JP2006141123A - Dynamo-electric machine controller, dynamo-electric machine controlling method and washing machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To inhibit an electromagnetic sound generated from a dynamo-electric machine, find a winding resistance of the dynamo-electric machine, and prevent a driving force of a sensor-less drive from being reduced by a temperature change of the dynamo-electric machine. <P>SOLUTION: A winding resistance detector 47 outputs fixed voltage instruction values Vd, Vq (Vq=0) while an instructed rotation speed ωref is 0 when a motor 15 is activated. A coordinate converter 48 converts coordinates of the voltage instruction values Vd, Vq. When a d-axis current flows in a winding 18, a rotor 19 is fixed in a predetermined position. The winding resistance detector 47 inputs a d-axis current value Id from the coordinate converter 46, and calculates the winding resistance R from Vd/Id while the rotor 19 is fixed. A magnetic pole estimator 39 uses the calculated winding resistance R, and finds a rotation speed ω and a rotation phase angle θ during the sensor-less drive. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a rotating machine control device that drives and controls a rotating machine based on a rotor position estimated using a rotating machine constant, a rotating machine control method, and a washing machine using the rotating machine control apparatus.

  In order to drive the brushless DC motor, it is necessary to accurately acquire the rotational position (rotor position) of the rotor. As this position detection means, it is possible to detect using a rotary encoder or resolver, or attach a magnetic pole position sensor such as a Hall IC in the vicinity of the rotor, and directly detect the magnetic field of the magnet disposed on the rotor. It is common. Also, sensorless drive that estimates the rotational position from motor voltage, motor current, etc. without providing a magnetic pole position sensor is also frequently used due to demands for miniaturization, price reduction, environmental resistance, reliability improvement, reduction of wiring work process, etc. Has been.

  For example, the control method disclosed in Non-Patent Document 1 is an extension of a sensorless control method for a cylindrical motor based on speed electromotive force estimation to a salient pole type motor. The estimation algorithm used here is based on the error current between the actual current and the estimated current based on the internal model equation, as shown in Equations (11) and (12) of Non-Patent Document 1. A speed electromotive force and a rotor position are estimated.

Since such an estimation algorithm is basically derived from a voltage-current equation on the dq axis model, it is necessary to correctly detect a motor constant, particularly a winding resistance that varies greatly due to a temperature change. When a constant value is used as the winding resistance value, the driving force of the motor decreases as the winding temperature increases. In Patent Document 1, the initial position angle is estimated by applying the voltage response of three types of switching patterns and by applying the voltage twice, and the d-axis current is set so as not to rotate the motor based on the initial position angle. A technique for measuring a winding resistance by a command voltage and a detection current when controlled to a constant value is disclosed.
JP 2001-67983 A Takeshita et al., “Sensorless salient pole type brushless DC motor control based on speed electromotive force estimation”, IEICE Transactions D, January 1997, Vol. 117, No. 1, p. 98-104

  The winding resistance detection method described in Patent Document 1 measures winding resistance from a command voltage and a detected current in a state where the current is controlled to a constant value by current feedback. However, when the gain of the current feedback system is large, electromagnetic noise is generated from the motor, and when the motor is applied to a washing machine or the like, the user may hear it as abnormal noise. In particular, in a sensorless drive system that estimates the rotor position, it is necessary to set a large current gain. If the current gain at the time of rotational drive is used as it is, the electromagnetic noise becomes even larger.

  The present invention has been made in view of the above circumstances, and its purpose is to obtain the winding resistance of the rotating machine while suppressing the generation of electromagnetic noise from the rotating machine, and to detect the driving force of sensorless driving due to the temperature change of the rotating machine. An object of the present invention is to provide a rotating machine control device, a rotating machine control method, and a washing machine using the rotating machine control device that can prevent the decrease.

