed based on the interrupt signal produced every 3.3ms.Additionally, during as short-circuit braking Initial set value under the time point of beginning, setting T3 ← 0, Tu ← Tj (=200 seconds), damaged mark ← low.
The load of the present embodiment realized by routine stops estimator start to process (step from " 3.3ms interruptions " Rapid S841).In " T3 ← T3+ Δ T ", (step S842) is added with Δ T (=3.3ms).In " stopping determination flag ", judge Whether " stop determination flag arranging " (step S829) (step S844) of Figure 44 of the interrupt action of cycle 128 μ s has been carried out. In the case of foundation has (" height ") of mark, transmission mechanism damage testing portion (step S845) is transferred to.It is broken in transmission mechanism Damage in test section, carry out the judgement (step S846) of " damaged mark " first.Here, being transferred to " T3 in the case of " low "< Tc" judgement (step S847), in the present embodiment, if the value of Tc be 10 seconds.
Here then passes through " damaged traffic sign placement " to perform damaged mark ← high (step S848) if "Yes".In " T3< Tc" for "No" in the case of (step S847), be transferred to " Tu ← 0 " (step S849).Afterwards, it is transferred to " T3>Tu" sentence Disconnected (step S850), carries out " load stops estimating traffic sign placement " (step S851) in the case of "Yes"." the week in " end " The Interrupt Service Routine of phase 3.3ms " terminates (step S852).
Illustrate the action of the structure of the above.By the Tu ← Tj in initial setting, load stops estimating from relative to stopping The state of decision delay rises and starts.T3 be during indicating entry into short-circuit braking after elapsed time variable.In T3<The time of Tc In the case that point stopping mark is changed into " height ", damaged (step S848) is judged to by " damaged traffic sign placement ".T3 >=Tc's In the case of, formed by " Tu ← 0 " (step S849) and cancel the state for stopping the delay estimating for load.By " T3> Tu" being made whether to reach the judgement (step S850) in elapsed time, as a result by " load stops estimating traffic sign placement " come Estimate load and stop (step S851).
Figure 48 is that the load for representing the DC-to-AC converter in embodiments of the present invention 14 stops estimator (step S840) Characteristic chart.In Figure 48, transverse axis (a) was represented from the time for starting to motor 750 to stop during short-circuit braking Tmstop.The longitudinal axis of (a) represent from start during short-circuit braking to load stop estimator setting up load stop estimate mark simultaneously Output load stops the time Tlstop for estimating signal (step S840).In addition, (b) is represented relative to the transverse axis equal with (a) Damaged mark value, i.e. breakage signal Sj.
It is located in before during into short-circuit braking or during short-circuit braking dynamic between motor 750 and load 748 It is in the case that the belt 746 of power bang path ruptures or comes off from belt pulley 747, as follows.Braking action, i.e. electronic is played no longer Machine 750 absorbs the effect of the kinergety that load 748 has.Even if motor 750 stops, load 748 be also possible to due to Inertia and continue rotation a little while.In this case, there is following trend：Starting from short-circuit braking, only to absorb only electricity The short time of the kinergety that motivation 750 has makes motor 750 stop the rotation.
In the present embodiment, specifying from the time for starting to motor 750 to stop during short-circuit braking less than second In the case of time Tc, breakage signal Sj is exported.Thus, transmission mechanism damage testing portion is transmitted with fairly simple structure The abnormality detection (step S845) of mechanism.
Although motor 750 stops, load 748 is in detached state in mechanism.Therefore, by with axle Hold, the friction resistance of air stops naturally, will expend the suitable time.In the case of the inertia of load 748 changes, also State according to speed (rotating speed, angular speed etc. can be expressed as) originally, the state of bearing portion etc. as bearing, temperature etc. It is different and various change occurs.But, even if in the case of time maximum, at least can also be stopped with internal loading 748 at 200 seconds Only, so as to setting the Tj=200 seconds.Load stops estimator and is receiving the breakage signal Sj from transmission mechanism damage testing portion In the case of (step S845), export the load that must postpone compared with determination flag is stopped and stop estimating signal (step S840)。
In the present embodiment, time delay tex will not become the set time as a result.But, at least in load 748 After stopping, output load stops estimating signal.Thus, making one to be likely to contact in situation of load 748 etc. allows people to be connect Tactile timing load 748 stopping after, thus, it is possible to prevent problem for security.
