JP2007236585A - Washing machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce vibration and noise due to unbalance and shorten a dewatering time by estimating and compensating an unbalance amount. <P>SOLUTION: This washing machine is provided with a vibration detecting means detecting vibration of a receiving cylinder 13, an unbalance amount estimation means estimating an unbalance amount according to an output of the vibration detecting means in a state capable of detecting a resonance characteristic of a support means, and a control means 22 controlling the driving of a motor 12. The control means 22 outputs a controlled variable based on the outputs of the vibration detecting means and the unbalance amount estimation means 21, can highly precisely estimate the unbalance amount in the dewatering, and reduce the unbalance amount by a motor rotating operation so as to reduce the vibration and noise due to the unbalance and shorten the dewatering. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a washing machine having a motor that generates a rotational driving force for rotating a washing tub in order to perform washing, rinsing, dehydration, and drying, and more particularly to a dehydration control device that performs dehydration at high speed. .

  Conventionally, as a drum type washing machine (conventional example 1), a motor rotating device that rotates a motor at high speed to perform centrifugal dehydration, and a vibration amplitude detecting device that is operated at a low speed so that the laundry rolls in the drum When the vibration amplitude detection device does not detect an amplitude greater than the allowable value continuously for at least one drum rotation cycle at low speed, the motor rotation device switches the drum rotation speed from low speed to high speed. (For example, refer to Patent Document 1).

  In addition, in the laundry dryer (conventional example 2), when excessive vibration of the drum due to the unbalance of the laundry is detected at the start of dehydration, the laundry unbalance is actively eliminated by controlling the rotation of the drum. In some cases, the rotation of the motor is controlled so that the dehydration process can be started quickly (see, for example, Patent Document 2).

  18A is a cross-sectional view showing the internal structure of the washing machine of Patent Document 2, and FIG. 18B is a block diagram of a control circuit of the washing machine. The second conventional example will be described below.

  When the amplitude of the drum 5 and the outer tub 2 becomes equal to or greater than an allowable value, the protrusion 14 provided on the upper portion of the outer tub 2 pushes the amplitude detection switch 15. When the amplitude detection switch is turned on, the signal is detected by the amplitude detection circuit 21 and input to the balance drive control device 24. When the amplitude detection switch 21 is ON, the balance drive control device 24 sends a control signal for stopping the drum rotation to the drum drive switching control device 25 to stop the motor.

  Next, a control signal for rotating the drum 5 forward for several seconds and then reversely rotating for several seconds is transmitted to the drum drive switching control device 25 to rotate the motor 7 forward and backward. Further, a control signal for rotating the drum 5 at a low speed is transmitted to the drum drive switching control device 25 to rotate the motor 7 at a low speed. Based on the above, the motor 7 is rotated at a high speed to enter the dehydration process.

  Further, as another conventional drum type washing machine (conventional example 3), when the motor rotation speed passes the resonance point in the dehydration start process, the rotation of dehydration is performed while suppressing the vibration by reducing the output torque. Some increase the number to the specified rotational speed (for example, see Patent Document 3).

  FIG. 19 is a speed profile of the drum rotation speed in the dewatering process of the drum-type washing machine of Patent Document 3. Hereinafter, a third conventional example will be described.

  At the time of dehydration starting to increase the rotation speed of the drum to the dehydration rotation speed, the period from the time when each rotation speed ω reaches ω1 exceeding the washing rotation speed ω0 to the resonance angular speed ωn corresponding to the resonance frequency, A balance dehydration process is provided in which the motor control is performed by gradually increasing the rotational speed of the drum, that is, by reducing the acceleration. As a result, the vibration caused by resonance at the start of dehydration is reduced, and low vibration and low noise in the dehydration process are realized.

  In addition, as another drum type washing machine (conventional example 4), there is one that detects the vibration of the outer tub and controls the rotation of the motor and the drum based on the output value (for example, patent document). 4).

  FIG. 20A is a block diagram of motor control of the drum type washing machine of Patent Document 4, and FIG. 20B is a configuration diagram of the drum type washing machine. Hereinafter, a fourth conventional example will be described.

