CN110190797A - Vibration control system and washing machine - Google Patents
Vibration control system and washing machine Download PDFInfo
- Publication number
- CN110190797A CN110190797A CN201811024422.7A CN201811024422A CN110190797A CN 110190797 A CN110190797 A CN 110190797A CN 201811024422 A CN201811024422 A CN 201811024422A CN 110190797 A CN110190797 A CN 110190797A
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- Prior art keywords
- current
- linear
- motion actuator
- control system
- vibration control
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- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/032—Reciprocating, oscillating or vibrating motors
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- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
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- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Linear Motors (AREA)
- Main Body Construction Of Washing Machines And Laundry Dryers (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The present invention provides the vibration control system and washing machine of a kind of low cost of properly vibration of control object object.It is characterised by comprising: linear-motion actuator (10) comprising mover and stator, and connect with the object (G) that can be vibrated；Current detecting part (50), the current value (i) of the middle electric current flowed of detection linear-motion actuator (10)；Acceleration/dead reckoning portion (60), it is based on the current value (i) that current detecting part (50) detect, calculates the mover of linear-motion actuator (10) and the relative acceleration (am) and/or relative position (xm) of stator；With thrust adjustment portion (90), the relative acceleration (am) extrapolated based on acceleration/dead reckoning portion (60) and/or relative position (xm) adjust the thrust of linear-motion actuator (10).
Description
Technical field
The present invention relates to the technologies of the vibration control system and washing machine that are controlled for the vibration to object.
Background technique
For example, patent document 1 discloses a kind of vibration absorber of washing machine, " include: configuration washing tube and shell it
Between linear electric machine and elastomer；Detect the electric current to circulate in the winding of the linear electric machine, the electric current inspection of output current signal
Survey portion；The relative position for detecting the mover of the linear electric machine calculates the relative position calculation part of the moving distance of the mover；
It detects the relative acceleration of the washing tube or the shell and output phase is to the relative acceleration sensor of acceleration signal；Base
The exciting of exciting force signal is calculated in the elastic constant of the moving distance, the relative acceleration signal and the elastomer
Force calculation department；Based on the difference of the exciting force signal and intended vibratory value, the torque control division of output order q shaft current value；With
Based on the current signal and the control of described instruction q shaft current value to the power supply control portion of the power supply of the winding " (reference
Abstract of description).
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2011-182934 bulletin
Summary of the invention
Technical problems to be solved by the inivention
But, patent document 1 is provided with the relative acceleration sensor of the vibration of detection washing machine, institute in vibration absorber
Will lead to increased costs.
The present invention proposes that technical problem of the invention is to provide a kind of properly control object in view of such background
The vibration control system and washing machine of the low cost of the vibration of object.
Technical means to solve problem
To solve the above-mentioned problems, the invention is characterised in that, comprising: driving portion comprising mover and stator, and with can
The object of vibration connects；Current detecting part detects the current value of the electric current flowed in the driving portion；Reckoning portion, base
In the current value that the current detecting part detects, the mover of the driving portion and the relative acceleration of the stator are calculated
The relative position and/or；With thrust adjustment portion, the relative acceleration and/or the phase extrapolated based on the reckoning portion
To position, the thrust of the driving portion is adjusted.
Other solutions are recorded in embodiment below.
Invention effect
In accordance with the invention it is possible to provide a kind of low cost of properly vibration of control object object vibration control system and
Washing machine.
Detailed description of the invention
Fig. 1 is the figure for indicating the structural example of vibration control system Z used in first embodiment.
Fig. 2 is the vertical section perspective view for the linear-motion actuator 10 being arranged in vibration control apparatus 100.
Fig. 3 be Fig. 2 line A-A to view end view drawing.
Fig. 4 is the figure (example 1) for indicating the fixing means of linear-motion actuator 10.
Fig. 5 is the figure (example 2) for indicating the fixing means of linear-motion actuator 10.
Fig. 6 is the figure for indicating the structure of the rectification circuit Re that vibration control apparatus 100 is equipped with and inverter 40.
Fig. 7 is the figure for indicating for 3 linear-motion actuator 10b~10d (10) to connect with rectification circuit Re and inverter 40.
Fig. 8 is indicate current-order generating unit 70 and voltage instruction generating unit 80 used in first embodiment specific
The figure of structure.
Fig. 9 is the figure for indicating the specific structure example in the acceleration reckoning portion 610 in acceleration/dead reckoning portion 60.
Figure 10 is the figure for indicating the specific structure example in the dead reckoning portion 620 in acceleration/dead reckoning portion 60.
Figure 11 is the figure for indicating the structure of vibration control system Za used in second embodiment.
Figure 12 is the figure for indicating the structure of current-order generating unit 70a used in second embodiment.
Figure 13 is the figure for indicating the change case of gain m*, k*.
Figure 14 is the figure for indicating the result in the case where being controlled according to example shown in Figure 13.
Figure 15 is the figure for indicating the other examples for changing gain m* or gain k*.
Figure 16 is the figure for indicating the result in the case where being controlled according to example shown in figure 15.
Figure 17 is the figure for indicating the structural example of vibration control system Zb used in third embodiment.
Figure 18 is the figure for indicating the structural example of current-order generating unit 70b used in third embodiment.
Figure 19 is the vibration frequency f and vibration amplitude absolute value for indicating the object G in the case where changing gain k*
The figure of relationship.
Figure 20 is the figure for indicating the structural example of vibration control system Zc used in the 4th embodiment.
Figure 21 is the perspective view for being provided with the washing machine W of vibration control apparatus 100.
Figure 22 is the profilograph for being provided with the washing machine W of vibration control apparatus 100.
Figure 23 is the figure for indicating the structure of rectification circuit Re used in the 4th embodiment and inverter 40.
Specific embodiment
Then, it to mode for carrying out the present invention (referred to as " embodiment "), is suitably described in detail with reference to attached drawing.
In each attached drawing, identical label is marked for identical constituent element, is suitably omitted the description.
" first embodiment "
(vibration control system Z)
Fig. 1 is the figure for indicating the structural example of vibration control system Z used in first embodiment.
Vibration control system Z is used for the vibration to object G and carries out vibration damping, including rectification circuit (rectification part) Re, vibration
Control device 100.
Rectification circuit Re is exported after being converted to DC voltage from the alternating voltage that AC power source E is inputted.About rectified current
Road Re will be described later.
Vibration control apparatus 100 using the DC voltage inputted from rectification circuit Re as driving source, to the vibration of object G into
Row vibration damping.Vibration damping in present embodiment refers to the object G for just vibrating under resonant frequency, makes its vibration frequency
It shifts.
(vibration control apparatus 100)
Then illustrate to 10 vibration control apparatus 100 controlled of linear-motion actuator (driving portion, the second driving portion)
Structure.
Vibration control apparatus 100 include linear-motion actuator 10, inverter (power conversion unit) 40, current detecting part 50,
Acceleration/dead reckoning portion (reckoning portion) 60 and thrust adjustment portion 90.Wherein, thrust adjustment portion 90 includes current-order generating unit
70 and voltage instruction generating unit 80.
Linear-motion actuator 10 connect (such as abutting) with object G.Moreover, work of the actuator 10 in the alternating voltage of input
It moves along a straight line under, and transfers the motion to object G.It will be described later about linear-motion actuator 10.
Inverter 40 is to be inputted rectification circuit Re based on the voltage instruction value V* from voltage instruction generating unit 80
DC voltage is converted to the inverter of alternating voltage.Wherein, inverter 40 is it is assumed that pass through PWM (Pulse Width
Modulation, pulse width modulation) controlled, but not limited to this.It will be described later about inverter 40.
In addition, the four-headed arrow recorded in object G indicates the vibration of object G."+", "-" table in rectification circuit Re
Show the polarity from the rectification circuit Re voltage exported.