In order to achieve the above object, a rotating machine control device according to claim 1 is:
Power conversion means comprising a semiconductor switching element and outputting a voltage corresponding to the switching state to the stator winding of the rotating machine,
Current detecting means for detecting a current flowing in the stator winding of the rotating machine;
A fixed voltage is applied to the stator winding of the rotating machine before or at the time of starting the rotating machine, and the resistance of the stator winding is determined from the applied voltage and the current detected by the current detecting means when the voltage is applied. Winding resistance detecting means for calculating
Rotational position estimating means for estimating the rotor position of the rotating machine using the resistance of the stator winding detected by the winding resistance detecting means;
Rotation drive control means for generating an on / off drive signal for the semiconductor switching element of the power conversion means using the rotor position estimated by the rotation position estimation means.

The rotating machine control method according to claim 8 is:
A constant voltage is applied to the stator winding of the rotating machine before or at the start of the rotating machine, and the stator winding of the stator winding is determined from the applied voltage and the current flowing through the stator winding of the rotating machine when the voltage is applied. Calculate the resistance,
Estimating the rotor position during the rotational drive of the rotating machine using the detected resistance of the stator winding,
Using the estimated rotor position, an on / off drive signal for the semiconductor switching element of the rotation drive control means for driving the rotating machine is generated.

  The washing machine according to claim 10 is provided with a rotating machine that generates a rotational driving force for performing washing, rinsing, and dewatering operations, and the rotating machine control device that controls the rotating machine. .

  According to the rotating machine control device and the rotating machine control method of the present invention, when detecting the resistance of the stator winding before or at the start of the rotating machine, constant voltage control is performed so that a constant voltage is applied to the stator winding. Since it is applied, it is possible to suppress the generation of harsh electromagnetic noise compared to the conventional configuration in which constant current control is performed. And since the rotor position of the rotating machine is estimated using the detected stator winding, an accurate rotor position can be obtained, and even when the temperature of the rotating machine changes, a decrease in the driving force of the rotating machine is prevented. can do.

  A rotating machine for washing, rinsing and dewatering of a washing machine repeatedly stops and rotates at a relatively short cycle. Therefore, if this rotating machine is driven and controlled by the rotating machine control device, there will be many opportunities to detect the stator winding of the rotating machine, and in the washing process in general, particularly in the washing operation and the rinsing operation that perform forward and reverse operations. A reduction in the driving force of the rotating machine can be prevented.

Hereinafter, an embodiment in which the rotating machine control device of the present invention is applied to a drum type washing machine will be described with reference to the drawings.
First, the overall configuration of the drum type washing machine will be described with reference to FIG. A door 3 is provided at the front of the outer box (housing) 2 that forms the outer shell of the drum-type washing machine 1, and a number of switches and display units (none of which are shown) are provided at the top. An operation panel 4 is provided. The door 3 opens and closes a laundry loading / unloading port 5 formed in the front center portion of the outer box 2.

  A cylindrical water tank 6 is disposed inside the outer box 2. The water tank 6 is disposed in a horizontal axis shape in which the axial direction is the front-rear direction (left-right direction in FIG. 2) and in an upwardly inclined shape, and is elastically supported by an elastic support device 7. A cylindrical drum 8 is disposed coaxially with the water tank 6 inside the water tank 6. The drum 8 functions as a shared tank for dehydration and drying in addition to washing. A large number of small holes 9 are formed in almost the entire region of the drum (only a part is shown in FIG. 2). A plurality of baffles 10 are provided on the periphery (only one is shown in FIG. 2).

  The aquarium 6 and the drum 8 have openings 11 and 12 for loading and unloading the laundry on the front surface, respectively. The opening 11 of the aquarium 6 is connected to the laundry loading and unloading opening 5 in a watertight manner by a bellows 13, and The opening 12 faces the opening 11 of the water tank 6. A balance ring 14 is provided around the opening 12 of the drum 8.

  A motor 15 (corresponding to a rotating machine) for rotating the drum 8 is disposed on the back surface of the water tank 6. The motor 15 is an outer rotor type brushless DC motor (permanent magnet synchronous motor), and a stator (stator) 16 is attached to an outer peripheral portion of a bearing housing 17 attached to a central portion of the back portion of the water tank 6. A three-phase winding 18 (corresponding to a stator winding) is wound around the stator 16.