  A vibration detection unit 1 that detects vibration of a receiving cylinder in which the drum is accommodated, a motor 3 that rotates the drum, and a dehydration that controls the number of rotations of the motor 3 according to the vibration level of the drum by the vibration detection unit during the dehydration process. A process control unit 2 is provided.

  When the dehydration process is started and the dehydration is started and the drum 5 starts to rotate, the vibration detection unit 21 housed in the vibration detection block 13 provided on the surface of the receiving tube 4 is brought into a balanced state of the cloth in the drum 5. The vibration of the corresponding receiving cylinder 4 is detected. The vibration detection unit 1 outputs an electrical signal corresponding to the vibration level, and the dehydration process control unit 22 controls the operation of the motor 3 according to the output signal. When the vibration level during high-speed dewatering is predicted to become very high, the set rotational speed during high-speed dewatering is automatically lowered to prevent generation of vibration and noise.

  In addition, as a centrifugal drainage device (conventional example 5) of another washing machine, there is a device in which the laundry is evenly distributed on the inner peripheral wall of the drum to reduce dehydration vibration (see, for example, Patent Document 5). .

  Fig.21 (a) is a block diagram of the washing machine of the said patent document 5, FIG.21 (b) is a block diagram of the control apparatus of the washing machine. The fifth conventional example will be described below.

  While the drum is rotating at a rotational speed at which the centrifugal force acting on the laundry in the drum is slightly larger than the gravity, the unbalanced load determination unit 16 detects fluctuations in the motor current detected by the motor current detection circuit 26. The magnitude of the eccentric load is judged from the amplitude value.

The rotational speed control unit 14 performs a balance adjustment operation when the uneven load is larger than a predetermined value. That is, since the pulse signal is input from the deceleration position instruction unit 162 when the unbalanced load comes before the highest position of the drum, the drum is instantaneously and rapidly decelerated based on the pulse signal. At this time, the centrifugal force becomes smaller than the gravity, and the overlapped laundry falls, and the laundry in the drum is almost evenly dispersed.
Japanese Patent Publication No. 50-16099 JP-A-3-289998 JP-A-4-282196 JP-A-5-154275 JP-A-9-290089

  However, in the dehydration process of the washing machine, vibration is generated due to unbalance of the laundry in the drum, and the resonance frequency of the drum support mechanism system is increased in the process of increasing the rotation speed in order to rotate the drum at high speed. When the rotation speed (rotation frequency) matches, there is a problem that large vibration and noise are generated.

  Further, there is a problem that the rotational speed cannot be increased to the dehydration rotational speed due to torque fluctuation due to vibration, and the dehydration time becomes long.

  In the first conventional configuration, the vibration amplitude of the drum is detected in a state where the laundry rolls in the drum, and the start of the high-speed rotation operation in the dewatering process is determined.

  However, the unbalance of the laundry in the drum occurs when the laundry sticks to the inner peripheral wall of the drum. For this reason, even when the vibration amplitude is detected at a low speed rotation where the laundry rolls as in the conventional example and the imbalance is predicted, the bias of the laundry changes when the laundry is stuck at the time of shifting to the high speed rotation. Therefore, imbalance cannot be detected with high accuracy. In other words, because the unbalance detection accuracy at low speed is low, there is a problem that large vibrations and noises are generated at the time of dehydration high-speed rotation start-up and steady state, and a problem that the rotation speed cannot be increased to the specification and the dehydration time becomes long Had.

  Further, in the second conventional configuration, the vibration amplitude at the time of dehydration activation is received, and the vertical vibration with respect to the allowable value is detected by ON / OFF with the switch at the upper part of the cylinder. In addition, when excessive vibration is detected, rotation is stopped and an unbalance correction operation is performed by a forward / reverse rotation operation.

  However, the unbalance correction operation is determined by ON / OFF with the vibration threshold, and the correction operation is the same even if the unbalance amount is different. Therefore, the correction is not optimal for unbalance, and there is a problem that time is required for unbalance correction.

  In the unbalance correction, after completion of one correction operation, the drive current is detected and it is determined whether the correction operation is performed again, and the rotation time and the rotation speed are changed. There is no mention of how to adjust accordingly. That is, since only the vibration amount is detected, there is a problem that it takes time to correct unbalance.