The downstream of inverter 40 is arranged in current detecting part 50, detects the electric current flowed in inverter 40, i.e. straight line
The current value i of the electric current flowed in actuator 10.
The current value i that acceleration/dead reckoning portion 60 is detected based on current detecting part 50 calculates linear-motion actuator 10
Relative acceleration am, relative position xm.It will be rear about acceleration/dead reckoning portion 60, relative acceleration am, relative position xm
Described in the text.
Relative acceleration am that current-order generating unit 70 is extrapolated based on acceleration/dead reckoning portion 60, relative position
Xm generates current instruction value i**.It will be described later about current-order generating unit 70.
The current instruction value i** and current detecting part 50 that voltage instruction generating unit 80 is generated based on current-order generating unit 70
The current value i detected generates voltage instruction value V*.The voltage instruction value V* of generation is input to inverter 40.About electricity
Pressure command generation unit 80 will be described later.
(linear-motion actuator 10)
Then, illustrate linear-motion actuator 10 with reference to Fig. 2~Fig. 5.Wherein, Fig. 2~linear-motion actuator shown in fig. 5 10 is only
An example can also not have Fig. 2~structure shown in fig. 5.
Fig. 2 is the vertical section perspective view for the linear-motion actuator 10 being arranged in vibration control apparatus 100.
Herein, xyz axis is provided as illustrated in fig. 2.Moreover, Fig. 2 illustrates only the one of linear-motion actuator 10 in the x direction
Half, the structure of linear-motion actuator 10 is symmetrical about yx plane.
Linear-motion actuator 10 includes the stator 11 as armature, and the mover 12 of the plate extended in a z-direction.Straight line causes
Dynamic device 10 be using the magnetic pull and repulsion (i.e. thrust) on the z-axis direction between stator 11 and mover 12, and make stator 11 with
The relative position of mover 12 motor that straight line changes in a z-direction.As described later, in linear-motion actuator 10,12 He of mover
One party in stator 11 is connect with object G.
Stator 11 has the iron core 11a being laminated by electromagnetic steel plate, and is equipped with the magnetic wound on iron core 11a in many places
Winding 11b on the tooth M of pole.
Fig. 3 be Fig. 2 line A-A to view end view drawing.Wherein, what Fig. 3 was indicated in the x direction is not the one of linear-motion actuator 10
Half (referring to Fig. 2), but illustrate entire linear-motion actuator 10.
As shown in figure 3, the iron core 11a of stator 11 includes annulus N and magnetic pole tooth M (M1, M2).
Annulus N (rectangular box-like) annular in shape under longitudinal section view, constitutes magnetic loop by annulus N.A pair of of magnetic pole
Tooth M1, M2 extend from annulus N to the direction y inside, and opposite to each other.Also, the distance between magnetic pole tooth M1, M2 are than plate-like
Mover 12 thickness it is slightly longer.Winding 11b (11b1,11b2) has been wound on magnetic pole tooth M1, M2 respectively.By to winding 11b
Electric current is supplied, stator 11 is made to play the role of electromagnet.
In example shown in Fig. 2,2 couples of magnetic pole tooth M are provided on the direction z (moving direction of mover 12).Also, respectively
Winding 11b on 2 couples of magnetic pole tooth M is configured to a winding 11b, and both ends are defeated with inverter 40 (referring to Fig. 1)
Side connects out.
Mover 12 shown in Fig. 3 penetrates through iron core 11a annular in shape, extends in a z-direction.As shown in Fig. 2, mover 12 wraps
It includes the multi-disc metal plate 12a extended in a z-direction and separates the permanent magnetism that specified interval is arranged on metal plate 12a in a z-direction
Body 121b, 122b, 123b.Wherein it is possible to which multiple permanent magnets are pasted on metal plate 12a, multiple permanent magnets can also be buried
It is located in metal plate 12a.
Permanent magnet 121b, 122b, 123b shown in Fig. 2 magnetize in y-direction.In more detail, the direction y forward
Magnetized permanent magnet (such as permanent magnet 121b, 123b) and magnetized permanent magnet (such as the permanent magnet on the negative sense in the direction y
122b) alternately configure in a z-direction.To using mover 12 and as drawing between the stator 11 that electromagnet plays a role
Power and repulsion generate the thrust in the direction z to mover 12.Wherein, " thrust " refers to the relative position for making mover 12 Yu stator 11
The power of variation.
(fixing means of linear-motion actuator 10)
Fig. 4 is the figure (example 1) for indicating the fixing means of linear-motion actuator 10.
In example shown in Fig. 4, one end of the mover 12 of linear-motion actuator 10 is connect with object G, and the other end is through spring
(elastomer) 20 is fixed on stationary fixture (jig) J.
Herein, spring (elastomer) 20 is the spring for applying elastic force to mover 12, is arranged on mover 12 and stationary fixture J
Between.Stationary fixture J is for example arranged on ground etc..As shown in figure 4, mover 12 penetrates through stator 11.
Fig. 5 is the figure (example 2) for indicating the fixing means of linear-motion actuator 10.
, can be using one end of the stator 11c of linear-motion actuator 10a be connect with object G in the example of Fig. 5, it will be another
One end is fixed on the structure on stationary fixture J through spring (elastomer) 20a.Also, one end of mover 12a and stationary fixture J connect
It connects, what is all not connected to the other end.
In addition, the example of Fig. 4 and Fig. 5 uses the structure for connecting one end of stator 11,11c with object G, but can also
One end of stator 11,11c to be fixed on object G using screw etc..
In addition, though it is not shown, but can also use and be fixed on spring (elastomer) and linear-motion actuator 10 side by side
Structure on stationary fixture J and object G.
In addition, as shown in Figure 4 and Figure 5, the side in stator 11 and mover 12 can be connect with object G, utilize magnetic
Suction and repulsion make stator 11 and the relative position of mover 12 change.
(rectification circuit Re, inverter 40)
Fig. 6 is the figure for indicating the structure of the rectification circuit Re that vibration control apparatus 100 is equipped with and inverter 40.Wherein,
Rectification circuit Re and inverter 40 are existing technologies.
Herein, Fig. 6 indicates the structure in the case where controlling 2 linear-motion actuators 10 using three-phase full-bridge inverter.By
One linear-motion actuator 10 is denoted as linear-motion actuator 10b, and second linear-motion actuator 10 is denoted as linear-motion actuator 10c.
In addition, inverter 40 uses single-phase full bridge circuit in the case where only controlling 1 linear-motion actuator 10.
Inverter 40 shown in FIG. 1 is based on the voltage instruction value V* from voltage instruction generating unit 80, by rectification circuit
The DC voltage that Re applies is converted to single-phase AC voltage.Then, winding 11b (ginseng of the inverter 40 to linear-motion actuator 10
Examine Fig. 2, Fig. 3) apply the single-phase AC voltage.That is, inverter 40 has based on above-mentioned voltage instruction value V* to linear actuation
The function that device 10 is driven.
(rectification circuit Re)
Rectification circuit Re is the well known voltage multiplying rectifier electricity that the alternating voltage for applying AC power source E is converted to DC voltage
Road.Rectification circuit Re includes the diode-bridge circuit Re1 that diode D1~D4 bridge-type is formed by connecting, and 2 be connected in series
A smoothing capacity device Ch.
Then, capacitor is smoothed from the voltage (DC voltage including pulsating current) that diode-bridge circuit Re1 applies
Device Ch smoothing, generates substantially 2 times of DC voltage E for being equivalent to the voltage of AC power source EDC。
The wiring 201b of wiring 201a and negative side of the rectification circuit Re through positive side are connect with inverter 40.In Fig. 6
"+", "-" indicate the polarity from the rectification circuit Re voltage exported.