Additionally, when time of the transmission mechanism damage testing portion in present embodiment during short-circuit braking is than the second regulation Between Tc it is short in the case of export breakage signal (step S845).It is however not limited to the structure.For example, it is also possible to be to be changed into short Road brake during in angular velocity omega Temporal changes be angular acceleration size be more than setting deceleration in the case of enter Row judgement etc., it may be considered that various structures.
As described above, the washing machine of present embodiment has the power transmission between detection motor 750 and cylinder 748 The transmission mechanism damage testing portion of the exception in path 746 and cylinder stop estimator, stop estimator in cylinder and receive arrival In the case of the breakage signal in transmission mechanism damage testing portion, output stops estimating signal than the cylinder for stopping decision delay. Security in an exceptional case is deposited thereby, it is possible to improve power transfer path 746.
In addition, the transmission mechanism damage testing portion of the washing machine of present embodiment is from starting during short-circuit braking to electronic The time that machine 750 stops exports breakage signal in the case of being less than for the second stipulated time.Thereby, it is possible to fairly simple structure To guarantee high security.
(embodiment 15)
Figure 49 is the figure of internal structure when representing from side the dewaterer observed in embodiments of the present invention 15.In figure In 49, load 855 is the cylinder 857 with substantial amounts of hole of the dehydrated thing of storage 856, by ball bearing 860,861 rotating Mode freely keeps the axle 858 of cylinder 857.
Motor 863 is the structure substantially equal with the motor 750 of embodiment 12.As power transfer path, will Belt pulley 864 is connected to each other by belt 866 with belt pulley 865.Rotation driving is carried out to cylinder 857, make centrifugal action in Dehydrated thing 856, is dehydrated from the hole of cylinder 857, receives water, lead draining afterwards in the receiving barrel 867 around surrounding Flexible pipe 868, so as to carry out dehydration operating.With regard to DC-to-AC converter 870, structure is provided with the knot described in embodiment 12～14 The equal inverter circuit 871 of structure, control circuit 872.In addition, DC-to-AC converter 870 has and receives from control circuit 872 stopping judges the solenoid drive circuit 875 of signal S1.
Also, with the door 877 that can be opened and closed, it is shown in dash-dot lines the state of opening.Door 877 for remaining closure The upper lock section 880 of state includes solenoid 881, the securing rod made of iron 882 moved up and down at solenoid 881, is arranged at door The pawl 883 being engaged with securing rod 882 in closed state of 877 sides.In the state of pawl 883 is mutually engaged with securing rod 882, i.e., Sliding door 877 is made also not open.Therefore, user is prevented hand to be stretched in cylinder 857.
Then, in the state of electric current is provided from solenoid drive circuit 875 to solenoid 881, using 881 institute of solenoid The magnetic field of generation is being pulled upwardly securing rod 882 against gravity.Therefore, become the state that locking is released from.User can beat Enabling 877, hand etc. is stretched in cylinder 857 to contact dehydrated thing 856 etc..Door sensor 885 has contact, detection door 877 Opening/closing state and as S2 signal outputs.In the case where door 877 is closed, high RST is transmitted to control circuit 872.
Illustrate the action in the present embodiment of the structure of the above.Figure 50 is the dewaterer in embodiments of the present invention 15 Movement oscillogram.The waveform of angular rate ω, in Figure 50, (a) is shown, the waveform for stopping judging signal S1 (b) is shown, (c) The waveform of U phase low potential side signals Sg of inverter circuit 871 is shown.In addition, (d) illustrates the offer to solenoid 881 The waveform of electric current Ik, (e) illustrate door it is opening and closing signal S2, from dehydration enter braking (brake) play stopping and user beats Waveform till the time point of enabling.
In the power run duration before t1, as observed by the Sg of (c), supply for drive motor 863 signal being applied with obtained by PWM.Additionally, the signal beyond eliminating the low potential side of U phases.But, In power run duration, it is the signal for being applied with PWM.