  Further, in the third conventional configuration, activation at the time of dehydration is performed using a rotational speed increase profile corresponding to the resonance frequency. As shown in FIG. 19, the vibration is reduced by reducing the acceleration only in the section of the rotational speed corresponding to the resonance frequency of the support mechanism system that supports the drum and the receiving cylinder, that is, by reducing the applied force.

  However, since the rotation speed at which the vibration due to resonance increases has a certain width, if the change in the rotation speed is slow, the vibration continues for a long time. In addition, when dehydration is started, there are three modes of resonance, and if all the sections are driven at a low acceleration, there is a problem that the dehydration time becomes long.

  In the fourth conventional configuration, as shown in FIG. 20, the vibration of the casing with respect to the housing is detected, and when the vibration is large, it is determined that the unbalance is large and the dehydration rotational speed is adjusted to be low. . In the embodiment, vibration is detected at 600 rpm.

  However, when the unbalance amount is large, a large vibration and noise are generated at a rotational speed corresponding to the resonance frequency of the support mechanism system at the time of starting, and there is a problem that increase of resonance vibration due to unbalance cannot be prevented. .

  Further, in the fifth conventional configuration, as shown in FIG. 21, the unbalance is detected by detecting the vibration at a rotational speed at which the centrifugal force acting on the laundry is slightly larger than the gravity. When an unbalance is detected, a rapid deceleration operation is performed while detecting the unbalance position, and the overlapped laundry is dropped to disperse the laundry almost evenly in the drum.

  However, although the overlapping laundry can be separated by the dropping operation, the laundry once twisted by the forward rotation operation at the time of washing cannot be loosened only by dropping, and the reverse rotation operation is necessary. That is, there is a problem that the unbalance correction of the twisted laundry is incomplete, or the correction operation requires time and the dehydration time becomes long.

  The present invention solves the above-described conventional problems by quantitatively detecting unbalance due to torsion of laundry with high accuracy and performing unbalance correction in accordance with the amount of laundry material and the amount of unbalance. An object of the present invention is to provide a washing machine capable of speeding up the correction operation and reducing vibration and noise due to resonance at the start of dehydration.

  In order to solve the above-described conventional problems, a washing machine of the present invention includes a washing tub for rotating laundry, a motor for rotating the washing tub, and a supporting means for housing the washing tub and housing the washing tub. An unbalance amount estimation for estimating an unbalance amount in accordance with an output of the vibration detection means in a state in which a resonance characteristic of the support means can be detected in a state in which a resonance characteristic of the support means can be detected. And a control means for controlling the driving of the motor. The control means outputs a control amount based on outputs of the vibration detection means and the unbalance amount estimation means.

  As a result, the amount of unbalance during dehydration can be reduced, and vibration and noise during dehydration start-up and steady state can be reduced.

  The washing machine of the present invention can detect the unbalance amount that is the bias of the laundry in the dehydration process with high accuracy, and can reduce the unbalance amount. Resonance characteristics can be adjusted, and vibration and noise associated with unbalance and resonance can be reduced. Therefore, high-speed dehydration with low vibration and low noise can be realized.

  A first invention includes a washing tub for rotating laundry, a motor for rotationally driving the washing tub, a receiving tube that accommodates the washing tub and is supported by a support means with respect to a housing, and the receiving tube Vibration detecting means for detecting vibration; unbalance amount estimating means for estimating an unbalance amount according to the output of the vibration detecting means in a state in which the resonance characteristic of the support means can be detected; and control for controlling driving of the motor And the control means can estimate the unbalance amount with high accuracy during dehydration by outputting the control amount based on the outputs of the vibration detection means and the unbalance amount estimation means, Since the unbalance amount can be reduced by rotating the motor, vibration and noise due to unbalance can be reduced and the dehydration time can be shortened.

  In the second invention, in particular, the control means of the first invention includes an unbalance correction means for executing forward / reverse inversion operation and pause operation during washing at a rotational speed at which centrifugal force applied to the laundry is smaller than gravity. Since the unbalance amount can be reduced by the motor rotation operation, the vibration and noise due to the unbalance can be reduced and the dehydration time can be shortened.

  In particular, the imbalance correction means according to the third invention is executed in a state where a predetermined amount of water is stored in the washing tub, thereby pushing down the laundry below the washing tub, Since the unbalance amount can be reduced, vibration and noise due to unbalance can be reduced and the dehydration time can be shortened.