(inverter 40)
Above-mentioned DC voltage is converted to single-phase AC voltage by inverter 40, to the winding of linear-motion actuator 10b, 10c
11b (referring to Fig. 2, Fig. 3) applies the single-phase AC voltage.
As switch element S1~S6 of inverter, such as use IGBT (Insulated Gate Bipolar
Transistor, insulated gate bipolar transistor).It is oppositely connected in parallel to freewheeling diode respectively on switch element S1~S6
D.In addition, using IGBT, as switch element S1~S6, and inverter 40 generates alternating voltage by PWM control
In the case of, the grid of IGBT is connect with pulse generation portion (not shown).Pulse generation portion refers to for generating with voltage shown in FIG. 1
The pulse of the corresponding duty ratio of value for the voltage instruction value V* for enabling generating unit 80 export.
Inverter 40 become when the vibration frequency of linear-motion actuator 10 (i.e. object G) is close to resonant frequency ON (that is,
Work), become OFF (that is, not working) in addition to this.
The tie point of switch element S1 and S2 are connect through wiring 201c with the winding 11b of linear-motion actuator 10b.That is, three
On the bridge arm corresponding to a phase of phase inverter 40, a linear-motion actuator 10b is connected.
The tie point of switch element S5 and S6 are connect through wiring 201e with the winding 11b of linear-motion actuator 10c.That is, three
On another bridge arm corresponding to a phase of phase inverter 40, another linear-motion actuator 10c is connected.
That is, Fig. 6 illustrates the example that 2 linear-motion actuators 10 are contacted with object G.
In addition, linear-motion actuator 10b, 10c are connect preferably in a manner of vibrating in the same direction with inverter 40.
In addition, the tie point of switch element S3 and S4 are connect through wiring 201d with the winding 11b of linear-motion actuator 10b, and
And it is also connect with the winding 11b of linear-motion actuator 10c.That is, the remaining bridge arm in three-phase inverter portion 40 and linear-motion actuator 10b
It is connected with linear-motion actuator 10c.
As described above, inverter 40 is accordingly not respectively set with linear-motion actuator 10b, 10c, but straight line is caused
Dynamic device 10b, 10c are jointly connected in an inverter 40.In this manner, can cut down inverter 40 at
This.It then, can be to linear-motion actuator 10b, 10c by being controlled based on PWM come the ON/OFF of control switch element S1~S6
Winding 11b applies single-phase AC voltage.
Current detecting part 50 detects the current value i for the electric current being supplied in inverter 40 i.e. linear-motion actuator 10b, 10c.
Current detecting part 50 is arranged on the wiring 201f in 40 downstream of inverter.That is, detecting straight line using current detecting part 50
The current value i of the electric current flowed in the winding 11b of actuator 10b, 10c.But, at the time of switch element S2, S3 become ON,
The current value i reversion for needing to detect current detecting part 50.
In addition, above-mentioned wiring 201f is the wiring for connecting the emitter of switch element S2, S4, S6 with wiring 201b.
Herein, when object G (referring to Fig. 1) vibration, stator 11 (referring to Fig. 2) and the mover 12 of linear-motion actuator 10
Relative motion occurs for (referring to Fig. 2).Then induced voltage is generated in winding 11b.Under the action of the induced voltage, inverter
40, the electric current flowed in wiring 201f changes.The variation of such electric current detected by current detecting part 50.
Alternatively, it is also possible to configure current detecting part 50 at least one of wiring 201c~201e, matched with detecting these
Electric current (the current value i) flowed in line 201c~201e.
Fig. 7 is the figure for connecting 3 linear-motion actuator 10b~10d (10) with rectification circuit Re and inverter 40.
In example shown in Fig. 7, winding of the tie point P1 of diode D1 and D2 through wiring 201d Yu linear-motion actuator 10b
11b (referring to Fig. 2) connection.Also, the tie point P1 of diode D1 and D2 also through wiring 201d and linear-motion actuator 10c around
Group 11b connection.Wherein, the winding 11b of linear-motion actuator 10b and linear-motion actuator 10c can also be with the company of diode D3 and D4
Contact connection.
In addition, the tie point P1 of diode D1 and D2 are connect through wiring 201g with the winding 11b of linear-motion actuator 10d.
That is, linear-motion actuator 10b~10d is connect with the input side for the diode-bridge circuit Re1 for constituting rectification circuit Re.
In turn, the tie point P2 of switch element S3 and S4 is connect through wiring 201h with the winding 11b of linear-motion actuator 10d.
That is, connecting linear actuation on the first bridge arm corresponding to a phase in the three-phase full-bridge inverter for constituting inverter 40
Device (first straight line actuator) 10d.
The connection of wiring 201c and wiring 201e are identical as Fig. 6, therefore omit explanation herein.That is, constituting inverter 40
Three-phase full-bridge inverter in the second bridge arm corresponding to another phase be and linear-motion actuator (second straight line actuator) 10b
Connection.In turn, it is connect corresponding to the third bridge arm of a remaining phase with linear-motion actuator (third linear-motion actuator) 10c.
Herein, the first bridge arm is the bridge arm being made of switch element S3, S4, and the second bridge arm is the bridge arm being made of switch element S1, S2,
Third bridge arm is the bridge arm being made of switch element S5, S6.
By using such connection, 3 straight lines can be connected for 1 rectification circuit Re and 1 inverter 40 and caused
Dynamic device 10, is able to suppress cost.
Alternatively, it is also possible to which 4 or more linear-motion actuator 10 and 1 inverters 40 and 1 rectification circuit Re are connect.
It is able to suppress cost in this manner.
(acceleration/dead reckoning portion 60, thrust adjustment portion 90)
Then, acceleration/dead reckoning portion 60 and thrust adjustment portion 90 are illustrated with reference to Fig. 1.
Acceleration/dead reckoning portion 60 and thrust adjustment portion 90 are the characteristics of present embodiment.
Thrust adjustment portion 90 shown in FIG. 1 and acceleration/dead reckoning portion 60 include CPU (Central Processing
Unit, central processing unit), ROM (Read Only Memory, read-only memory), RAM (Random Access Memory,
Random access storage device) and the circuits such as various interfaces constitute.It reads the program stored in ROM and spreads out in RAM, by
CPU executes various processing.
Herein, the control action in each portion is illustrated with reference to Fig. 1.
As described above, when object G (referring to Fig. 1) vibration, the stator 11 (referring to Fig. 2) and mover of linear-motion actuator 10
Relative motion occurs for 12 (referring to Fig. 2).Then induced voltage is generated in winding 11b.Under the action of the induced voltage, Fig. 7 institute
The electric current flowed in the inverter 40 shown, wiring 201f changes.The variation of such electric current is examined by current detecting part 50
It measures and.
The above-mentioned current value i for the electric current that acceleration/dead reckoning portion 60 in Fig. 1 is detected based on current detecting part 50,
Calculate the relative acceleration am and/or relative position xm of linear-motion actuator 10.Herein, the relative acceleration am of linear-motion actuator 10
Refer to the stator 11 of linear-motion actuator 10 shown in Fig. 2 and the relative acceleration of mover 12.Equally, the phase of linear-motion actuator 10
The stator 11 of linear-motion actuator 10 and the relative value of mover 12 are referred to position xm.In addition, for relative acceleration am and phase
To position xm, calculate at least some.
If the resistance of linear-motion actuator 10 is R [Ω], inductance is L [H], induced voltage is Em [V], then linear-motion actuator 10
Voltage equation become formula (1).In addition, formula (1) deformation is obtained formula (1a) for induced voltage Em.
V=Ri+L (di/dt)+Em ... (1)
Em=V-Ri-L (di/dt) ... (1a)
Em=ω mKe ... (2)
Herein, V is consequently exerted at the voltage between the terminal of the winding 11b of linear-motion actuator 10, and i is in linear-motion actuator 10
Electric current (the current value i) of flowing.