  A rotor (rotor) 19 of the motor 15 is disposed so as to cover the stator 16 from the outside, and a rotary shaft 20 attached to the center is rotatably supported by the bearing housing 17 via a bearing 21. The front end portion of the rotating shaft 20 protruding from the bearing housing 17 is connected to the central portion of the back portion of the drum 8. That is, when the rotor 19 of the motor 15 rotates, the drum 8 is also rotated integrally with the rotor 19 (so-called direct drive system), and a rotational force is applied to the laundry accommodated in the drum 8. Thus, a washing operation, a rinsing operation, and a dehydrating operation are performed.

A water reservoir 22 is provided on the lower surface of the water tank 6, a heater 23 for washing water heating is disposed inside the water reservoir 22, and a drain hose is connected to the rear of the water reservoir 22 via a drain valve 24. 25 is connected.
A hot air generator 26 is provided at the top of the water tank 6, and a heat exchanger 27 is provided at the back. The hot air generating device 26 includes a hot air heater 29 disposed in a case 28, a fan 31 disposed in a casing 30, and a fan motor 33 that rotationally drives the fan 31 via a belt transmission mechanism 32. The case 28 and the casing 30 are communicated with each other. A duct 34 is connected to the front portion of the case 28, and the front end portion of the duct 34 projects to the front portion in the water tank 6 and faces the opening 12 of the drum 8.

Here, warm air is generated by the warm air heater 29 and the fan 31, and the warm air is supplied into the drum 8 through the duct 34. The warm air supplied into the drum 8 heats the laundry in the drum 8 and removes moisture, and is discharged to the heat exchanger 27 side.
The heat exchanger 27 has an upper portion communicating with the inside of the casing 30 and a lower portion communicating with the inside of the water tank 6. Water is poured from the upper portion and flows down to cool water vapor in the air passing through the inside. It is a water-cooled type that condenses and dehumidifies. The air that has passed through the heat exchanger 27 is returned to the hot air generator 26 again, and is warmed and circulated.

  FIG. 1 is a functional block diagram showing a configuration of a control device 35 (corresponding to a rotating machine control device) that performs vector control of the rotation of the motor 15. Here, the components excluding the control microcomputer 36 and the inverter circuit 37 described later are realized by software processing executed by a DSP (Digital Signal Processor). Further, a rotation drive control means is realized by the control microcomputer 36 and the DSP. The DSP includes an input / output port, a serial communication circuit, an A / D converter for inputting an analog signal such as a current detection signal, a timer for performing PWM processing, and the like.

  The control microcomputer 36 that controls the overall operation of the washing machine 1 controls the washing operation, the rinsing operation, and the dehydration operation according to the washing course, and outputs the command rotational speed ωref according to the operation mode according to the washing course. It is like that. The subtractor 38 outputs a rotational speed deviation Δω that is a subtraction result between the command rotational speed ωref and a detected rotational speed ω of the motor 15 obtained from a magnetic pole position estimator 39 described later.

  The proportional integrator 40 performs a proportional integral calculation with the rotational speed deviation Δω as an input, and the dq distributor 41 generates a d-axis current command value Idref and a q-axis current command value Iqref from the proportional-integral calculation result. It has become. Here, the d-axis current and the q-axis current are respectively an excitation current and a torque current that are represented by a rotating coordinate system that rotates with a rotational phase angle θ with respect to the stationary coordinate system (αβ coordinate system). .

  The subtractors 42 and 43 output current deviations ΔId and ΔIq, which are subtraction results between the current command values Idref and Iqref and the d-axis current value Id and q-axis current value Iq output from the coordinate converter 46, respectively. is there. The proportional integrators 44 and 45 receive the current deviations ΔId and ΔIq, respectively, and perform a proportional integral calculation to generate a d-axis voltage command value Vd and a q-axis voltage command value Vq.