  According to a fourth aspect of the present invention, in particular, the unbalance amount estimation means of the first aspect of the invention is less than the washing tub rotation speed corresponding to the resonance frequency of the support means, and the vibration detection of the receiving cylinder is performed at a rotation speed at which resonance vibration can be detected. By estimating the unbalance amount according to the vibration detection value, it is possible to estimate the unbalance amount with high sensitivity and high accuracy, thus reducing vibration and noise due to unbalance and shortening the dehydration time. can do.

  In the fifth invention, in particular, the vibration detecting means of the fourth invention is arranged between the housing and the receiving tube, and the unbalance amount estimating means is for the amount of vibration and the unbalance amount that are the outputs of the vibration detecting means. By having a storage means that stores a table representing the relationship, the unbalance amount can be estimated with higher accuracy than the vibration amount, so that vibration and noise due to unbalance can be reduced and dehydration time can be shortened. .

  In the sixth aspect of the invention, in particular, the unbalance amount estimation means of the fourth aspect of the invention has resonance estimation means capable of estimating the resonance frequency from the laundry substance amount and the vibration amount, so that the rotation corresponding to the resonance frequency is achieved. The speed increase can be accelerated in the vicinity of several numbers, and the resonance frequency countermeasure can be taken with high accuracy, so that vibration and noise due to unbalance can be reduced and dehydration time can be shortened.

  In the seventh aspect of the invention, in particular, the rotational speed estimated by the unbalance amount estimating means of the fourth aspect of the invention is the rotational speed corresponding to the resonant frequency at which the support means resonates and the washing tub vibrates in the front-rear direction. Since the unbalance amount can be estimated with high sensitivity and high accuracy, vibration and noise due to unbalance can be reduced and the dehydration time can be shortened.

  In the eighth aspect of the invention, in particular, the rotational speed estimated by the unbalance amount estimating means of the fourth aspect of the invention is the rotational speed corresponding to the resonance frequency at which the support means resonates and the washing tub vibrates in the vertical direction. Since the unbalance amount can be estimated with high sensitivity and high accuracy, vibration and noise due to unbalance can be reduced and the dehydration time can be shortened.

  In the ninth aspect of the invention, in particular, the number of revolutions estimated by the unbalance amount estimating means of the third aspect of the invention is the number of revolutions corresponding to the resonance frequency at which the support means resonates and the washing tub vibrates in the left-right direction. Since the unbalance amount can be estimated with high sensitivity and high accuracy, vibration and noise due to unbalance can be reduced and the dehydration time can be shortened.

  According to a tenth aspect of the invention, in particular, the control means according to the first aspect of the present invention is configured in accordance with the laundry substance amount, the estimated unbalance estimated amount, and a predetermined threshold value in the startup sequence for increasing the rotational speed up to the dehydrating rotational speed. By having an operation switching means for determining the speed of rotation to be increased, the amount of acceleration, and the execution of imbalance correction, the correction operation is performed only when the imbalance correction is indispensable. Since the balance correction operation can be minimized, vibration and noise due to unbalance can be reduced and the dehydration time can be shortened.

  In the eleventh aspect of the invention, in particular, the control means of the tenth aspect of the present invention includes a control parameter adjustment unit that calculates a moment of inertia according to the amount of laundry substance and the amount of unbalance and recalculates the control parameter. Since a control system according to the balance amount can be configured and vibration can be suppressed, vibration and noise due to unbalance can be reduced and dehydration time can be shortened.

  According to a twelfth aspect of the invention, in particular, the control means of the tenth aspect of the invention includes an unbalance correction parameter adjustment unit that changes the number of reverse rotation operations, the rotation speed, and the rotation acceleration of the correction operation in accordance with the laundry substance amount and the unbalance amount. Therefore, since an unbalance correction operation suitable for the amount of laundry and the amount of unbalance can be realized, vibration and noise due to unbalance can be reduced and the dehydration time can be shortened.