Acceleration/dead reckoning portion 60 replaces voltage V using output, that is, voltage instruction value V* of voltage instruction generating unit 80,
And using the current value i (voltage instruction value V* is substituted into the V of formula (1a)) detected by current detecting part 50, according to formula
(1a) calculates induced voltage Em.
Induced voltage Em is directlyed proportional to the mover 12 of linear-motion actuator 10 to the relative velocity ω m [m/s] of stator 11, is met
The relationship of formula (2).Herein, Ke [Vs/m] is the induced voltage constant of linear-motion actuator 10.The induced electricity of linear-motion actuator 10
Pressure constant Ke, the resistance R of linear-motion actuator 10, inductance L of linear-motion actuator 10 etc. can be measured in advance.
Formula (2) is deformed into the formula about ω m, obtains formula below (2a).
ω m=Em/Ke ... (2a)
Therefore, in acceleration/dead reckoning portion 60, formula (2a) is based on to the induced voltage Em extrapolated according to formula (1a)
Multiplied by the inverse of induced voltage constant Ke, to calculate relative velocity ω m.Later, speed/positional reckoning portion 60 is by extrapolating
Relative velocity ω m carry out time diffusion (d ω m/dt) and calculate relative acceleration am.In addition, speed/positional reckoning portion 60 is logical
It crosses and time integral is carried out to ω m to calculate relative position xm.According to formula (1), formula (2), relative acceleration am and relative position xm
It can be calculated by formula below (3), formula (4).
Am=(1/Ke) [(dV/dt)-R (di/dt)-L (d2i/dt2)]……(3)
As shown in Figure 1, the relative acceleration am extrapolated, relative position xm are output to by acceleration/dead reckoning portion 60
Current-order generating unit 70.
Fig. 8 is indicate current-order generating unit 70 and voltage instruction generating unit 80 used in first embodiment specific
The figure of structure.
(current-order generating unit 70)
Illustrate the specific structure of current-order generating unit 70 first.
Current-order generating unit 70 includes m* multiplied by gains portion 71, k* multiplied by gains portion 72, addition portion 73, current instruction value
Calculation part 74 and current-order limiting unit 75.
Firstly, the relative acceleration am that m* multiplied by gains portion 71 extrapolates acceleration/dead reckoning portion 60 is multiplied by regulation
Gain m*.As a result, 71 thrust output instruction value Tm* of m* multiplied by gains portion.Thrust command value Tm* refers to linear-motion actuator
10 thrusts that should be exported.
Equally, the relative position xm that k* multiplied by gains portion 72 extrapolates acceleration/dead reckoning portion 60 is multiplied by defined
Gain k*.As a result, 72 thrust output instruction value Tk* of k* multiplied by gains portion.
Herein, gain m* is the proportional gain for being multiplied with relative acceleration am, and gain k* is to be used for and relative position
The proportional gain that xm is multiplied.Meaning about gain m*, k* will be described later.In the first embodiment, gain m*, k*
It is the value determined by designer, is constant.
Then, thrust command value Tm* is added by addition portion 73 with thrust command value Tk*, is exported as thrust command value T*.
As described above, as long as one in thrust command value Tm* and thrust command value Tk* is calculated, so by thrust command value Tm*
It is exported with some in thrust command value Tk* as thrust command value T*.In thrust command value Tm* and thrust command value Tk*
In the case that both sides are input into addition portion 73, can using the average value of thrust command value Tm* and thrust command value Tk* as
Thrust command value T* output.
Current instruction value calculation part 74 is to thrust command value T* the pushing away multiplied by linear-motion actuator 10 inputted from addition portion 73
The inverse of force constant Kt [N/A] generates current instruction value i*.
In the case where current instruction value i* is greater than the maximum current of linear-motion actuator 10 and inverter 40 etc., electric current refers to
It enables limiting unit 75 to apply current instruction value i* to limit, the new current instruction value i** after export-restriction.Wherein, current-order
Limiting unit 75 can be omitted.By the way that such current-order limiting unit 75 is arranged, excessive electric current can be prevented in linear actuation
It is flowed in device 10 and inverter 40.
(voltage instruction generating unit 80)
Then account for voltage command generation unit 80.
Voltage instruction generating unit 80 includes subtracting each other portion 81, proportional plus integral control portion 82.
Subtract each other 81 calculating current deviation Δ i of portion, current deviation value Δ i is the electric current that current-order limiting unit 75 generates
Electric current (the difference of current value i) that instruction value i** and current detecting part 50 detect.
Then, proportional plus integral control portion 82 carries out proportional plus integral control (PI (Proportional- to current deviation value Δ i
Integral) control), thus calculate simultaneously output voltage instruction value V*.
By carrying out such control, the feedback control based on proportional plus integral control is implemented, thus controls into and makes electricity
Flow valuve i (convergence) consistent with current instruction value i**.
In addition, voltage instruction value V* can also control (ratio control) or PID by P (Proportional)
(Proportional-Integral-Differential) (PID control parameter) is controlled to calculate.
When current value i is consistent with current instruction value i**, linear-motion actuator 10 is to be set as the amplitude and vibration frequency of target
Vibration.
Voltage instruction value V* is input to pulse generation portion (not shown).Voltage instruction value of the pulse generation portion based on input
V* carries out PWM control, switches the ON/OFF of switch element S1~S6 shown in fig. 6.In this manner, to shown in Fig. 7
Wiring 201c~201e is for giving the consistent voltage controlled through PWM of voltage instruction value V*.
By using such proportional plus integral control portion 82, it is able to use the prior art and is controlled.
(acceleration reckoning portion 610)
Fig. 9 is the figure for indicating the specific structure example in the acceleration reckoning portion 610 in acceleration/dead reckoning portion 60.
Acceleration reckoning portion 610 includes induced voltage reckoning portion 611,1/Ke calculation part 612, multiplication portion 613, differentiates
Portion 614.
The current value i and voltage instruction generating unit 80 that induced voltage reckoning portion 611 is detected based on current detecting part 50 are defeated
Voltage instruction value V* out calculates above-mentioned formula (1a).That is, voltage instruction value V* is updated to formula by induced voltage reckoning portion 611
In " V " of (1a), and current value i is updated in " i " of formula (1a), is calculated because the stator 11 of linear-motion actuator 10 is (with reference to figure
2) the induced voltage Em for relative motion occurring with mover 12 (referring to Fig. 2) and generating.
1/Ke calculation part 612 obtains the induced voltage constant Ke of linear-motion actuator 10 from memory (not shown) etc., calculates
It is reciprocal.
Then, in multiplication portion 613, by the output (induced voltage Em) in induced voltage reckoning portion 611 and 1/Ke calculation part
612 output (1/Ke) is multiplied.It is that multiplication portion 613 exports to be obtained the result is that formula (1a) is updated in the induced voltage Em of formula (2a)
To as a result, be linear-motion actuator 10 stator 11 and mover 12 relative velocity ω m.
Then, differentiate multiplication portion 613,614 pairs of portion the output result i.e. stator 11 of linear-motion actuator 10 and mover 12
Relative velocity ω m carry out differential.The relative acceleration am (formula (3)) of stator 11 Yu mover 12 is calculated as a result,.
(dead reckoning portion 620)
Figure 10 is the figure for indicating the specific structure example in the dead reckoning portion 620 in acceleration/dead reckoning portion 60.
Dead reckoning portion 620 includes induced voltage reckoning portion 621,1/Ke calculation part 622, multiplication portion 623, integration calculation unit
624。
Wherein, induced voltage reckoning portion 621,1/Ke calculation part 622, the multiplication portion 623 in dead reckoning portion 620 are carried out
Operation it is identical as each portion 611~613 shown in Fig. 9, therefore omit explanation herein.