When terminate in t1 dehydration operatings and when during entering short-circuit braking, the signal of the low potential side of U, V, W this 3 phase All rise, become the state for being referred to as connecting all the time.Thus, the input voltage for being changed into motor 863 is substantially zero short circuit The state of braking, later ω be gradually lowered.In t2, the time for reaching ω th from ω was lighted initially as the first stipulated time The time measurement of 0.3 second.T3 therebetween, cylinder 857 are changed into the state for stopping.S1 from t2 through the first stipulated time T4 after 0.3 second rises to height, and the offer electric current Ik from solenoid drive circuit 875 to solenoid 881 rises.
In t4, Sg is changed into low (disconnection) state, becomes the state that short-circuit braking is released from.But it is also possible to afteru Also Sg is made to continue as height such that it is able to further to improve the safety for the not user of the rotation of expected cylinder 857.Separately Outward, it is also possible to be configured to only carry out short-circuit braking during S2 is for height.In addition, by specifying to the circulation of motor 863 Size DC current, it is also possible to the effect of the motion of the cylinder 857 that is inhibited.Thus, it is also possible to will be from inverter circuit Arrange afteru during 871 offer DC currents.Here, door 877 is opened and closed freely, user opens door 877 in t5, therefore E the S2 shown in () is changed into low.
Additionally, as the effect of signal S2, when action launching is dehydrated, from from the viewpoint of preventing danger, in 877 quilt of door Signal S2 is used in the state of closing during drive motor 863.It is set to following logic：In the state of low, No starting. That is, from dehydration action launching to t4 during be that door 877 is remained into the locking of closure state during, stop judge t4 During there is locking.
In such manner, it is possible to be reliably prevented user hand be stretched in the cylinder 857 in rotation.Thus, although there is no profit With the position sensor of Hall IC etc., it is also possible to realize safe dewaterer.Door is carried out by being powered to solenoid 881 877 latch-release.Therefore, though just in case occur have a power failure and the output of dc source 751 decline in the case of, as long as no It is powered to solenoid 881, will continue to during the locking of door 877.Thus, it is ensured that the high security of user.
Additionally, by from ω less than ω th to output stop judge the first stipulated time be set to it is short as 0.3 second Time.Thus, even if considering various condition deviations, stop the delay that t3 plays the timing for stopping judging from actual cylinder 857 Time maximum can also be converged on 0.17 second.Thus, user can not take out with losing time the dehydrated thing being dehydrated 856 such that it is able to the effectively utilizes time.
In addition, in order to further improve security, there is structures below.It is also contemplated that the power supply in dewaterer just connects Possibility of the time point cylinder 857 that the action of microcomputer 789 starts after logical in rotation, and the short-circuit braking phase is set Between, the latch-release of door 877 is carried out afterwards.
Alternatively, it is also possible to consider belt 866 ruptures or the transmission mechanism that comes off from belt pulley 864,865 is damaged possibility Property, and use the structure as the transmission mechanism damage testing portion illustrated in embodiment 14.That is, stop estimating letter in load The structure of number latch-release for carrying out door 877 afterwards is also effective.In the case where belt 866 ruptures etc., if dewaterer, Even if then the inertia of cylinder 857 also has the value of 0.3kg square meters or so in the state of for sky.Will be based on belt pulley 864,865 The speed reducing ratio (ratio of speed) of diameter ratio be set to 10：In the case of 1, the inertia for being scaled the axle of motor 163 is 0.003kg Square meter.Even if so, the inertia relative to common motor 863 is also 10 times or so of value, in the feelings that there is no belt 866 Under condition, moment of momentum, kinergety are reduced to 1/10 or so.Therefore, during short-circuit braking in deceleration be drastically, no matter Using angular acceleration, to motor 863 stop time in which, clearly can distinguish with the presence or absence of belt 866。
Also contemplate following structure：The current phasor under dq coordinates is calculated in braking, while in particular upon relative In q shaft currents angular acceleration size carrying out transmission mechanism damage testing.Have when there is no belt 866 as described above Deceleration drastically in the case of, the detection error for having dq coordinates becomes big trend, needs complicated structure.But, in short circuit The simple structure of the present invention of static coordinate is used in during braking, and used as transmission mechanism damage testing, can obtain height can By property, effect is very big.
