JP2007054088A - Motor driving device of washing and drying machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor driving device of a washing and drying machine which simultaneously drives a plurality of motors and driving one motor in a sine wave without sensor. <P>SOLUTION: The AC power of a AC power source 1 is converted to DC power by a rectifying circuit 2; the DC power is converted to AC power by a first inverter circuit 3A and a second inverter circuit 3B; a rotary drum driving motor (a first motor) 4A driving a rotary drum 5 and a blower fan motor (a second motor) 4B driving a blower fan 6 blowing air into the rotary drum 5 are controlled by a control means 7 via the first inverter circuit 3A and the second inverter circuit 3B; and the control means 7 controls the blower fan motor 4B in a sine wave drive without a sensor, to eliminate the need for use of a positional sensor of the blower motor 4B. Thereby, the quiet, inexpensive and highly reliable motor driving device of the washing and drying machine can be obtained. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a motor driving device for a washing / drying machine in which a plurality of motors are simultaneously driven in a sine wave by a plurality of inverter circuits.

Conventionally, this type of washing / drying machine motor drive device includes a plurality of inverter circuits that respectively drive a plurality of motors, and the rotary drum and the blower fan are respectively rotated by the inverter circuit and the motor (for example, Patent Documents). 1).
JP 2002-166090 A

  However, such a conventional motor driving device for a washing and drying machine simultaneously includes an inverter circuit that drives a first motor that rotationally drives a rotary drum and an inverter circuit that drives a second motor that rotationally drives a blower fan. If it is attempted to control with one microcomputer, the motor control program task becomes very large, and there is a problem that the two inverter circuits cannot be controlled simultaneously with one microcomputer. In particular, when the first motor that drives the rotating drum is driven with a sine wave and the second motor that drives the blower fan is driven with a sensorless sine wave, the carrier frequency is set to an ultrasonic frequency to reduce noise. When two PulseWidthModulation (hereinafter abbreviated as PWM) controls are operated simultaneously, there is a problem that the motor control program becomes an overhead.

  The present invention solves the above-mentioned conventional problems, and controls the second motor by a sensorless sine wave drive method that does not estimate the rotor magnetic pole position, thereby reducing the motor control program task of the microcomputer. Low-vibration high-efficiency drive by simultaneously driving the blower fan with a sine wave, omitting the position sensor of the blower fan motor, reducing the number of parts by using a single microcomputer, and providing a low-cost and highly reliable washing and drying machine. The object is to realize a motor drive device.

  In order to solve the above-described conventional problems, the motor driving device for a washing and drying machine according to the present invention converts AC power of an AC power source into DC power using a rectifier circuit, and converts DC power into AC power using first and second inverter circuits. A control comprising at least one processor that converts electric power into a first motor that drives a rotary drum or a compressor for a heat pump and a second motor that drives a blower fan, a water supply pump, or a drainage pump that blows air into the rotary drum. The second motor is driven by a position sensorless sine wave.

  As a result, the rotating drum, the blower fan motor, or the water supply pump and the drainage pump are simultaneously driven with a sine wave, so that the noise is reduced and the number of parts can be reduced because it can be controlled by a single processor. By omitting the rotor magnetic pole position sensor of the motor, an inexpensive and highly reliable motor driving device for a washing / drying machine can be realized.

  The motor driving device of the washing and drying machine of the present invention can simultaneously drive sinusoidal motors driven by two or more inverter circuits by one processor, and can reduce vibration noise caused by the motors. Instead, since the motor position sensor can be omitted, it is possible to realize a low-noise, reliable and inexpensive motor driving device for a washing and drying machine.

  According to a first aspect of the present invention, there is provided an AC power source, a rectifier circuit that converts AC power of the AC power source into DC power, first and second inverter circuits that convert DC power of the rectifier circuit into AC power, Control means comprising at least one processor for controlling the first and second inverter circuits, wherein the control means drives the rotary drum of the washing dryer or the compressor of the drying heat pump by the first inverter circuit. A first motor is driven by a sine wave, and a second fan that drives a blower fan, a water supply pump, or a drainage pump that blows air into the rotary drum by the second inverter circuit is driven by a sine wave, The second motor is a motor driving device of a washing / drying machine which is driven by a position sensorless sine wave, and the sensor which does not estimate the position is used. Since the control program can be simplified by the less sine wave driving method, two or more motors can be driven sine wave at the same time by one processor, and at least one motor is driven by a sensorless sine wave. Therefore, it is possible to realize an inexpensive and highly reliable low noise washer / dryer motor drive device.

  According to a second aspect of the invention, the second motor of the motor driving device of the washing and drying machine according to the first aspect of the invention comprises a permanent magnet synchronous motor, and the control means detects the current or current phase of the second motor. The second motor is driven by a position sensorless sine wave, and a position sensorless sine wave drive can be performed by detecting a signal correlated to the rotor phase from the motor current or current phase. By omitting the position sensor, the motor configuration can be simplified.