  The winding resistance detector 47 (corresponding to winding resistance detecting means) applies a constant voltage to the winding 18 of the motor 15 when the control microcomputer 36 starts up the motor 15, and applies the d-axis voltage to be applied. The resistance R of the winding 18 is calculated from the command value Vd, the q-axis voltage command value Vq, and the d-axis current value Id, q-axis current value Iq output from the coordinate converter 46. When the motor 15 is started, the control microcomputer 36 activates the winding resistance detection permission signal Sp (hereinafter referred to as the permission signal Sp) by setting the winding resistance R to H level when the command rotational speed ωref is 0. After the detection is completed, the permission signal Sp is invalidated by setting it to L level, and then the command rotational speed ωref is gradually increased in the positive direction (during forward rotation) or in the negative direction (during reverse rotation).

  The coordinate converter 48 receives the voltage command values Vd and Vq from the winding resistance detector 47 when the permission signal Sp is at the H level, and receives the voltage command value Vd from the proportional integrators 44 and 45 when the permission signal Sp is at the L level. , Vq. Based on the rotation phase angle θ, the input voltage command values Vd and Vq of the rotating coordinate system are converted into voltage command values Vα and Vβ of the stationary coordinate system. The PWM generator 49 converts the voltage command values Vα and Vβ into voltage command values Vu, Vv, and Vw by two-phase to three-phase conversion, and based on these, converts the PWM signals Vup, Vun, Vvp, Vvn, Vwp, and Vwn. The signal is output to the inverter circuit 37.

  The inverter circuit 37 (corresponding to power conversion means) has a configuration in which six IGBTs 50 (corresponding to semiconductor switching elements) are connected in a three-phase full bridge, and the DC power supply lines 51 and 52 are connected to the converter 53. A DC voltage obtained by double-voltage full-wave rectification of an AC power supply of 100 V is applied.

  Current detectors 54 and 55 (corresponding to current detection means) are Hall CTs provided on the output line of the inverter circuit 37, and any two of the three phases, for example, the current Iv of the V phase and the W phase, Iw is detected. The current detection signals from the current detectors 54 and 55 are input to an A / D converter (not shown) in the DSP and converted into digital data. The three-phase / two-phase converter 56 calculates a U-phase current Iu from the currents Iv, Iw, and converts the three-phase currents Iu, Iv, Iw into two-phase currents Iα, Iβ. . The coordinate converter 46 converts the currents Iα and Iβ in the stationary coordinate system into currents Id and Iq in the rotational coordinate system based on the rotational phase angle θ output from the magnetic pole position estimator 39. .

  The magnetic pole position estimator 39 (corresponding to the rotational position estimating means) outputs the d-axis current value Id and q-axis current value Iq output from the coordinate converter 46 and the proportional integrators 44 and 45 when the motor 15 rotates. Based on the d-axis voltage command value Vd and q-axis voltage command value Vq and the motor constants R, Ld, Lq, the magnetic pole position of the rotor 19, that is, the rotational phase angle θ and the rotational speed ω are estimated. Of the motor constants, the winding resistance R uses a value detected by the winding resistance detector 47, and the inductances Ld and Lq use values measured in advance or design values.

The magnetic pole position estimator 39 obtains the induced voltage estimated values Eds and Eqs by the following equations (1) and (2). Here, p is a differential operator.
Eds = Vd−R · Id−Ld · pId + ω · Lq · Iq (1)
Eqs = Vq-ω.Ld.Id-R.Iq-Lq.pIq (2)

Then, the rotational speed ω is obtained by the following equation (3), and the rotational phase angle θ is obtained by integrating the rotational speed ω. Here, G1 is the reciprocal of the induced voltage constant of the motor 15, and G2 is a gain constant.
ω = G1 / Eqs−G2 / Eds (3)

According to this estimation calculation, the rotational speed ω is obtained from the induced voltage estimated value Eqs, and the induced voltage estimated value Eds is controlled to converge to 0, so that the rotational phase angle (magnetic pole position) θ is It works to match the actual rotational position.
The magnetic pole position estimator 39 determines the magnetic pole position of the rotor 19 that is determined according to the voltage command values Vd and Vq output from the winding resistance detector 47 when the permission signal Sp is at the H level (when the motor is stopped). θ0 is output.