Alternatively, it is also possible to during arranging following transmission mechanism damage testing：Before the latch-release of door 877 temporarily from Inverter circuit 871 provides electric current to motor 863, and based on the relation of electric current and voltage, detection is not in being connected to electronic The extremely little state of the load torque of machine 863.Thereby, it is possible to the higher dewaterer of the security for realizing making provision against emergencies.
Additionally, in the present embodiment, it is set to housework equipment that clothing is dehydrated thing.But, in general, in quilt Also sometimes with the function as dewaterer referred to as in the equipment of washing machine, scrubbing-and-drying unit etc..Can also be this equipment.
What is carried out cleaning in automatic order, rinse etc. is referred to as in the device of automatic washing machine, there is bag in midway The dehydration of the water containing detergent, rinsed after the repeatedly dehydration action such as the dehydration of water.In addition, being done after being then dehydrated In dry device, and next operation (program) is transferred to after dehydration terminates.Even if in this program deposited after dewatering Device in the case of, it is also possible to judge to carry out the stopping to actual cylinder by using the stopping of the DC-to-AC converter of the present invention Carry out postponing considerably less stopping judgement.Therefore, strongly shorten the dead time being transferred to till next sequential.As knot Really, the time needed for full automatic washing process (cleaning～dehydration～rinsing～dehydration) etc. can be shortened, the time can be obtained The effect of shortening.
In addition, the rotary shaft of cylinder 857 is level, but it can also be vertical or inclination.As the rotation for cylinder 857 Turn the power transfer path for driving, show the power transfer path using belt pulley 864,865, belt 866.It can also make With gear (gear), or motor is directly set as being referred to as directly driving on the axle 858 of cylinder 857 and with same Speed rotates etc..
Industrial applicability
As described above, washing machine involved in the present invention can be applied to be not provided with the position sensors such as Hall IC with regard to energy Enough guarantee the washing machine of security.
Description of reference numerals
100、101：Permanent magnet；102、103、104：Winding；105：Clothing；106：Cylinder；107：Belt pulley；109：It is electronic Machine；111、112、113、114、115、116：Switch element；117：Inverter circuit；118：Control unit；119：Gallon portion； 120：Speed calculating part；121、122、123：Shunt resistance；124：A/D converters；126：Phase error probe portion；127：It is variable Hunting of frequency 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：All-wave Rectifier；143：Capacitor；144：Dc source；146、147：Resistance；148：DC voltage detection circuit；150、158：Coordinate Transformation component；151、152：Subtraction portion；153、154、161：Error enlarging section；159：PWM portions；160：Subtraction portion；162：Idr sets Portion；163：Short-circuit braking control unit；165：Abnormity detection portion；166：Delay portion；167：Sequential generating unit；168：Voltage instruction is limited Portion processed；170：Short circuit current detection unit；182：Belt pulley；190：Receiving barrel；193：Water-supply valve；194：Draining valve；196：Lid； 197：Handle；200：Lid sticking department；201：Solenoid；202：Plunger；203：Spring；204：Lock control circuit；206：Lid is visited Slowdown monitoring 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 unit；359：Gallon portion；361、362、363：Shunt resistance；364：Amplify Device；366、440：Central control；367：Pwm circuit；369、400、443：Switching part；370：Drive circuit；371：Alternating current Source；372：Full-wave rectifier；373：Capacitor；374：Dc source；376、377：Resistance；378：DC voltage detection circuit； 380：First coordinate converting section；381、382、394：Subtraction portion；383、384、395：Error enlarging section；388：Second coordinate transform Portion；389：PWM portions；390：Speed estimation portion；392、406：Integrator；396：Idr configuration parts；398、441：Short-circuit braking is controlled Portion；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：Lid Sticking department；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 Wheel；509、624：Motor；511、512、513、514、515、516：Switch element；517、626：Inverter circuit；518：Control Portion processed；519：Gallon portion；521、522、523：Shunt resistance；524：A/D converters；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：First coordinate converting section；551、552、560：Subtract Method portion；553、554、561：Error enlarging section；555、586：Integrator；556：Speed estimation portion；558：Second coordinate converting section； 562：Idr configuration parts；563：Short-circuit braking control unit；565：Abnormity detection portion；567：Sequential generating unit；570：Short circuit current is sentenced Determine portion；574：OR circuits；575：Comparator；576：Voltage ascending 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 unit；592、610：Short circuit duration ratio expands speed configuration part；597：Subtracter；599： Constant generator；600：Comparator；607：Line current probe portion；613：Short circuit duration ratio expands speed command portion；615：Speed Degree probe portion；617：Hall IC；618：Velocity calculator；622：Belt pulley；623：Belt；628：Control unit；630：Receiving barrel； 633：Water-supply valve；634：Draining valve；636：Lid；637：Handle；641：Solenoid；642：Plunger；643：Spring；644：Locking control Circuit processed；646：Lid search switch；648：Stop button；741、742：Permanent magnet；743、744、745：Winding；746、866：Skin Band；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； 772：3-phase/2 phase transformation portion；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：Quilt Dehydrate；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 sensing Device.