  According to a third aspect of the present invention, the motor driving device for the washing / drying machine according to the first aspect includes current detection means for detecting the output current of the second inverter circuit, and the control means outputs the output current detected by the current detection means. The reactive current component with respect to the output voltage of the second inverter circuit is calculated, and the output voltage of the second inverter circuit is controlled according to the reactive current component. By controlling the value, the phase of the rotating magnetic field generated from the d axis of the rotor permanent magnet and the armature current can be controlled within a predetermined range, so that sensorless sine wave drive from rated load to no load is possible, and the position sensor is omitted. In addition to simplifying the motor configuration, motor control that is resistant to load fluctuations becomes possible.

  According to a fourth aspect of the invention, the control means of the motor driving device of the washing / drying machine according to the third aspect of the invention outputs the output of the second inverter circuit so that the reactive current component with respect to the output voltage of the second inverter circuit becomes a set value. The reactive current component set value is changed according to the motor load connected to the output side of the second inverter circuit or the motor set rotational speed by controlling the voltage, and invalid according to the load torque By setting the current component setting value optimally, the current phase can be set almost in phase with the q-axis phase, enabling stable rotation control without stepping out even at high torque loads, and reducing motor current for maximum efficiency operation. It becomes possible.

  According to a fifth aspect of the present invention, the motor driving device for the washing / drying machine according to the first aspect includes current detection means for detecting the output current of the second inverter circuit, and the control means outputs the output current detected by the current detection means. Then, an effective current component with respect to the output voltage of the second inverter circuit is calculated, and a load amount of the motor driven by the second inverter circuit is detected from the effective current component. Optimal control is possible by detecting the magnitude of the motor or the motor load state.

  According to a sixth aspect of the present invention, the control means of the motor driving device of the washing and drying machine according to the fifth aspect of the invention detects an effective current component from the output current of the second inverter circuit, and the second inverter circuit from the effective current component The load state of the second motor driven by the motor is detected, and the closed state of the fan motor, the clogging of the intake filter, the air clogging of the pump motor, the water supply, or the drainage completion can be detected. Usability can be improved by shortening or anomaly notification.

  A seventh invention is an AC power source, a rectifier circuit that converts AC power of the AC power source into DC power, first and second inverter circuits that convert DC power of the rectifier circuit into AC power, the first Control means comprising at least one processor for controlling the first and second inverter circuits, wherein the control means drives the rotary drum of the washing dryer or the compressor of the drying heat pump by the first inverter circuit. A first motor is driven by a sine wave, and a second motor that drives a blower fan that blows air into the rotating drum by the second inverter circuit, or a third motor that drives a water supply pump or a drainage pump is a sine wave. Switching the connection to the second motor and the third motor to the output side of the second inverter circuit. The second motor or the third motor is driven by a position sensorless sine wave by switching the switching means, and a plurality of motors are moved to a position sensorless sine by one inverter circuit. Because it can be driven by waves, it is possible to realize a small, low-vibration pump motor or fan motor using a high-efficiency permanent magnet synchronous motor without a position sensor, and a compact and inexpensive low-noise washer-dryer with fewer connection leads The motor drive device can be realized.

  According to an eighth aspect of the invention, the control means of the motor driving device for the washing and drying machine according to the seventh aspect of the invention provides an output of the second inverter circuit such that the reactive current component with respect to the output voltage of the second inverter circuit becomes a set value. The reactive current component set value or the control gain is changed according to the second motor or the third motor connected to the output side of the second inverter circuit by controlling the voltage. By optimizing the reactive current component setting value or control gain according to the motor connected to the inverter circuit of 2, the current phase can be set almost in phase with the q-axis phase and stabilized, so the motor or motor load changes However, stable rotation control is possible without stepping out, and maximum efficiency operation is possible by reducing the motor current.

  According to a ninth aspect of the invention, the control means of the motor driving device of the washing / drying machine according to the seventh aspect of the invention starts up with a constant ratio of the output voltage to the output frequency of the second inverter circuit. The starting time or the initial applied voltage is changed according to the second motor or the third motor connected to the output side, and the starting control such as a pump load or a fan load with a small starting torque is Stable startup is possible by changing the startup time or initial applied voltage according to the motor torque and moment of inertia, and only the initial setting parameters of the startup program need be changed, so that the startup program can be shared and the motor control program can be simplified Can do.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Embodiment 1)
FIG. 1 is a block diagram of a motor driving device for a washing / drying machine according to a first embodiment of the present invention.

  In FIG. 1, AC power is applied from an AC power source 1 to a rectifier circuit 2 composed of a full-wave rectifier circuit 20 and an electrolytic capacitor 21 to be converted into DC power, and is converted by a first inverter circuit 3A and a second inverter circuit 3B. Then, the DC power is converted into the three-phase AC power, and the rotary drum drive motor (first motor) 4A and the blower fan motor (second motor) 4B are driven. The first inverter circuit 3A drives the rotary drum drive motor 4A to drive the rotary drum 5, and the second inverter circuit 3B drives the blower fan motor 4B to drive the blower fan 6 to rotate. Warm air or cold air is blown into the drum 5 to dry the clothes in the rotating drum 5.