  In a thirteenth aspect of the invention, in particular, the operation switching means of the tenth aspect of the invention is configured to rotate up to a predetermined dehydration speed when the unbalance estimation amount is less than the first threshold based on at least two threshold values. If it is greater than or equal to the first threshold and less than the second threshold, the dehydration rotational speed is lowered to increase the rotation, and if it is greater than or equal to the second threshold, the unbalance correction means is operated without increasing the rotation. In such a case, the correction operation is performed only in combination with the rotation speed adjustment operation, so that the unbalance correction operation can be minimized, so that vibration and noise due to unbalance can be reduced and the dehydration time can be shortened.

  In the fourteenth aspect of the invention, in particular, the control means of the first aspect of the invention detects vibration at a rotational speed that is substantially equal to gravity when the centrifugal force applied to the laundry, and gently increases the rotational speed when it is below a preset activation threshold. If the centrifugal force applied to the laundry is higher than the gravity and stops rising at a speed at which the resonance characteristic can be detected, and if the vibration is detected again and below the preset dehydration switching threshold, the acceleration is increased and the speed is increased. Since the vibration detection and the unbalance estimation are performed a plurality of times and the unbalance can be estimated with high accuracy, the vibration and noise due to the unbalance can be reduced and the dehydration time can be shortened. it can.

  In a fifteenth aspect, the control means according to the fourteenth aspect shortens the rotation time at the rotation speed corresponding to the resonance frequency by increasing the rotation speed acceleration only in the vicinity of the rotation speed corresponding to the resonance frequency of the support means. Therefore, vibration and noise due to unbalance can be reduced and the dehydration time can be shortened.

  In a sixteenth aspect of the invention, the control means of the fourteenth aspect of the invention adjusts the control band of the motor in accordance with the rotational speed, and controls the vibration associated with the rotation so that the control band during dehydration is higher than the rotation frequency. By setting the rotation frequency to be able to be performed, vibration due to rotation during washing and drying is not amplified by the controller, so that vibration and noise due to imbalance can be reduced and the dehydration time can be shortened.

  In a seventeenth aspect, the control means according to the fourteenth aspect adjusts the control band of the motor in accordance with the washing operation so that the control band during washing and drying is lower than the resonance frequency of the support means. By setting the frequency below the frequency amplified by the control system, vibration due to rotation during washing and drying will not be amplified by the controller, thus reducing vibration and noise due to unbalance and shortening the dehydration time. be able to.

  In an eighteenth aspect of the invention, the supporting means of the first aspect includes a mechanism characteristic adjusting means capable of changing the resonance characteristic by changing the spring characteristic and the viscosity characteristic, thereby increasing the rotational speed. Since vibration due to rotation and resonance vibration due to unbalance can be reduced, vibration due to unbalance and noise can be reduced and dehydration time can be shortened.

  In a nineteenth aspect, the mechanism characteristic adjusting means according to the eighteenth aspect sets the resonance frequency of the support means to a frequency sufficiently higher than the rotation frequency as the rotational speed of the motor increases. Therefore, vibration and noise due to imbalance can be reduced and the dehydration time can be shortened.

  According to a twentieth aspect of the invention, the control means of the first aspect of the invention has balancer movement control means, and the balancer movement control means includes an unbalance position detection means and a balancer and a balancer position that can move on the circumference of the washing tub. By having the balancer position detecting means for detecting, it is possible to reduce vibration and noise due to unbalance and to shorten the dehydration time.

  In a twenty-first aspect, the balancer movement control means according to the twentieth aspect of the invention is arranged such that the balancer position is canceled by the unbalance position of the washing tub by the unbalance position detection means and the estimated value of the unbalance amount estimation means. By outputting the mass and position of the balancer to be moved based on the balancer position by the detection means, vibration and noise due to unbalance can be reduced and the dehydration time can be shortened.

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

(Embodiment 1)
FIG. 1 is a block diagram of a control device that suppresses vibration due to unbalance of laundry in a washing machine according to the first embodiment of the present invention.

  In FIG. 1, 10 is a housing, 11 is a rotating drum as a washing tub for storing and rotating laundry, and 12 is a motor that rotates the rotating drum while controlling its speed, and is constituted by a brushless motor. Reference numeral 13 denotes a receiving cylinder into which the laundry and water enter, 18 a cover having a laundry insertion opening, 14 a seal packing for connecting the receiving cylinder and the cover 18 having the laundry insertion opening without gaps, and 15 a washing A support spring for maintaining the posture of the tub, 16 is a spring and a damper for reducing vibration generated during washing (motor rotation) and reducing vibration transmission to the housing and floor, 17 is a displacement sensor It is also a vibration sensor that senses mass and vibration from sensor signals. Reference numeral 19 denotes an anti-vibration rubber for installing the washing machine on the floor, and 15 and 17 are support means.