Claims (21)

1. a kind of washing machine, has：
Cylinder, its storage clothing；
Motor, which possesses the winding of permanent magnet and 3 phases, cylinder described in the motor-driven；
Lid, its opening portion to the cylinder is opened and closed；
Lid sticking department, its described lid of locking；
Inverter circuit, from dc source to the inverter circuit supply electric power, the inverter circuit uses multiple switch element To provide electric current to the motor；And
Control unit, which carries out on-off control to the switch element,
Wherein, the output that the control unit possesses the gallon portion and reception gallon portion for detecting the electric current comes The speed calculating part of the speed of the motor is calculated,
During the braking of the cylinder, the control unit controls the switch element so that the input voltage of the motor is protected Hold as substantially zero, after the speed is changed into below setting, enabling open the lid by the lid sticking department,
Before during the braking, with the control switch element so that the absolute value drop of the input voltage of the motor During low voltage is reduced.
2. washing machine according to claim 1, it is characterised in that
The gallon portion of the control unit detects the electric current of more than 2 phases in 3 phases, the speedometer of the control unit Value of the calculation portion based on electric currents more than 2 phases in 3 phase is come calculating speed.
3. washing machine according to claim 2, it is characterised in that
The control unit possesses variable frequency oscillating portion, phase error probe portion and coordinate converting section, and the variable frequency vibrates The phase place of the permanent magnet of time integral value of portion's output comprising speed,
The output in the gallon portion is transformed to rotational coordinates from static coordinate using the phase place by the coordinate converting section After export the rotational coordinates,
The current value signals that the speed calculating part is received under the rotational coordinates carry out calculating speed.
4. the washing machine according to any one of claims 1 to 3, it is characterised in that
Making it possible to by the lid sticking department come before opening the lid, during the braking.
5. washing machine according to claim 1, it is characterised in that
In the braking of the motor, the speed of the cylinder is changed into after substantially zero, and the control unit control is described to switch unit Part is made it possible to by the lid sticking department described to open afterwards so that electric current is provided from the dc source to the winding Lid.
6. washing machine according to claim 5, it is characterised in that
In the braking, the speed of the cylinder is changed into after substantially zero, and the control unit controls the switch element so that institute State gallon portion and be output as setting, make it possible to by the lid sticking department afterwards open the lid.
7. washing machine according to claim 5, it is characterised in that
In the braking, the speed of the cylinder is changed into after substantially zero, output of the control unit in the gallon portion In the case of less than setting, continue the state that the lid can not be opened by the lid sticking department.
8. washing machine according to claim 1, it is characterised in that
It is during possessing short-circuit braking after during short circuit duration ratio expands, during the short circuit duration ratio expands, described Control unit is controlled by the on-off of the switch element to the inverter circuit, expands the defeated of the winding that makes 3 phase Enter the short circuit duration ratio of the short-circuit of terminals, during the short-circuit braking, the short circuit duration ratio is remained by the control unit To greatest extent.