  The rotary drum drive motor 4A and the blower fan motor 4B are each composed of a permanent magnet synchronous motor. The rotor position sensor 40a for detecting the rotor position of the rotary drum drive motor 4A outputs a rotor position signal for every 60 degrees of electrical angle corresponding to the rotor magnetic pole position, and the rotary drum drive motor 4A is synchronized with the rotor position signal. Sine wave driven. On the other hand, the blower fan motor 4B has no rotor position detecting means, and the blower fan motor 4B is rotationally controlled by position sensorless sine wave drive.

  The control means 7 controls the inverter circuits 3A and 3B, and is a first three-shunt current detection means connected to the emitter terminal of the lower arm switching transistor (not shown) of the first inverter circuit 3A. 70A, a 3-shunt type second current detection means 70B connected to the emitter terminal of the lower arm switching transistor (not shown) of the second inverter circuit 3B, and a direct current for detecting the direct current voltage of the rectifier circuit 2 Voltage detection means 71 and inverter control means 72 for controlling inverter circuits 3A and 3B based on the rotor position signal of rotor position sensor 40a, output signals Isa and Isb of current detection means 70A and 70B and the output signal of DC voltage detection means 71, respectively. It is comprised by.

  The inverter control means 72 is a microcomputer incorporating a plurality of PWM control means and high-speed A / D conversion means for PWM control of the inverter circuits 3A and 3B, or a high-speed processor such as a digital signal processor (hereinafter abbreviated as DSP). The first inverter circuit 3A and the second inverter circuit 3B are simultaneously controlled by one high-speed processor, and the rotary drum drive motor 4A and the blower fan motor 4B are controlled at different rotational speeds.

  The first inverter circuit 3A performs vector control of the rotating drum drive motor 4A, detects the position of the rotor permanent magnet by the position sensor 40a of the rotating drum drive motor 4A, and rotates the rotating drum by the first current detection means 70A. The phase current of the drive motor 4A is detected, coordinate-converted into a vector in the q-axis direction perpendicular to the d-axis direction of the rotor permanent magnet (dq conversion), and the rotary drum drive motor 4A is vector-controlled. Further, when the rotary drum drive motor 4A is a surface magnet motor, it is also possible to omit the current detection means 70A by open loop vector control without current detection and obtain and control the current value by calculation.

  The second inverter circuit 3B drives the blower fan motor 4B by a position sensorless sine wave, and controls the current by flowing a sine wave current through the blower fan motor 4B. The ratio of the motor induced voltage and the applied voltage, that is, Since the induced voltage is proportional to the motor rotation speed, stabilization control is performed by controlling the ratio of the applied voltage and the drive frequency by the motor current. In particular, since the rotational speed of the permanent magnet synchronous motor is determined by the driving frequency f, when the driving frequency f is constant, the rotational speed of the blower fan motor 4B is constant regardless of the power supply voltage fluctuation and the load fluctuation.

  FIG. 2 is a block diagram of the inverter circuit control means 72 for controlling the second inverter circuit 3B in the first embodiment of the present invention, and FIG. 3 shows a control vector diagram thereof. The UVW phase signals veu, vev, and ve detected by the three-shunt current detection means 70B are input to the high-speed A / D conversion means 700, and the high-speed A / D conversion means 700 receives the current signals Iu, Iv corresponding to the respective phase currents. , Iw is added to the 3-phase / 2-phase / bus axis coordinate transformation means 701. The three-phase / 2-phase / bus axis coordinate conversion means 701 converts the three-phase current into the two-phase current, and then converts the coordinates to the inverter output voltage axis (bus axis). And the reactive current component Ir.

  The control vector diagram of FIG. 3 shows the relationship between the rotor rotation axis (dq axis) and the inverter output voltage axis (ar axis) in the surface magnet motor, and the motor current I is in the same direction axis as the inverter output voltage Va ( a-axis) component Ia and r-axis component Ir perpendicular to the inverter output voltage axis (a-axis), the phase of current I and voltage Va is φ (power factor angle), and the phase of current I from q-axis is The phase (internal phase difference angle) of γ, voltage Va and induced voltage Em is δ. In the surface magnet motor, stable rotation control can be performed by controlling the reactive current Ir so that the current phase γ is slightly delayed from the q axis. When the load fluctuation is small, the effective current Ia, the ratio (power factor) between the reactive current Ir and the effective current Ir, or the power factor angle φ may be controlled. Further, since the effective current Ia is substantially equal to the q-axis current Iq and the reactive current Ir is substantially equal to the d-axis current Id, the vector control may be performed by regarding the ra axis as the virtual dq axis.

  The reactive current component output signal Ir from the three-phase / 2-phase / bus axis coordinate conversion means 701 and the reactive current setting signal Irs output from the driving condition setting means 702 via the reactive current setting means 703 are sent to the current comparison means 704. In addition, the current comparison means 704 outputs an error signal ΔIr between Irs and Ir and applies it to the error signal calculation means 705. The error signal calculation means 705 performs a proportional integral calculation on the error signal ΔIr and outputs a voltage correction signal ΔVa. The drive condition setting means 702 outputs the motor drive condition corresponding to the rotation speed and load torque as described above, sets the drive frequency f via the open loop rotation speed setting means 706, and sets V / f. The means 707 sets an applied voltage corresponding to the drive frequency f, thereby setting a ratio between the motor applied voltage and the drive frequency, a so-called V / f value, and outputs it to the output voltage correcting means 708.