Furthermore, 21 is an unbalance estimation means for estimating the unbalance amount from the vibration sensor signal,
Reference numeral 22 denotes control means for controlling the rotation of the motor.

  Further, the control means includes an unbalance correction means for instructing the laundry unwinding operation according to the unbalance amount in order for 24 to eliminate the unbalance, a speed detection means for detecting the rotational speed of the motor 12, and a reference numeral 26 for the motor. Based on the difference between the rotational speed command value Vref and the detected actual rotational speed Vm, the speed deviation VE is calculated, and the control amount U is calculated and output based on the speed deviation VE. The control amount calculating means 27 outputs a control amount according to the control amount, and the drive means 27 outputs a three-phase PWM drive current based on the control amount U.

  FIG. 2 is a flowchart showing an operation sequence of the control device for the washing machine according to the first embodiment of the present invention.

  In FIG. 2, first, the amount of laundry substance is measured by the displacement sensor 17. Next, the rotational speed is increased to 80 r / min so that the centrifugal force applied to the laundry is substantially equal to or slightly larger than the gravity. Here, it is confirmed whether there is no large vibration or significant imbalance, and the rotational speed is increased to 150 r / min. If it is determined that the vibration is large and the imbalance is large, the rotation is once stopped and then the rotation speed is increased again to 80 r / min.

  After the rotational speed is increased to 150 r / min, the vibration amplitude of the displacement sensor signal is measured again. The relationship between sensor output and unbalance is previously stored as a table.

  FIG. 3 is a graph showing the relationship between the sensor output and the unbalance amount. The horizontal axis is the unbalance amount, and the vertical axis is the output voltage of the vibration sensor 17. In the figure, there are three graphs with rotation speeds of 100 r / min, 150 r / min, and 170 r / min. Here, the unbalance amount is estimated at 150 r / min with high sensitivity and good linearity.

  From the actual measurement diagram showing the relationship between the unbalance amount and the displacement sensor output in FIG. 3, when 100 r / min and 150 r / min are compared, measurement can be performed with a sensitivity of 5 times or more. Further, when the rotational speed is increased to 170 r / min, the vibration is suddenly increased when the unbalance amount is 600 g or more, which may cause a problem in performance deterioration and safety. Therefore, in this embodiment, the unbalance measurement speed is 150 r / min.

  Here, when the unbalance amount is estimated to be 600 g or more, the loosening operation is started, and when it is less than 600 g, the rotational speed is increased again to the target rotational speed for dehydration.

  FIG. 4 is a diagram showing changes in the displacement sensor output due to the rotational speed and resonance. In the present embodiment, resonance occurs at 200 r / min and 300 r / min, and a large vibration is detected. Therefore, here, since it is desired to estimate the unbalance amount with the detection sensitivity as high as possible without causing performance degradation or user dissatisfaction due to vibration, 150 r which is slightly smaller than the first large resonance frequency in this respect as well. Vibration is detected at / min.

  Actually, when the unbalance amount is estimated at the number of revolutions having the resonance characteristic, it is preferable that the unbalance amount be estimated in a range smaller than the resonance frequency and in a range of 70% to 95% of the resonance frequency.

  Next, the laundry unwinding operation by the unbalance correction means when there is an unbalance will be described.

  FIG. 5 is a flowchart and a speed profile showing an operation sequence of the imbalance correction means of the washing machine in the first embodiment of the present invention.

  When it is estimated that the unbalance is 600 g or more, the unbalance correction means gives a rotational speed command for the loosening operation to the control amount calculation means.

  Hereinafter, a description will be given with reference to the flowchart of FIG. First, water is added for 10 seconds. This is because water enters between the tangled laundry and eases loosening by rotation.

  Then, it is rotated for 9 sec at a rotational speed of 70 r / min in reverse rotation from that during normal washing, and then rotated forward for 9 sec at a rotational speed of 60 r / min. Further, after the stop, the reverse rotation is performed at 60 r / min for 12 seconds, and then the forward rotation is performed at the rotation speed of 60 r / min for 9 seconds.