Next, the operation of this embodiment will be described with reference to FIGS.
The voltage / current equation of the permanent magnet synchronous motor 15 is expressed by the following equation (4) for the d-axis.
Ed = Vd−R · Id + ω · Lq · Iq (4)
When the motor 15 is stopped, since the rotational speed ω = 0 and the d-axis induced voltage Ed = 0, the following equation (5) is obtained from the equation (4).
R = Vd / Id (5)
That is, when the motor 15 is stopped, the winding resistance R can be obtained by detecting the d-axis voltage Vd and the d-axis current Id. However, since the control device 35 does not include an output voltage detection means, the equation (5) is calculated using the d-axis voltage command value Vd instead of the detected d-axis voltage Vd.

  The control microcomputer 36 performs the forward / reverse operation of the drum 8 (that is, the motor 15) according to a predetermined pattern in the washing operation and the rinsing operation. In this case, the control microcomputer 36 temporarily stops the motor 15 and then starts the motor 15 in the opposite direction. At the time of activation, the control microcomputer 36 sets the permission signal Sp to the H level with the command rotational speed ωref being 0.

  When the permission signal Sp becomes H level, the winding resistance detector 47 outputs a d-axis voltage command value Vd and a q-axis voltage command value Vq having a predetermined magnitude. Here, the q-axis voltage command value Vq is set to zero. The coordinate converter 48 receives the voltage command values Vd and Vq from the winding resistance detector 47 and performs rotational coordinate conversion based on the magnetic pole position θ0 output from the magnetic pole position estimator 39. As a result, a current according to the d-axis voltage command value Vd flows through the winding 18 of the motor 15 via the inverter circuit 37.

  When the d-axis current is supplied to the winding 18 in this manner, the effect that the rotor 19 is fixed at a predetermined position and the motor 15 is easily started is produced. The winding resistance detector 47 receives the d-axis current value Id from the coordinate converter 46 in a state where the rotor 19 is fixed, and obtains the winding resistance R by the above equation (5). The d-axis current detection value Id at this time may be obtained by using only one A / D conversion value. However, if there is a possibility that an error occurs in the A / D conversion value due to noise, a plurality of d-axis current detection values Id It is preferable to obtain the average value of the A / D conversion values.

  In addition, if the d-axis voltage Vd applied when obtaining the winding resistance R is always constant, current does not easily flow through the winding 18 when the winding temperature rises and the winding resistance R increases. It is also conceivable that sufficient excitation cannot be performed to fix the rotational position. Therefore, the magnitude of the d-axis voltage command value Vd output from the winding resistance detector 47 when the permission signal Sp is at the H level is changed according to the winding resistance R detected at the previous activation.

  When the calculation of the winding resistance R by the winding resistance detector 47 is completed, the control microcomputer 36 returns the permission signal Sp to the L level, gradually increases the command rotational speed ωref from 0, and starts the motor 15. In order to enhance the startability, the voltage used for this start-up may be adjusted according to the detected winding resistance R. After startup, the magnetic pole position estimator 39 outputs the d-axis current value Id and q-axis current value Iq output from the coordinate converter 46, and the d-axis voltage command values Vd and q output from the proportional integrators 44 and 45. Using the shaft voltage command value Vq, the motor constants Ld and Lq, and the winding resistance R obtained by the winding resistance detector 47, the rotational speed ω and the rotational phase based on the above-mentioned formulas (1) to (3). Find the angle θ.