  The output voltage correction means 708 multiplies the induced voltage Em obtained from the rotational speed N and the induced voltage constant Ke by a predetermined coefficient (applied voltage constant kr) and adds the voltage correction signal ΔVa to obtain the inverter output voltage Va from Equation 2. The output voltage signals vu, vv, and vw of each phase of UVW are calculated according to Equation 3 by the 2-phase / 3-phase / bus axis coordinate reverse conversion means 709. Formula 2 is an applied voltage control equation. As shown in Formula 2, the voltage correction signal ΔVa is obtained by multiplying the error signal ΔIr between the reactive current setting value Irs and the reactive current detection value Ir by the proportionality constant Kp and the error signal ΔIr. It is obtained from the sum of values obtained by multiplying the integral value by the integral constant Ks. The initial applied voltage Vs shown in Formula 2 is a motor applied voltage at the start of startup, and is started with the proportionality constant Kp and the integral constant Ks set to zero at startup. Therefore, at the initial startup of N = 0, the initial applied voltage Vs is Applied. In other words, the motor is controlled by the same equation at the time of startup and at the time of steady state, and various motors or motor loads can be controlled only by changing control parameters such as the reactive current set value Irs and the control gains Kp and Ks.

  The r-axis voltage component Vr of the inverter output voltage axis (a-r axis) is zero, and Equation 3 has a feature that the calculation is simple because only Va needs to be calculated. The PWM control means 710 performs PWM control corresponding to the sine wave output voltage, modulates with a triangular wave carrier signal having an ultrasonic frequency, and outputs an inverter control gate signal GB for controlling the six switching transistors. The DC voltage detecting means 71 detects the DC voltage Edc of the rectifier circuit 2 and controls the modulation degree M of the PWM control means 710, and controls the modulation degree M in inverse proportion to the DC voltage Edc to thereby provide a DC power supply. Even if the voltage fluctuates, a constant inverter output voltage can be obtained, and irregularity and step-out due to voltage fluctuation can be prevented. That is, the output voltage Vo of the sine wave drive is expressed by Equation 4, and if the modulation degree M is constant, the output voltage varies in proportion to the DC voltage Edc. Therefore, as shown in Formula 5, a constant output can be obtained by converting the modulation degree M to M1 in accordance with the ratio of the DC voltage Edc to the reference DC voltage Eds.

  The start control means 711 performs start control at the start of the start, that is, the start control from the rotation speed zero to the set rotation speed. As described above, the start time ts from the start of the start to the predetermined rotation speed is set, the initial The applied voltage Vs is set, the proportionality and integral gains Kp and Ks are set to zero, and the drive frequency f and the applied voltage Va are linearly raised and controlled.

  The load amount detection means 712 detects the motor load torque or the motor load state, and detects the load state by detecting the load torque from the effective current Ia. Alternatively, the power factor angle φ may be obtained from Ia and Ir, and the load amount may be determined from the internal phase difference angle δ and the phase γ from the q axis.

  The inverter output voltage control is performed so that the reactive current Ir becomes the set value Irs, that is, the feature of the constant reactive current control method is that the power factor angle φ or the internal phase difference angle δ is loaded even when the driving frequency is constant. The point is that it changes automatically according to the fluctuation and operates stably. That is, similar to the constant voltage driving of the synchronous motor, the current phase γ from the q axis is automatically changed according to the load at a constant rotation speed.

  4 is a characteristic diagram of torque current, power factor angle φ, and current phase γ from the q axis in constant reactive current control, and FIG. 5 is a characteristic diagram of torque current, motor current Io, and effective current Ia in constant reactive current control. . FIG. 4 shows the characteristic that the current phase γ from the q-axis approaches zero as the torque current increases, and FIG. 5 shows the characteristic that the effective current Ia increases as the torque current increases. The phase φ or the current Io changes little with respect to the torque change, and the phase γ or the effective current Ia changes almost linearly with respect to the load. Therefore, the load is larger than the effective current Ia or the current phase γ from the q axis. It can be detected.

  The constant reactive current system enables stabilization control by integrating and controlling the error signal ΔIr between the reactive current Ir and the reactive current set value Irs, and operates stably even with respect to load fluctuations from the rated load to no load. Therefore, even if the discharge port of the blower fan is blocked by clothing or the clothing inside the rotating drum 5 is full and there is almost no air flow, there is a feature that the current decreases and operates stably. However, in the case of the constant effective current method, if the driving frequency is fixed, the control performance with respect to the load fluctuation is lowered, and if the discharge port is blocked, the motor current greatly increases to increase the effective current, resulting in an overcurrent. There are challenges. Therefore, when the effective current Ia is controlled by the rotational speed control, it is necessary to perform a minor loop control of the effective current in the rotational speed control as in the vector control. However, the point that the load torque can be detected from the effective current Ia remains the same.