9. washing machine according to claim 8, it is characterised in that
Voltage detection portion of the control unit according to the voltage for detecting the dc source, the gallon of the detection electric current The output of at least any one probe portion in portion, the speed detection portion of the speed for detecting the motor, changes the short circuit The expansion speed of the short circuit duration ratio during time ratio expansion.
10. washing machine according to claim 8, it is characterised in that
The control unit changes short circuit duration ratio according to the time from starting during the short circuit duration ratio expands Expand speed.
11. washing machines according to claim 1, it is characterised in that
The control unit is also equipped with：
Frequency sonding portion, the output in its reception gallon portion, periodically detects the exchange to motor input The frequency of electric current；
Stop detection unit, the stopping of its judgement motor；And
During short-circuit braking, during the braking of the cylinder, the switch element is controlled so that the input electricity of the motor Press as substantially zero,
Wherein, from the output in the frequency sonding portion is changed into be not more than setting have passed through the first stipulated time it Afterwards, the stopping detection unit being judged to that the motor stops.
12. washing machines according to claim 11, it is characterised in that
The frequency sonding portion during the short-circuit braking in possess phase place based on the current phasor under static coordinate when During intersexuality change carrys out the electric current angular velocity detection of computing angular speed, after the angular speed is changed into below setting, judge To stop.
13. washing machines according to claim 11 or 12, it is characterised in that
In the case where the output level in the gallon portion is more than setting, the frequency sonding portion carries out look-in frequency Renewal.
14. washing machines according to claim 12, it is characterised in that
The time interval of frequency sonding portion computing angular speed interior during making the electric current angular velocity detection is than the electricity A cycle short cycle of the angular speed under the maximum speed of the motor in during stream angular velocity detection.
15. washing machines according to claim 11,12 or 14, it is characterised in that
In the case where the output level in the gallon portion is more than setting, the frequency sonding portion stores static coordinate Under current phasor phase place, do not carry out in the case where the elapsed time from last stored phase place is longer than setting detection frequency The renewal of rate, the elapsed time from last stored phase place be setting below in the case of, based on the phase with last stored Phase difference and elapsed time between position is calculating look-in frequency and be updated.
16. washing machines according to any one of claim 5～7, it is characterised in that
There is between the motor and the cylinder power transfer path, the speed of the cylinder is changed in the braking After substantially zero, the control unit during the electric current that electric current is provided to the motor is provided in detect power transmission In the case of the failure in path, prevent user and continue come the state for opening the lid from by the lid sticking department.
17. washing machines according to claim 16, it is characterised in that
The power transfer path is belt, the frequency tool of the middle electric current for providing the motor during the electric current is provided For the mechanism's harmonic frequency components caused because of the motor, the belt and the cylinder.
18. washing machines according to claim 5～7, any one of 17, it is characterised in that
In the braking, the speed of the cylinder is changed into after substantially zero, and the speed of the cylinder is per point less than 1 turn.
19. washing machines according to claim 11,12 or 14, it is characterised in that
Stop the biography of the exception of the power transfer path between estimator and the detection motor and the cylinder with cylinder Damage testing portion of mechanism is passed,
Receiving in the case of the breakage signal in the transmission mechanism damage testing portion, it is defeated that the cylinder stops estimator Go out and stop estimating signal than the cylinder for stopping decision delay.
20. washing machines according to claim 19, it is characterised in that
Start to play feelings of the time till the motor stops less than the second stipulated time during from the short-circuit braking Under condition, the transmission mechanism damage testing portion exports the breakage signal.
21. washing machines according to claims 1 to 3, any one of 5～12,14,17,20, it is characterised in that
The motor is not with position sensor without approach sensor motor.
CN201480040857.4A 2013-07-18 2014-07-16 Washing machine Active CN105378174B (en)

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
JP2014-032684 2014-02-24
JP2014032684A JP6229162B2 (en) 2014-02-24 2014-02-24 Washing machine
JP2014-032680 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
JP2014032679A JP6229160B2 (en) 2014-02-24 2014-02-24 Washing machine
PCT/JP2014/003764 WO2015008486A1 (en) 2013-07-18 2014-07-16 Washing machine

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CN105378174A CN105378174A (en) 2016-03-02
CN105378174B true CN105378174B (en) 2017-04-05

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