By the way, the voltage actually applied from the inverter circuit 37 to the motor 15 is the arm short-circuit prevention dead time set for the IGBT 50 of the inverter circuit 37, the switching delay (turn-on time, turn-off time) of the IGBT 50, and the IGBT 50 ( The voltage drops below the voltage command value due to the forward drop (including the accompanying freewheeling diode). Therefore, in order to obtain a more accurate winding resistance R, the output voltage error Vde in the inverter circuit 37 is obtained by the following equation (6), and the winding resistance R is obtained by equation (7) instead of equation (5). It is good to ask for.
Vde = ((Td + Ton + Toff) .fs.Vdc + Vfd (Id)). Vdf (.theta.) (6)
R = (Vd−Vde) / Id (7)

  Here, Td is the dead time, Ton is the turn-on time of the IGBT 50, Toff is the turn-off time of the IGBT 50, Vdc is the input voltage to the inverter circuit 37, fs is the PWM carrier frequency, Vfd (Id) is the forward drop voltage of the IGBT 50, Vdf (θ) is a conversion coefficient for performing dq conversion on the output voltage error.

  FIG. 3 shows the relationship between the d-axis current Id and the forward drop voltage Vfd (Id) when resistance detection is performed. It shows the characteristic that the forward drop voltage Vfd (Id) increases as the d-axis current Id increases. This characteristic varies depending on the switching element used in the inverter circuit 37. FIG. 4 shows the relationship between the magnetic pole position θ0 of the rotor 19 and the conversion coefficient Vdf (θ) when resistance detection is performed. The conversion coefficient Vdf (θ) indicates a characteristic that changes with an electrical angle of 60 ° as a cycle. The characteristics shown in FIGS. 3 and 4 are measured in advance and stored in the memory as table data, for example. Note that the turn-on time Ton and the turn-off time Toff may also be treated as a function of current.

  FIG. 5 shows the detection result of the winding resistance R with respect to the d-axis voltage Vd when the magnetic pole position θ0 is 0 ° and the winding temperature is 30 ° C. The solid line A in the figure shows the detected value of the winding resistance R calculated using the equation (5) without considering the output voltage error Vde in the inverter circuit 37, and the solid line B in the figure shows the inverter The detection value of the winding resistance R calculated using the equations (6) and (7) in consideration of the output voltage error Vde in the circuit 37 is shown. A broken line C overlapping with the solid line B indicates a true winding resistance value.

  FIG. 6 shows the detection result of the winding resistance R with respect to the winding temperature when the magnetic pole position θ0 is 0 ° and the d-axis voltage Vd is 39.2V. The solid line D in the figure shows the detected value of the winding resistance R calculated using the equation (5) without considering the output voltage error Vde in the inverter circuit 37, and the solid line E in the figure shows the inverter The detection value of the winding resistance R calculated using the equations (6) and (7) in consideration of the output voltage error Vde in the circuit 37 is shown. A broken line F overlapping with the solid line E indicates a true winding resistance value.

  According to these FIG. 5 and FIG. 6, when the d-axis voltage Vd is small, the output voltage error Vde has a great influence, and the winding resistance R is expressed by using the expressions (6) and (7) instead of the expression (5). It is understood that it is necessary to calculate Further, the winding resistance R obtained by using the equations (6) and (7) has an extremely small error with respect to the true winding resistance regardless of the d-axis voltage Vd and the winding temperature. Therefore, it is preferable to detect the winding resistance R by correcting the output voltage error Vde.

  FIG. 7 shows the winding resistance R and the output voltage error Vde measured by changing the magnetic pole position θ0 of the rotor 19 when obtaining the winding resistance. The output voltage error Vde changes with an electrical angle of 60 ° as a cycle, similarly to the conversion coefficient Vdf (θ). The detected winding resistance R has a large resistance value (detection error) when the magnetic pole position θ0 is around 10 °, 110 °, 130 °, 230 °, 250 °, and 350 °. Since these magnetic pole positions θ0 are positions where it is difficult to correct the output voltage error Vde, it is preferable to avoid the vicinity of the angle as the magnetic pole position θ0 of the rotor 19 when obtaining the winding resistance.