  As described above, the position sensorless sine wave driving method according to the present invention decomposes the inverter circuit output current into the current vector Ir in the same direction as the applied voltage and the current vector Ir perpendicular to the applied voltage so that the reactive current Ir becomes a predetermined value. Since the applied voltage is controlled, it is possible to control with less motor parameters without estimating the rotor magnetic pole position, the control program becomes very simple, and sensorless sine wave drive with high efficiency, low vibration and low noise can be easily realized. In addition, since it is controlled by the same control equation during start-up control and steady state, it has a feature that the program capacity is small and the motor control overhead is very small compared to the control program of the conventional position sensorless sine wave drive method. Thus, the two motors can be driven sine wave simultaneously. In particular, in a washing and drying machine, it is necessary to reduce the noise for indoor use, and since the carrier frequency is set to an ultrasonic frequency, in order to finish the motor control task within about half the time of the carrier cycle, In order to execute a program by such a control method, an ultra-high speed processor is required. However, according to the present invention, the burden on the processor is very light and one processor and two inverter control can be realized with an inexpensive processor.

(Embodiment 2)
FIG. 6 shows a block diagram of the motor driving device of the washing / drying machine according to the second embodiment of the present invention. The same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  In FIG. 6, a switching means 8 constituted by a relay is provided on the output side of the inverter circuit 3B, and drives either the second motor 4B or the third motor 4C. The second motor 4B is a blower fan motor as in the first embodiment of FIG. 1, and the third motor 4C is a drainage pump, and is connected to the second motor side by the switching means 8 during the drying operation. The blower fan motor 4B or the drainage pump motor is driven by one inverter circuit by driving the blower fan motor so that the output voltage of the second inverter circuit 3B is applied to the drainage pump motor 4C side during washing or dewatering operation. 4C can be driven alternately. The drain pump motor 4C may be replaced with a bath water feed pump motor. Further, a switching means 8B (not shown) may be further provided on the output side of the switching means 8, and the drainage pump motor and the bath water feed pump motor may be switched alternately.

  The control means 7A controls the inverter circuits 3A and 3B and the motors 4A and 4B or the motors 4A and 4C at the same time. The control signal Sr of the switching means 8 is added to the first embodiment, and the control program is changed and added. It is a thing.

  7 to 9 are flowcharts showing a method of driving the fan motor 4B and the pump motor 4C by the inverter circuit 3B. FIG. 7 is a main flowchart of motor control, FIG. 8 is a flowchart of a carrier signal interruption subroutine, and FIG. 9 is a flowchart of a rotation speed control subroutine.

  In FIG. 7, the motor control program starts in step 100, and in step 101, it is determined whether the pump motor drive setting or the blower fan motor drive setting. If the pump motor drive setting, the process proceeds to step 102 to start control. And set various parameters for steady control. As will be described later in detail, the parameters of the start control are a start-up start-up time ts, an initial applied voltage Vs and an applied voltage constant kr for linearly changing the drive frequency up to the set rotational speed, and a proportional constant Kp and an integral constant Ks. Is set to zero. As shown in Expression 2, the parameters of the steady control are the applied voltage constant kr, the induced voltage constant Ke, the set frequency fo, the reactive current set value Irs corresponding to the set frequency fo, the proportional gain Kp, and the integral gain Ks. The relationship between the torque current Iq and the reactive current Ir can be obtained from Equation 6.

  Here, kr is an applied voltage constant (kr = Va / Em) as a ratio between the motor induced voltage Em and the applied voltage Va, and kx is a motor constant (kx = Em / ωL) as a ratio between the coil impedance ωL and the induced voltage Em. The delay phase γ from the q axis can be set by the reactive current set value Irs. If the torque current Iq is known, the reactive current set value Irs may be obtained by calculation, or the result calculated in advance may be stored in the ROM table in association with the rotational speed N and the reactive current set value Irs.

  FIG. 10 is a control characteristic diagram of the reactive current set value Irs with respect to the rotational speed N. In FIG. 10, If indicates a setting in the case of a fan motor, and Ip indicates a setting example in the case of a pump motor. In the case of a fan or pump load, the torque increases due to the square of the rotational speed. Therefore, the torque current Iq corresponding to the rotational speed may be obtained, and the reactive current set value Irs may be obtained by calculation.

  Returning to FIG. 7, the presence or absence of the activation control flag is confirmed in step 104, and if it is activated, the operation proceeds to step 105 to execute the activation control subroutine.

  FIG. 11 shows a start control timing chart and shows a start control method of the applied voltage Va and the drive frequency f at the start. In the case of a fan motor, the applied voltage Vab rises linearly from the initial applied voltage Vsf to the start-up rise time tsb, and the drive frequency fb rises linearly from zero to the set rotation speed with respect to the start-up time. After the startup start-up time tsb, the applied voltage is controlled so that the drive frequency becomes a constant value (fbo) and becomes the reactive current set value. Therefore, the applied voltage Vab varies depending on the load state. The pump motor is similarly controlled, and the initial applied voltage is set to Vsp, the startup start-up time is set to tsc, and the steady drive frequency fo is set to fco. The change Δδ of the internal phase difference angle δ at the time of startup is expressed by Equation 7.