The phase of output result, that is, linear-motion actuator 10 stator 11 and mover 12 in 624 pairs of multiplication portions 623 of integration calculation unit
Speed omega m is integrated.Relative position xm (the formula of stator 11 (with reference to Fig. 2) with mover 12 (with reference to Fig. 2) is calculated as a result,
(4))。
In addition, the integral/derivative operation in formula (3) and formula (4) will receive the current value i's that current detecting part 50 detects
Error between error, noise, actually applied voltage V and the output i.e. voltage instruction value V* of voltage instruction generating unit 80 etc.
It influences.Accordingly it is also possible to which low-pass filter, high-pass filter is arranged.
The effect > of < first embodiment
According to first embodiment, the current value i that acceleration/dead reckoning portion 60 is detected based on current detecting part 50 come
Calculate and export relative acceleration am, relative position xm.
Current-order generating unit 70 calculates thrust command value T*, Jin Erji based on relative acceleration am, relative position xm
Calculate current instruction value i**.Then, voltage instruction generating unit 80 is so that the current value i tracking electricity that current detecting part 50 detects
The mode of stream instruction value i** carries out feedback control.
Herein, gain m* and gain k* are illustrated.
Herein, it is contemplated that such situation, that is, using spring constant be the spring of k [N/m] and attenuation coefficient is c [Ns/m]
Damper carry out the object that bearing mass side by side is m [Kg], constitute the general vibrational system of single-degree-of-freedom, and the vibration
System has been applied exciting force F.
If displacement is x [m], then equation of motion is provided by formula below (5), and resonant frequency ω n [rad/s] is by formula
(6) it provides.
m(d2x/dt2)+c (dx/dt)+kx=F ... (5)
ω n=(k/m)1/2……(6)
According to formula (6), resonant frequency ω n is determined by quality m and spring constant k.
For example, set object G shown in FIG. 1 as washing machine, washing machine washing, rinsing, it is dry when washing tube rotation
Speed changes constantly.With the variation of the rotation speed, the frequency of the vibration of washing tube also changes.Therefore, when washing
When washing the rotation speed of bucket close to resonant frequency ω n, the vibration of washing tube increases, which can travel on body of the washing machine.
Herein, the gain m* for being multiplied with relative acceleration am is equivalent to the quality m in equation of motion F=ma.Together
Sample, the gain k* for being multiplied with relative position xm are equivalent to the spring in the power F=-kx that the particle being fixed on spring is subject to
Constant k.
According to first embodiment, thrust command value T* is to the relative acceleration am of linear-motion actuator 10, relative position
Xm is calculated multiplied by defined gain m*, k*.That is, can be by adjusting and the comparable gain of quality in equation of motion
M* controls the power to be generated (thrust), and considerably controls by gain k* to be generated with spring constant (coefficient of elasticity)
Power (thrust).In other words, setting gain m*, k* is equivalent to the quality for making washing machine, spring 20 (with reference to Fig. 4) or spring 20a
The spring constant of (referring to Fig. 5) changes.
But, gain m* is different from actual quality m.Similarly, gain k* and actual spring 20 (referring to Fig. 4), bullet
The spring constant k of spring 20a (referring to Fig. 5) is different.
That is, gain m*, k* are the values determined as described above by designer, it is set to than actual quality m, spring constant
K big value or small value.
The thrust command value T* that addition portion 73 exports as a result, becomes compared with the thrust of 10 reality output of linear-motion actuator more
Big thrust or smaller thrust.To which the vibration for the object G connecting with linear-motion actuator 10 generates offset, can make
The vibration off-resonance frequence of object G.
Specifically, the vibration frequency of object G can be made to become shown in following formula (7) by using gain m*, k*
Frequencies omega n.
ω n=[(k-k*)/(m-m*)]1/2……(7)
Wherein, formula (7) is equal with true value in the relative acceleration am and relative position xm extrapolated, is correctly outputed
It is set up under the ideal conditions of thrust command value T*.
In this manner, if object G is washing machine, resonant frequency ω n can be made far from the rotation of washing tube
Rotary speed.Thus, it is possible to provide the washing machine of low vibration and low noise.In turn, if object G is washing machine, according to
One embodiment can reduce the power being transmitted on floor in high-speed driving.
In addition, according to first embodiment, current detecting part 50 i.e. current sensor is only needed as sensor.That is, the
The relative acceleration of one embodiment no setting is required detection mover 12 (refer to Fig. 2, Fig. 3), relative position, speed sensor.
That is, the vibration of object G causes linear-motion actuator 10 to generate induced voltage Em, cause according to because of induced voltage Em
Curent change test object object G vibration, and based on curent change carry out object G vibration damping.That is, due to by linear actuation
Device 10 is used as acceleration transducer and vibrating sensor, and so there is no need to acceleration transducer, vibrating sensor is arranged.
And if be mounted with more sensor, when 1 sensor failure, system is by whole stopping.Also, it looks into
Bright is that failure has occurred is also very difficult to which sensor.
According to first embodiment, current detecting part 50 i.e. current sensor is only needed as sensor, so can drop
The probability that low vibration control system Z stops by sensor fault.And it is easy to find out to be that failure has occurred in which sensor.
In this manner, the vibration control system Z of first embodiment can be realized cost effective.In addition, straight line
The constituent element (stator 11, mover 12) of actuator 10 hardly happens damage and abrasion, so can be improved vibration control system
The persistence of system Z.
In addition, as shown in Figure 6, Figure 7, to multiple linear-motion actuators 10 apply single-phase AC voltage by an inverter
40 generate.In this manner, it compared with the structure that 2 inverters are set, can be realized cost effective.
Then, vibration control system Z can properly inhibit the vibration of object G with fairly simple structure.
The vibration control system Z of first embodiment includes current-order generating unit 70, based on relative acceleration am and/
Or relative position xm, it generates and exports the current instruction value i** for being supplied to inverter 40.Also, vibration control system Z
Including voltage instruction generating unit 80, so that electric current and the consistent mode of current-order that current detecting part 50 detects, raw
At voltage instruction value V*.Due to such a structure, it can easily be done the vibration control of object G.
In the first embodiment, current-order generating unit 70 is to relative acceleration am and/or relative position xm multiplied by rule
Fixed gain m*, k*.In this manner, vibration control system Z virtually changes the quality and spring 20,20a of washing machine
Spring constant, so that vibration frequency is changed.That is, by adopting such structure, can easily be made based on current value i
The vibration frequency of object G changes.
" second embodiment "
Illustrate second embodiment of the present invention referring next to Figure 11~Figure 16.
(vibration control system Za)
Figure 11 is the figure for indicating the structure of vibration control system Za used in second embodiment.
Vibration control system Za shown in Figure 11 and vibration control system shown in FIG. 1 Z's the difference lies in that Fig. 1 electricity
Stream command generation unit 70 becomes the current-order generating unit 70a of the thrust adjustment portion 90a of vibration control apparatus 100a.About electricity
Stream command generation unit 70a will be described later.
Structure in addition to this is identical as Fig. 1, therefore marks identical label and omit the description.
(current-order generating unit 70a)
Figure 12 is the figure for indicating the structure of current-order generating unit 70a used in second embodiment.
Current-order generating unit 70a shown in Figure 12 and current-order generating unit 70 shown in Fig. 8 the difference is that,
M* multiplied by gains portion 71 becomes m* multiplied by gains portion 71a, and k* multiplied by gains portion 72 becomes k* multiplied by gains portion 72a.
The m* multiplied by gains portion 71 the difference lies in that gain m* is variable of m* multiplied by gains portion 71a and Fig. 8.Equally,
The k* multiplied by gains portion 72 the difference lies in that gain k* is variable of k* multiplied by gains portion 72a and Fig. 8.