  As described above, the control device 35 that controls the drum driving motor 15 of the washing machine 1 applies the constant d-axis voltage Vd to the winding 18 when the motor 15 is started, and the d-axis voltage command value Vd. And winding resistance R are calculated using d-axis current detection value Id. Since the controller 35 estimates and calculates the rotational phase angle θ of the rotor 19 using the detected value of the winding resistance R, the rotational phase angle θ can be estimated with high accuracy even when the temperature of the motor 15 changes. And reduction in generated torque and motor efficiency can be prevented.

  Although the washing machine 1 drives the motor 15 for a long time, since the motor 15 is repeatedly reversed during the washing operation and the rinsing operation, the time for continuously rotating in one direction is short. Therefore, the rise in the winding temperature during the operation drive period in each rotation direction is small, and the rotation phase angle θ can be estimated with sufficient accuracy through the washing process if the winding resistance is detected at each start-up. In addition, the dehydration operation takes longer to rotate continuously in one direction than the washing operation and the rinsing operation, but at the time of high-speed rotation, there is less influence of the winding resistance error when estimating the rotation phase angle θ. The estimation error of the rotational phase angle θ due to changes in winding temperature is small. Accordingly, the control device 35 is suitable for controlling the drum driving motor 15 of the washing machine 1.

  Since the control device 35 applies a constant d-axis voltage Vd to the winding 18 when detecting the winding resistance, the rotor 19 is fixed at a predetermined position and the motor 15 is easily started. In this case, the rotor 19 is reliably fixed at the predetermined rotational position θ0 by changing the magnitude of the d-axis voltage Vd applied to the winding 18 in accordance with the detected value of the winding resistance R at the previous start-up. can do. In addition, since constant current control is not performed, annoying electromagnetic noise peculiar to current control can be reduced, and generation of abnormal noise from the motor 15 during washing operation or rinsing operation of the washing machine 1 can be suppressed. it can.

When calculating the winding resistance, the winding resistance detector 47 is obtained by subtracting the voltage drop due to the dead time for preventing arm short circuit of the inverter circuit 37, the switching delay of the IGBT 50, and the forward drop of the IGBT 50 from the voltage command value. By using the voltage value, the winding resistance can be detected with higher accuracy.
Further, the winding resistance detector 47 calculates the winding resistance in a state where the rotor 19 is at a position shifted from each rotational position of electrical angles 10 °, 110 °, 130 °, 230 °, 250 ° and 350 °. By doing so (see FIG. 7), the detection error of the winding resistance can be reduced.

The present invention is not limited to the embodiment described above and shown in the drawings. For example, the present invention can be modified or expanded as follows.
In the present embodiment, the rotational speed ω and the rotational phase angle θ are estimated by the estimation algorithm represented by the equations (1) to (3), but other estimation algorithms may be used.
Voltage detection means for directly detecting the voltage applied to the motor 15 may be provided, and the winding resistance may be calculated using the voltage value detected by the voltage detection means.
The winding resistance may be obtained not only when the motor 15 is started (immediately before starting) but also before starting. Further, it is not always necessary to obtain the winding resistance every time the motor 15 is started.

In the above embodiment, the motor 15 is vector-controlled, but other control methods may be used.
When calculating the winding resistance, it is obtained by subtracting the voltage drop due to at least one of the dead time for preventing arm short circuit of the inverter circuit 37, the switching delay of the IGBT 50, and the forward drop of the IGBT 50 from the voltage command value. A voltage value may be used.

  Although the application to the washing machine has been described in the above embodiment, the invention can be similarly applied to a washing / drying machine, and can also be applied to other devices on which a motor is mounted. Furthermore, you may comprise as a general purpose inverter apparatus.