  In Equation 7, kω is the rate of change of angular velocity at start-up, kt is the rate of change of torque with respect to drive frequency, J is the moment of inertia of the load and rotor, Pf is the number of pole pairs, and ωn is the natural frequency of the system Yes. From Equation 7, it can be seen that if the angular velocity change rate kω and the torque change rate kt with respect to the drive frequency are reduced, the internal phase difference angle change rate Δδ can be reduced, so that stable startup is possible as the startup startup time ts is increased.

  Returning to FIG. 7, the process proceeds to step 106 to determine whether or not there is a carrier signal interrupt. If there is a carrier signal interrupt, the carrier signal interrupt subroutine of step 107 is executed, and then the process proceeds to step 108 to execute the rotation speed control subroutine. . Next, the routine proceeds to step 109, where the load amount is determined by determining the magnitude of the effective current Ia. The routine proceeds to step 110, where it is determined whether the load state is low load. In step 111, the motor drive is stopped, in step 112, the motor drive stop flag is turned on. In step 113, the motor drive program is returned.

  FIG. 8 shows a detailed flowchart of the carrier signal interrupt subroutine.

  In step 200, the carrier signal interrupt subroutine starts. In step 201, the electrical angle θ is calculated, and then in step 202, the motor currents Iu, Iv, Iw are detected by the high-speed A / D converter. Next, the process proceeds to step 203 to perform three-phase / two-phase / bus axis coordinate conversion to obtain the effective current Ia and the reactive current Ir. Then, the process proceeds to step 204, where Ia and Ir are stored in the RAM. Then, the power factor angle φ is obtained from Equation 8 and stored in the RAM.

  Next, the process proceeds to step 206, and the applied voltage Va and the inverter DC voltage Edc are called, and the process proceeds to step 207 to calculate the 2-phase / 3-phase / bus axis coordinate reverse conversion, and the process proceeds to step 208, and the sine is applied to the motor by PWM control. The wave voltage is applied, the process proceeds to step 209, and the subroutine is returned.

  FIG. 9 is a detailed flowchart of the rotation speed control subroutine. In step 300, the rotation speed control subroutine starts. In step 301, the DC voltage Edc is detected and stored, and in step 302, the set drive frequency is called. The process proceeds to step 303 to call the reactive current set value Irs, then proceeds to step 304 to call the reactive current Ir, then proceeds to step 305 to call the applied voltage constant kr, and proceeds to step 306 to determine the error between Irs and Ir. The signal ΔIr is proportionally integrated to obtain the voltage correction signal ΔVa. The process proceeds to step 307, the inverter output voltage Va is obtained from the control equation of expression 2, the process proceeds to step 308, Va is stored in the RAM, and the process proceeds to step 309. To return.

  FIG. 12 shows a PWM cycle and current detection timing chart of each inverter circuit of the motor drive apparatus of the second embodiment, and an inverter circuit 3A for controlling the rotating drum driving motor 4A and an inverter circuit for controlling the blower fan motor 4B. The relationship between the carrier signals Ca and Cb and the PWM output signals GA and GB with respect to 3B and the A / D conversion timings Dia and Dib is shown. The carrier frequencies of the rotary drum driving motor 4A and the blower fan motor 4B are set to an ultrasonic frequency of 15 kHz or more for noise reduction. The output setting signal Vai of the inverter circuit 3A and the carrier signal Ca are compared, and if Vai is high, the upper arm output signal Gpa is set high, and if it is low, Gpa is set low and the lower arm output signal Gna is set high. The output setting signal Vbi of the inverter circuit 3B and the carrier signal Cb are compared, and if Vbi is high, the upper arm output signal Gpb is set high, and if it is low, the lower arm output signal Gnb is set high. Dia and Dib are A / D conversion timing signals, respectively. As shown in the figure, the peak values of the triangular wave carrier signals Ca and Cb are synchronized, and the output signals Vsa and Vsb from the current detection means 70A and 70B are A / D converted during the lower arm transistor conduction period of the inverter circuits 3A and 3B. This makes it possible to detect current without being affected by switching noise. The voltage limit signal Vm sets a lower limit value of the lower arm conduction pulse width, and is set so that the lower arm conduction pulse width becomes longer than the A / D conversion time. Similarly, the inverter circuit 3A requires a lower arm conduction pulse width limiter, but is omitted in the second embodiment. The A / D conversion overhead can be reduced by alternately performing the inverter circuits 3A and 3B at the peak value of the triangular wave carrier signal. If the processing speed of the processor is sufficient, the current may be detected by A / D converting the inverter circuits 3A and 3B simultaneously.

(Embodiment 3)
FIG. 13 shows a block diagram of a motor driving device of a washing / drying machine according to the third embodiment of the present invention. The same components as those in the first embodiment and the second embodiment are denoted by the same reference numerals and description thereof is omitted.