Structure in addition to this is identical as Fig. 8, therefore marks label identical with Fig. 8, omits the description.
As described above, second embodiment and first embodiment the difference lies in that according to acceleration/dead reckoning
The output in portion 60 changes the size of gain m*, k* come when generating thrust command value T*.
(about variable gain)
Figure 13 is the figure for indicating the change case of gain m*, k*.
In the example shown in Figure 13, gain m*, k* change with the polarity of relative acceleration am or relative position xm.Figure
In example shown in 13, when relative acceleration am or relative position xm are negative, it is with relative acceleration am or relative position xm
Positive situation is compared, and gain m*, k* are lesser value.
Figure 14 is the figure for indicating the result in the case where being controlled according to example shown in Figure 13.
In Figure 14, dotted line indicates the relative acceleration am, opposite of the linear-motion actuator 10 occurred by the vibration of object G
The time change of position xm.Solid line represents the vibration for inhibiting object G and the current value i that flows in linear-motion actuator 10
Time change.
It is controlled as follows as shown in figure 13, that is, when relative acceleration am or relative position xm are negative, with phase
The case where being positive to acceleration am or relative position xm is compared, and gain m*, k* is made to become lesser value.Therefore, as shown in figure 14,
Current value i is for negative value than in the case where small (size of absolute value).In this way, even if change gain m*,
K* also can properly inhibit the vibration of object G.
Herein, actually relative acceleration am, relative position xm be follow current (variation of current value i) and act.
But due to being influenced by the structure of object G, linear-motion actuator 10, so movement is extremely complex, therefore in Figure 14 simultaneously
The movement of relative acceleration am, relative position xm after not indicating practical control.It but as described above, because is follow current
(variation of current value i) and act, so when relative acceleration am, relative position xm are negative, with relative acceleration am or
The case where relative position xm is positive is compared, and vibration amplitude reduces.
By the such control of progress, such as in the case where the narrow space of the following above and of linear-motion actuator 10,
The vibration amplitude in the space can be reduced.
Figure 15 is the figure for indicating the other examples for changing gain m* or gain k*.
When relative acceleration am, relative position xm are near zero, relative acceleration am, relative position xm polarity can be because
Noise etc. and alternately change, damage damping property sometimes.That is, when relative acceleration am, relative position xm are near zero,
Current value i is also near zero.Therefore, the ratio of noise increases compared with current value i.That is, SN (Signal to Noise) ratio subtracts
It is small.
Then, as shown in figure 15, when relative acceleration am, relative position xm are near zero, setting makes gain m*, k*
0 dead zone.
Wherein, in Figure 15 the positive side in the dead zone of gain m*, k* the width of different size in negative side, but may be it is identical
Width.
Figure 16 is the figure for indicating the result in the case where being controlled according to example shown in figure 15.
Figure 16 is also same as Figure 14, and dotted line indicates that the opposite of the linear-motion actuator 10 occurred by the vibration of object G adds
The time change of speed am, relative position xm.Solid line represents the vibration for inhibiting object G and flows in linear-motion actuator 10
The time change of dynamic current value i.
In the case where as illustrated in fig. 15 changing gain m*, k*, relative acceleration am, relative position xm and current value
The relationship of i becomes relationship as shown in figure 16.That is, current value i is when relative acceleration am, relative position xm are near zero
Zero.
Herein, actually relative acceleration am, relative position xm be follow current (variation of current value i) and act.
But due to being influenced by the structure of object G, linear-motion actuator 10, so movement is extremely complex, therefore in Figure 16 simultaneously
The movement of relative acceleration am, relative position xm after not indicating practical control.It but as described above, because is follow current
(variation of current value i) and act, so relative acceleration am, relative position xm are controlled as becoming substantially follow current value
The movement of i.
In this manner, it can be avoided and controlled in the SN of current value i than small position.Thereby, it is possible to appropriate
The vibration of ground inhibition object G.In addition, (current value i) can be increased electric current shown in Figure 16 by m* multiplied by gains portion 71a, k*
The control of gain m*, k* in beneficial multiplication portion 72a and the control of current instruction value calculation part 74 etc. are realized.
< effect >
Second embodiment can change the big of gain m*, k* using m* multiplied by gains portion 71a, k* multiplied by gains portion 72a
It is small.In this manner, current instruction value can be changed according to relative acceleration am, the polarity of relative position xm and size etc.
i**.That is, can be according to the size of the vibration of object G, direction, oscillation space, correspondingly to provide appropriate vibration damping control.
" third embodiment "
Illustrate third embodiment of the present invention referring next to Figure 17~Figure 19.
(vibration control system Zb)
Figure 17 is the figure for indicating the structural example of vibration control system Zb used in third embodiment.
The difference of vibration control system Zb shown in Figure 17 and vibration control system Z shown in FIG. 1 is at following 2 points.
(1) the current-order generating unit 70b in the thrust adjustment portion 90b of vibration control apparatus 100b is obtained from object G
Information (vibration frequency information) relevant to the vibration frequency f of object G.Wherein, in the case where object G is rotary body,
Also available speed replaces vibration frequency f.
For example, current-order generating unit 70b is according to the electricity for rotating washing tube if object G is washing machine
The rotation of motivation instructs, or the sensor of the rotation angle using the detection motor being arranged on motor, can make to detect
The speed of washing tube generation vibration frequency f.
(2) the current instruction value i** of current-order generating unit 70b output is calculated based on acceleration/dead reckoning portion 60
Obtained from relative acceleration am, relative position xm and the vibration frequency information of acquirement out is limited.About current-order
Generating unit 70b will be described later.
Other structures are identical as Fig. 1, therefore mark label identical with Fig. 1 and omit the description.
(current-order generating unit 70b)
Figure 18 is the figure for indicating the structural example of current-order generating unit 70b used in third embodiment.
The difference of current-order generating unit 70b and Fig. 8 shown in Figure 18 is at following 4 points.
(1) m* multiplied by gains portion 71 is replaced to be provided with thrust command generating unit 76a.
(2) k* multiplied by gains portion 72 is replaced to be provided with thrust command generating unit 76b.
(3) include table 77a, 77b that arch thrust command generation unit 76a, 76b respectively refers to.It is associatedly saved in table 77a
Relative acceleration am, vibration frequency f, the quality of object G, thrust command value Tm* etc..It is associatedly saved in table 77b
Relative position xm, vibration frequency f, the quality of object G, thrust command value Tk* etc..In the case where object G is washing machine,
The quality of object G is the quality of washing machine and the quality of washings.Depending on the situation, the quality of linear-motion actuator 10 has
When be also included in the quality of object G.
(4) relative acceleration am of the thrust command generating unit 76a based on input, vibration frequency information are exported referring to table 77a
Corresponding thrust command value Tm*.Equally, relative position xm of the thrust command generating unit 76b based on input, vibration frequency information,
Corresponding thrust command value Tk* is exported referring to table 77b.
In this way, thrust command generating unit 76a is using relative acceleration am, vibration frequency information as input, thrust output refers to
Enable value Tm*.This is substantially exactly in control gain m*.Thrust command generating unit 76a is suitably expressed as sometimes hereinafter to control
Gain m* processed.
Equally, using relative position xm, vibration frequency information as input, thrust output instructs thrust command generating unit 76b
Value Tk*.This is substantially exactly in control gain k*.Thrust command generating unit 76b is suitably expressed as sometimes hereinafter to control
Gain k*.
Alternatively, it is also possible to which table 77a, 77b are merged into 1 table, make thrust command generating unit 76a, 76b referring to the table.
Other structures have structure same as current-order generating unit 70 shown in Fig. 8, therefore mark mark identical with Fig. 8
Remember and omits the description.
Figure 19 is the vibration frequency f and vibration amplitude absolute value for indicating the object G in the case where changing gain k*
The figure of relationship.