1 is an electrical configuration diagram of a washing machine showing an embodiment of the present invention. Schematic longitudinal side view of the entire fully automatic washing machine The figure which shows the relationship between the d-axis current Id at the time of resistance detection, and the forward drop voltage Vfd (Id) The figure which shows the relationship between rotor magnetic pole position (theta) 0 and conversion coefficient Vdf ((theta)) when performing resistance detection. The figure which shows the detected value of winding resistance R with respect to d-axis voltage Vd when magnetic pole position (theta) 0 is 0 degree and winding temperature is 30 degreeC. The figure which shows the detected value of winding resistance R with respect to winding temperature when magnetic pole position (theta) 0 is 0 degree and d-axis voltage Vd is 39.2V. The figure which shows winding resistance R and output voltage error Vde which were measured by changing the magnetic pole position θ0 of the rotor when obtaining winding resistance

Explanation of symbols

  1 is a drum type washing machine, 15 is a motor (rotor), 18 is a winding (stator winding), 19 is a rotor (rotor), 35 is a control device (rotor control device), 37 is an inverter circuit ( Power conversion means), 39 is a magnetic pole position estimator (rotational position estimation means), 47 is a winding resistance detector (winding resistance detection means), 50 is an IGBT (semiconductor switching element), and 54 and 55 are current detectors ( Current detection means).

Claims (10)

Power conversion means comprising a semiconductor switching element and outputting a voltage corresponding to the switching state to the stator winding of the rotating machine,
Current detecting means for detecting a current flowing in the stator winding of the rotating machine;
A fixed voltage is applied to the stator winding of the rotating machine before or at the time of starting the rotating machine, and the resistance of the stator winding is determined from the applied voltage and the current detected by the current detecting means when the voltage is applied. Winding resistance detecting means for calculating
Rotational position estimating means for estimating the rotor position of the rotating machine using the resistance of the stator winding detected by the winding resistance detecting means;
A rotating machine control device comprising: a rotation drive control unit that generates an on / off drive signal for the semiconductor switching element of the power conversion unit using the rotor position estimated by the rotation position estimation unit.   The winding resistance detection means calculates a resistance of the stator winding using a voltage command value for the stator winding and a current detection value output from the current detection means. The rotating machine control device according to 1.   The winding resistance detection means is configured to determine a dead time for arm short circuit prevention set for the semiconductor switching element, a switching delay of the semiconductor switching element, and the semiconductor switching element from a voltage command value for the stator winding. 3. The rotating machine control device according to claim 2, wherein the resistance of the stator winding is calculated using a voltage value obtained by subtracting a voltage drop due to at least one of the forward drops.   4. The winding resistance detection means obtains the resistance of the stator winding by applying a d-axis voltage to the stator winding of the rotating machine when the rotating machine is started. The rotating machine control device according to any one of the above.   The winding resistance detecting means is configured so that the rotor winding is in a state where the rotor is at a position deviated from each rotation position of electrical angles 10 °, 110 °, 130 °, 230 °, 250 °, and 350 °. 5. The rotating machine control device according to claim 1, wherein a resistance is calculated.   6. The winding resistance detection means sets the magnitude of the voltage applied to the stator winding according to the already calculated resistance value of the stator winding. The rotating machine control device described in 1.   The rotation drive control means sets an applied voltage to the stator winding during start-up rotation according to a resistance value of the stator winding detected by the winding resistance detection means. Item 7. The rotating machine control device according to any one of Items 1 to 6. A constant voltage is applied to the stator winding of the rotating machine before or at the start of the rotating machine, and the stator winding of the stator winding is determined from the applied voltage and the current flowing through the stator winding of the rotating machine when the voltage is applied. Calculate the resistance,
Estimating the rotor position during the rotational drive of the rotating machine using the detected resistance of the stator winding,
An on / off drive signal for a semiconductor switching element of a rotation drive control means for driving the rotating machine is generated using the estimated rotor position.   9. The rotation according to claim 8, wherein a resistance of the stator winding is calculated using a voltage command value for the stator winding and a current detection value of the stator winding detected by a current detecting means. Machine control method. A rotating machine that generates a rotational driving force for performing washing, rinsing and dewatering operations;
A washing machine comprising the rotating machine control device according to any one of claims 1 to 7, which controls the rotating machine.

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