  In FIG. 13, a compressor, a condenser 9, an evaporator 10, and the like that compress the refrigerant gas for heat exchange are built in a circulation path that connects the rotary drum 5 and the blower fan 6. Is formed. AC power is applied to the rectifier circuit 2 composed of the full-wave rectifier circuit 20 and the electrolytic capacitor 21 from the AC power source 1 and converted into DC power, and the DC power is converted into three-phase AC power by the inverter circuits 3A, 3B, and 3C. To drive the motors 4A, 4B, 4C, 4D. In the second embodiment, an example of one electrolytic capacitor is shown, but a full-wave voltage doubler rectifier circuit system using a plurality of electrolytic capacitors is practical. Although the choke coil is not shown, it is actually necessary to reduce the voltage ripple and reduce the harmonics.

  The first inverter circuit 3A drives the rotary drum drive motor 4A to drive the rotary drum 5, and the second inverter circuit 3B drives the blower fan motor 4B to rotate the blower fan 6 or the pump motor 4C. The third inverter circuit 3C drives the compressor motor 4D that drives the compressor for the heat exchange refrigerant that constitutes the heat pump.

  The hot air heater method in which hot air is blown into the rotating drum 5 by a sheathed heater or a ceramic heater (not shown) is very poor in thermal efficiency, so that it can be dried by collecting outside air heat or dry exhaust heat using a heat pump. Efficiency can be increased. In the heat pump cycle, since the condenser 9 releases heat on the high temperature side and the evaporator 10 absorbs heat on the low temperature side, the heat of the condenser 9 provided on the discharge side of the blower fan 6 is transferred into the rotary drum 5. The air is forcibly blown, dehumidified and recovered by the heat exchanger of the evaporator 10 provided on the exhaust side of the rotating drum 5, and warm air is again sent into the rotating drum 5 by the blower fan 6 through the heat exchanger of the condenser 9. Blow. Usually, the compressor and motor which compress refrigerant gas are united. In FIG. 13, a refrigerant gas piping path, an expansion valve, and the like are not shown.

  The compressor motor 4D needs to be driven by a sensorless sine wave as a countermeasure against low noise, and a method of estimating the position by detecting the motor phase current by the third current detection means 70C is generally used. However, the method in which the blower fan motor 4B drive inverter circuit 3B and the compressor motor 4D drive inverter circuit 3C are driven by position estimation by one processor has a large program capacity and an upper limit on the execution speed, and the blower fan motor 4B. It is possible to use a method in which a position sensor is provided for driving. However, since the burden on the processor can be greatly reduced by the reactive current constant control method according to the present invention, the blower fan motor 4B and the compressor motor 4D can be simultaneously driven by sensorless sine waves, and the number of parts can be reduced by omitting the position sensor from the motor. Thus, not only can the motor be controlled at a low cost, but also the fan motor rotational speed fluctuation can be eliminated. In addition, the inverter circuits 3A, 3B, and 3C can be simultaneously driven by one processor.

  The control means 7B controls the inverter circuits 3A, 3B, 3C and the motors 4A, 4D and the motor 4B or 4C at the same time by one or two processors. The position signal Ha of the position sensor 40a, the current detection means 70A, 70B. , 70C output signals Vsa, Vsb, Vsc and DC voltage detection means 71 are added to inverter control means 72B to control the motor drive. The inverter control means 72B is composed of a microcomputer incorporating a plurality of high-speed A / D conversion means and a plurality of PWM control means, or one or two high-speed processors such as a DSP, in order to control three motors. The The high-speed processor includes a blower fan motor 4B, a compressor motor 4C, one for heat pump cycle control including a condenser 8 and an evaporator 9, a rotary drum drive motor 4A for driving the rotary drum 5, various control valves, It is most reasonable to configure two motors, one for motor control. However, as shown in the first or second embodiment, the blower fan motor 4B and the rotary drum drive motor 4A for driving the rotary drum 5 are controlled by one processor, and the compressor motor 4C is controlled by another processor. May be. Further, by further increasing the processor speed and driving the blower fan motor 4B and the compressor motor 4D by constant reactive current control, the rotating drum drive motor 4A, the blower fan motor 4B, and the compressor motor 4D are simultaneously operated by one processor. It is also possible to drive.

  As described above, according to the first, second, and third embodiments, the drying fan motor 4B, the drainage pump motor or the bath water pump 4C, or the heat pump that is operated simultaneously with the rotary drum driving motor 4A of the washing and drying machine. High efficiency, low vibration and low noise can be realized easily by driving the compressor motor 4D of the cycle with sensorless sine wave drive by reducing the program task by the constant reactive current method. Multiple inverter circuits can be driven simultaneously by one processor. Therefore, the number of components such as lead wires, vibration-proof components, processors, and their peripheral circuits can be reduced, and the position sensor can be omitted from the motor, so that an inexpensive and highly reliable motor driving device for a washing and drying machine can be realized.

  In particular, the blower fan motor blows warm air into the rotating drum, which increases the temperature around the motor, causing the problem of exceeding the heat resistance temperature of semiconductor components such as Hall ICs provided inside the motor. By driving, the motor current and vibration can be reduced, and the semiconductor components built in the motor can be omitted, so that the temperature rise of the motor can be reduced and the heat resistance can be increased, and an inexpensive motor with high efficiency and high reliability can be realized.