Waveform 501 is waveform the case where energization to linear-motion actuator 10 under (the case where controlling without vibration damping).That is,
In cold situation, according to the relationship of formula (6), at resonant frequency ω n, vibration amplitude becomes maximum.
Waveform 502, waveform 503 indicate the knot controlled using the method for first embodiment linear-motion actuator 10
Fruit.
Herein, the waveform in the case that the expression of waveform 502 sets gain k* in a manner of reducing resonant frequency.
Waveform 503 indicates to have adjusted the waveform in the case where gain k* in a manner of increasing resonant frequency.
Waveform 504 is the result controlled based on third embodiment linear-motion actuator 10.Specifically, shaking
In the case that dynamic frequency f is less than the resonant frequency ω n of waveform 501, so that the mode that resonant frequency increases and (becomes waveform 503)
Control gain k*.Vibration frequency f increase and be more than waveform 501 resonant frequency ω n after (when bigger than resonant frequency ω n),
So that the mode adjust gain k* that resonant frequency reduces and (becomes waveform 502).
What Figure 19 was indicated is the case where gain k* is controlled, but gain m* can also be controlled similarly.
In this way, change gain m* or gain k* by using the vibration frequency information from object G, it can be properly
Reduce vibration amplitude.
< effect >
According to third embodiment, thrust command value T* can be generated based on the vibration frequency information of object G, inhibited
The increase of vibration near resonant frequency.For example, in the case where object G is washing machine W, depending on the washing in washing tube
Object number, exist even if generate be identical vibration frequency vibration, the relative acceleration of linear-motion actuator 10 is also different
Situation.Third embodiment also copes with such situation.That is, being capable of providing a kind of vibration control that damping property is high
System Zb.
" the 4th embodiment "
Illustrate the 4th embodiment of the invention referring next to Figure 20~Figure 23.
4th embodiment indicates the example that the vibration control system Z of first~third embodiment is applied to washing machine W
Son.
(vibration control system Z)
Figure 20 is the figure for indicating the structural example of vibration control system Zc used in the 4th embodiment.
Wherein, the vibration control system of Figure 20 and Fig. 1 Z's the difference lies in that object G as Fig. 1, washing tube W's
Outer barrel 37 is set to linear-motion actuator 10.
And rectification circuit Re is that washing machine W is equipped with originally.
As shown in figure 20, rectification circuit Re is connect with inverter 40, and also and to motor (the first driving portion) 38b
The inverter 38a connection that supplies electric power, wherein motor 38 is for making washing tube 35 (with reference to Figure 22) rotation.
Other structures are identical as Fig. 1, therefore mark label identical with Fig. 1 and omit the description.
(washing machine W)
Figure 21 is the perspective view for being provided with the washing machine W of vibration control apparatus 100.
Because vibration control apparatus 100 is arranged on the inside of washing machine W, in Figure 21 and vibration control not shown is filled
Set 100.
Washing machine W shown in Figure 21 is the washing machine W of drum-type, and has cloth drying function.Washing machine W includes pedestal
31, shell 32, door 33, operation/display panel 34 and scupper hose H.
Pedestal 31 supports shell 32.
Shell 32 includes that 32d is covered in left side plate 32a, radiator grille 32b, back side cover 32c (referring to Figure 22) and top surface.In front
It covers near the center of 32b, is formed with the circular input port h1 for picking and placing clothing (with reference to Figure 22).
Door 33 is the lid to be opened/closed for being set to above-mentioned input port h1.
Operation/display panel 34 is the panel for being provided with electric switch, Operation switch, display etc., and setting is covered in top surface
On 32d.
Scupper hose H is the hose of the washing water for being discharged in outer barrel 37 (with reference to Figure 22), is connect with outer barrel 37.
Figure 22 is the profilograph for being provided with the washing machine W of vibration control apparatus 100.Washing machine W in addition to the foregoing structure,
It further include washing tube 35, lifting rib 36, outer barrel 37, driving mechanism 38 and blowing unit 39.
Washing machine W is additionally provided with control microcomputer C.Control controls each portion of washing machine W with microcomputer C, including
Inverter 40, acceleration shown in Figure 20/dead reckoning portion 60, thrust adjustment portion 90 etc..In addition, for indicating to control with micro-
The control line for the control that computer C is carried out, figure becomes many and diverse in order to prevent, and the illustration is omitted.
In addition, the diagram of AC power source E, rectification circuit Re is omitted in Figure 22.
Washing tube 35 stores clothing, is in bottomed cylindrical.Washing tube 35 is enclosed in outer barrel 37, with can be with the outer barrel
37 modes coaxially rotated freely are pivotally supported.On the peripheral wall and bottom wall of washing tube 35, it is provided with and is largely used to water flowing/ventilation
Through hole (not shown).In addition, opening h2 door 33 towards closed state together with the opening h3 of outer barrel 37 of washing tube 35.
In example shown in Figure 22, the Pivot axle of washing tube 35 tilts in such a way that open side is higher, but is not limited to
This.That is, the Pivot axle of washing tube 35 can be horizontal direction, or vertical direction.
Clothing is promoted in washing and drying process and drops it by lifting rib 36, is arranged on the inner circumferential of washing tube 35
On wall.
Outer barrel 37 carries out the storage etc. of washing water, is in bottomed cylindrical.As shown in figure 22, outer barrel 37 surrounds washing tube 35
Inside.Linear-motion actuator 10 (stator 11, mover 12) and spring 20 are respectively arranged in the left and right of outer barrel 37.Fig. 6 illustrates 2
One in a linear-motion actuator 10.
The lowest part of the bottom wall of outer barrel 37 is provided with drainage hole (not shown), and scupper hose H is connected on the drainage hole.
To which washing water is stored in outer barrel 37 in the state of the drain valve being set in scupper hose H closing (not shown), and is led to
It crosses opening drain valve washing water is discharged.
Driving mechanism 38 is the mechanism for rotating washing tube 35, is arranged on the outside of the bottom wall of outer barrel 37.Driving machine
Structure 38 includes the inverter 38a and motor 38b that drive motor 38b is used for shown in Figure 20.Driving mechanism 38 it is electronic
The bottom wall of the rotary shaft perforation outer barrel 37 of machine 38b (referring to Figure 20), links with the bottom wall of washing tube 35.
Blowing unit 39 blows hot wind to washing tube 35, is configured in the upside of washing tube 35.Blowing unit 39 includes
Heater (not shown) and fan (not shown).To which the air after heated device heating is blown into washing tube 35 by fan.
The clothing containing moisture is gradual drying in washing tube 35 as a result,.
(rectification circuit Re, inverter 40)
Figure 23 is the figure for indicating the structure of rectification circuit Re used in the 4th embodiment and inverter 40.
Figure 23 and Fig. 6's the difference lies in that as described above, the output of rectification circuit Re is supplied to inverter 40, and
--- motor 38b for make washing tube 35 (with reference to Figure 22) rotation --- supply three-phase and is supplied to motor 38b
The inverter 38a of the motor drive of alternating voltage.In this manner, without separately preparing rectification circuit Re, energy
Enough reduce cost.
Other structures are identical as Fig. 6, therefore mark identical label and omit the description.
In addition, rectification circuit Re is that washing machine W is equipped with originally as described above.
Herein, Figure 20~Figure 23 illustrates the example that the vibration control system Z of first embodiment is applied to washing machine W
Son, but vibration control system Zb shown in the vibration control system Za of second embodiment, third embodiment can also be applied.
< effect >
According to the 4th embodiment, inverter 40 and inverter 38a share rectification circuit Re.That is, can will do washing
The rectification circuit Re that machine W is equipped with originally is diverted to the control of linear-motion actuator 10.Thereby, it is possible to provide it is a kind of have low cost
The washing machine W of vibration control system Z.Also, even if also can in the washing machine W of the weight complexity variation of revolving speed, washings
Reduce vibration.