  In addition, the motor control method in this embodiment is open loop frequency control without a frequency control loop, and there is almost no rotation speed fluctuation, so that interference between inverters can be reduced and fluctuations in rotation speed due to power supply voltage fluctuations can be eliminated. it can.

  As described above, the motor driving device of the washing / drying machine according to the present invention can greatly reduce the program task of the processor, has few motor control parameters, and various motors and motor loads fluctuate only by changing a few control parameters. However, it is suitable for driving multiple inverter circuits with one processor, or when driving multiple motors alternately or sequentially with one inverter circuit. The present invention can also be applied to applications such as simultaneous driving of a compressor motor and a cooling motor in an outdoor unit, simultaneous driving of a blower fan motor and a wind direction control motor in an indoor unit of an air conditioner, and a large refrigerator that drives a plurality of compressor motors simultaneously.

Block diagram of motor drive device of washing and drying machine in Embodiment 1 of the present invention Block diagram of inverter circuit control means of the motor drive device Control vector diagram of the motor drive device Characteristics diagram of phase φ and γ with respect to torque current of the motor drive device Characteristics diagram of currents Io and Ia with respect to torque current of the motor drive device Block diagram of a motor driving device of a washing and drying machine in Embodiment 2 of the present invention Flow chart of motor control program of the motor drive device Flowchart of carrier signal interrupt subroutine of the motor drive device Flowchart of rotation speed control subroutine of the motor drive device Control characteristic diagram of reactive current set value with respect to rotation speed of motor drive device Start-up control timing chart of the motor drive device Timing chart of PWM cycle and current detection timing of each inverter circuit of the motor drive device Block diagram of a motor driving device for a washing and drying machine in Embodiment 3 of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 AC power supply 2 Rectifier circuit 3A 1st inverter circuit 3B 2nd inverter circuit 4A Rotary drum drive motor (1st motor)
4B Blower fan motor (second motor)
5 Rotating drum 6 Blower fan 7 Control means

Claims (9)

AC power supply, rectifier circuit that converts AC power of the AC power supply into DC power, first and second inverter circuits that convert DC power of the rectifier circuit into AC power, and the first and second inverters Control means comprising at least one processor for controlling the circuit, the control means sine the first motor for driving the rotary drum of the washing dryer or the compressor of the drying heat pump by the first inverter circuit. A sine-wave drive of a second motor that drives a fan, a water supply pump, or a drainage pump that is wave-driven and blown into the rotating drum by the second inverter circuit, wherein the second motor is positioned A motor driving device for a washing / drying machine driven by a sensorless sine wave. The second motor is constituted by a permanent magnet synchronous motor, and the control means detects the current or current phase of the second motor so that the second motor is driven by a position sensorless sine wave. Item 2. A motor driving device for a washing and drying machine according to Item 1. Current detecting means for detecting an output current of the second inverter circuit, and the control means calculates a reactive current component for the output voltage of the second inverter circuit from the output current detected by the current detecting means; The motor driving apparatus for a washing / drying machine according to claim 1, wherein an output voltage of the second inverter circuit is controlled in accordance with a reactive current component. The control means controls the output voltage of the second inverter circuit so that the reactive current component with respect to the output voltage of the second inverter circuit becomes a set value, and the motor is connected to the output side of the second inverter circuit The motor driving apparatus for a washing / drying machine according to claim 3, wherein the reactive current component set value is changed in accordance with a load or a motor set rotational speed. Current detection means for detecting the output current of the second inverter circuit, the control means calculates an effective current component for the output voltage of the second inverter circuit from the output current detected by the current detection means, The motor driving apparatus for a washing / drying machine according to claim 1, wherein a load amount of a motor driven by the second inverter circuit is detected from an effective current component. The control means detects an active current component from an output current of the second inverter circuit, and detects a load state of a second motor driven by the second inverter circuit from the effective current component. The motor driving device of the washing / drying machine according to 5. AC power supply, rectifier circuit that converts AC power of the AC power supply into DC power, first and second inverter circuits that convert DC power of the rectifier circuit into AC power, and the first and second inverters Control means comprising at least one processor for controlling the circuit, the control means sine the first motor for driving the rotary drum of the washing dryer or the compressor of the drying heat pump by the first inverter circuit. A second motor that drives a wave and drives a blower fan that blows air into the rotary drum by the second inverter circuit, or a third motor that drives a water supply pump or a drainage pump. And a switching means for switching the connection to the second motor and the third motor on the output side of the second inverter circuit, Serial switching means by switching the washing dryer of a motor driving device and the second motor or the third motor is to be driven sensorless sine wave. The control means controls the output voltage of the second inverter circuit so that the reactive current component with respect to the output voltage of the second inverter circuit becomes a set value, and is connected to the output side of the second inverter circuit. The motor driving apparatus for a washing and drying machine according to claim 7, wherein the reactive current component set value or the control gain is changed in accordance with the second motor or the third motor. The control means starts with the ratio of the output voltage to the output frequency of the second inverter circuit constant, and starts according to the second motor or the third motor connected to the output side of the second inverter circuit. The motor driving device for a washing and drying machine according to claim 7, wherein the time or the initial applied voltage is changed.