In addition, each embodiment is as shown in Figure 4, Figure 5, spring is provided between linear-motion actuator 10 and stationary fixture J
20,20a, but not limited to this.For example, it is also possible to instead of spring 20, using rubber or hydraulic mechanism.
In addition, the 4th embodiment to the structure using the equal vibration control for carrying out washing machine W of vibration control apparatus 100 into
Go explanation, but not limited to this.For example, in addition to household appliances such as air-conditioning or refrigerators, for rail truck or motor vehicle, building machine
The object that tool, building, elevator, compressor etc. can vibrate can apply first~third embodiment of the invention.
In addition, each embodiment illustrates the structure for driving linear-motion actuator 10 using single phase ac electric power, but for example
Also it can use three-phase ac power to drive linear-motion actuator 10.
The present invention is not limited to the above embodiments, including various modifications example.For example, above embodiment is in order to make the present invention
It should be readily appreciated that and be illustrated in detail, but be not limited to the entire infrastructure that must have illustrated.Some can be implemented
A part of the structure of mode is replaced into the structure of other embodiments, also can add it in the structure of some embodiment
The structure of his embodiment.Also, a part of the structure for each embodiment can be added, be deleted, replacing other knots
Structure.
In addition, part or all of above-mentioned each structure, function, each portion 60,90, storage unit etc. can for example pass through progress
IC design etc. and by hardware realization.In addition, as shown in figure 4, above-mentioned each structure, function etc., it can also be by by CPU etc.
Processor is explained and is executed the program for realizing each function and by software realization.Realize program, the table 77a, 77b, file of each function
Etc. information can also be stored in memory, SSD (Solid State other than being stored in HD (Hard Disk)
Drive) recording devices or IC (Integrated Circuit) card, SD (Secure Digital) card, DVD such as
In recording mediums such as (Digital Versatile Disc).
In addition, control line and information wire illustrate the upper necessary part of explanation in each embodiment, do not necessarily mean that
Whole control line and information wire on product.Actually it is also assumed that almost all structure is all connected with each other.
Description of symbols
10,10a~10d linear-motion actuator (driving portion, the second driving portion)
11,11a stator
12,12a mover
35 washing tubes
37 outer barrels
The inverter of 38a washing machine
38b motor (the first driving portion)
The inverter (power conversion unit) of 40 vibration control apparatus
50 current detecting parts
60 acceleration/dead reckoning portion (reckoning portion)
70,70a, 70b current-order generating unit
71,71a m* multiplied by gains portion
72,72a k* multiplied by gains portion
74 current instruction value calculation parts
75 current-order limiting units
76a, 76b thrust command generating unit
77a, 77b table
80 voltage instruction generating units
82 proportional plus integral control portions
90,90a, 90b thrust adjustment portion
100,100a, 100b vibration control apparatus
E AC power source
G object
Re rectification circuit (rectification part)
Re1 diode-bridge circuit
W washing machine
Z, Za vibration control system
Claims (12)
1. a kind of vibration control system characterized by comprising
Driving portion comprising mover and stator, and connect with the object that can be vibrated；
Current detecting part detects the current value of the electric current flowed in the driving portion；
Reckoning portion, based on the current value that the current detecting part detects, calculate the mover of the driving portion with it is described
The relative acceleration of stator and/or relative position；With
Thrust adjustment portion, the relative acceleration extrapolated based on the reckoning portion and/or the relative position adjust institute
State the thrust of driving portion.
2. vibration control system as described in claim 1, it is characterised in that:
The thrust adjustment portion includes:
Current-order generating unit is based on the relative acceleration and/or the relative position, generates and exports to the driving portion
Current-order；With
Voltage instruction generating unit generates the voltage instruction value exported to power conversion unit, wherein the voltage instruction value makes
The electric current that the current detecting part detects is consistent with the current-order, and the power conversion unit is for driving the driving
Portion.
3. vibration control system as claimed in claim 2, it is characterised in that:
The current-order generating unit is to the relative acceleration and/or the relative position multiplied by defined proportional gain, life
At the current-order.
4. vibration control system as claimed in claim 3, it is characterised in that:
The current-order generating unit can change the proportional gain.
5. vibration control system as claimed in claim 4, it is characterised in that:
The current-order generating unit refers to the electric current according to the relative acceleration and/or the polarity of the relative position
The amplitude of order changes.
6. vibration control system as claimed in claim 4, it is characterised in that:
The current-order generating unit is when the relative acceleration and/or the relative position are near zero, by the electric current
Instruction is set as zero.
7. vibration control system as claimed in claim 2, it is characterised in that:
The current-order generating unit limits the size of the absolute value of the current-order.
8. vibration control system as claimed in claim 3, it is characterised in that:
The current-order generating unit is according to the relative acceleration and/or the relative position, and according to the object
Vibration frequency, to change the size of the proportional gain.
9. vibration control system as described in claim 1, it is characterised in that:
The driving portion is supplied electric power via rectification part and power conversion unit, wherein the rectification part is to the friendship from power supply
Galvanic electricity pressure is rectified, and the voltage after the power conversion unit rectifies the rectification part is converted to alternating voltage,
Multiple driving portions are connect with 1 power conversion unit, and are connect as needed with 1 rectification part.
10. vibration control system as claimed in claim 9, it is characterised in that:
As the driving portion, including first straight line actuator, second straight line actuator and third linear-motion actuator,
The rectification part is diode-bridge circuit,
The power conversion unit is three-phase full-bridge inverter,
The first straight line actuator, the second straight line actuator and the third linear-motion actuator are connected to two pole
The input side of pipe bridge circuit,
First straight line actuator is connected on the first bridge arm corresponding with one in the three-phase full-bridge inverter,
Second straight line actuator be connected in the three-phase full-bridge inverter on another corresponding second bridge arm,
Third linear-motion actuator is connected the third bridge arm corresponding with remaining one in the three-phase full-bridge inverter
On.
11. a kind of washing machine characterized by comprising
For storing the washing tube of clothing；
The washing tube is enclosed in interior outer barrel；With
For making the washing tube rotate the first driving portion,
Also, the washing machine further include:
Second driving portion comprising mover and stator, and connect with said tub；
Current detecting part detects the electric current flowed in second driving portion；
Reckoning portion calculates the mover in second driving portion based on the current value that the current detecting part detects
Relative acceleration and/or relative position with the stator；With
Thrust adjustment portion, the relative acceleration extrapolated based on the reckoning portion and/or the relative position adjust institute
State the thrust of the second driving portion.
12. washing machine as claimed in claim 11, it is characterised in that:
First driving portion and the second driving portion are supplied electric power via rectification part and power conversion unit, wherein the rectification part
It is rectified to from the alternating voltage of power supply, the voltage after the power conversion unit rectifies the rectification part is converted to friendship
Galvanic electricity pressure.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018031218A JP6975659B2 (en) | 2018-02-23 | 2018-02-23 | Vibration control system and washing machine |
| JP2018-031218 | 2018-02-23 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110190797A true CN110190797A (en) | 2019-08-30 |
| CN110190797B CN110190797B (en) | 2022-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811024422.7A Active CN110190797B (en) | 2018-02-23 | 2018-09-04 | Vibration control system and washing machine |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6975659B2 (en) |
| CN (1) | CN110190797B (en) |
| TW (1) | TWI675950B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113249929A (en) * | 2020-02-13 | 2021-08-13 | 日立环球生活方案株式会社 | Washing machine |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110190797B (en) | 2022-08-02 |
| TWI675950B (en) | 2019-11-01 |
| TW201937034A (en) | 2019-09-16 |
| JP2019143780A (en) | 2019-08-29 |
| JP6975659B2 (en) | 2021-12-01 |
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