  FIG. 5 (b) shows a speed profile output by the unbalance correction means. The reverse rotation operation and the start / stop as described above cause the hardened laundry to break apart, and a space is inserted between them to loosen it. Become. If the command time is too short, rotation cannot be started when there is a lot of laundry. Moreover, since the loosened laundry will twist again and become an unbalance factor when it is too long, it was set as 9 sec and 12 sec here. Further, when the rotational speed is 80 r / min or more, the laundry is stuck and is not loosened, so that the rotation speed is set to 70 r / min and 60 r / min.

  FIG. 6 shows the measurement results of the vibration amount of the water receiving cylinder when there is an imbalance immediately after the washing operation and when the imbalance after the loosening operation is reduced. The state where there was an imbalance of about 1 kg after the washing operation is reduced to an imbalance of about 300 g after the loosening operation.

  As described above, the unbalance amount can be estimated with high accuracy by the displacement sensor or the vibration sensor and the unbalance estimation means, and the laundry unwinding operation is also performed by the unbalance correction means according to the size of the unbalance. Can be executed.

  Therefore, the amount of unbalance can be estimated with high accuracy during dehydration, and the amount of unbalance can be reduced by rotating the motor. Therefore, vibration and noise due to unbalance can be reduced and dehydration time can be shortened. it can.

  Although the forward and reverse rotations are alternately performed twice here, the same effect can be obtained even once or four times.

  Moreover, although the rotation speed of reverse rotation was set to 70 r / min and 60 r / min, the same effect can be obtained if the rotation speed is such that the laundry does not stick with centrifugal force.

  Furthermore, although the acceleration time is 3 sec to 4 sec and the loosening steady rotation time is 4 sec to 8 sec, it is not limited to this rotation time.

  In addition, although the unbalance detection is performed at 80 r / min and 150 r / min, it is sufficient if the centrifugal force is higher than the rotation speed.

  Furthermore, although unbalance detection in the resonance characteristics is performed at 150 r / min, other rotational speeds may be used as long as the unbalance detection sensitivity is increased by the resonance frequency of the support means.

(Embodiment 2)
FIG. 7 is a block diagram of a washing machine control apparatus according to the second embodiment of the present invention. Since the basic configuration of the control device is the same as that of the first embodiment, the basic description is omitted here. Further, the same components as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  1 differs from FIG. 1 in that it has an operation switching means 27, and in the dehydration step, the operation switching means 27 increases the rotation speed to the dehydration rotation speed as it is according to the unbalance estimation amount, and a target The operation mode in which the set dehydration rotational speed is decreased and the operation mode in which the rotational speed is increased to the target rotational speed after the cloth unwinding operation by the unbalance correction means is switched. .

  FIG. 8 is a flowchart showing an operation sequence of the operation switching means. The difference from FIG. 2 is that the rotational speed is 150 r / min, and in the determination of unbalance detection 5, when the unbalance amount is determined to be 600 g or more, the loosening operation is started, and when it is less than 600 g, the rotational speed is increased again. In the determination of the unbalance threshold 6 when the unbalance is 400 g or less, the initial rotation speed is increased to 900 r / min. Otherwise, the dehydration speed is set to 750 r. The speed is increased by resetting to / min. The operation switching means 27 performs the three operation switching.

  Further, FIG. 9 is a block diagram when the control parameter adjusting means 28 is added to the control device of FIG. The control parameter adjusting means recalculates the moment of inertia from the laundry substance amount by the displacement sensor and the unbalance amount that is the output of the unbalance amount estimating means. Then, the control parameter adjusting means recalculates the control parameter (control gain) based on the new moment of inertia and rewrites the control parameter of the control amount calculating means.

  FIG. 10 is a detailed block diagram of the control amount calculation means. A speed deviation is derived from the output Vm of the speed detection means and the target rotational speed Vref adjusted by the operation switching means, and the control amount U is calculated and output using the changed control parameter.

  Here, Kv of 262 is a speed feedback gain, Ki of 263 is an integral feedback gain, 266 is a delay element for representing a speed error before one sampling, and 265 is an integrator for adding the speed error. The recalculated control gains are Kv and Ki.

  FIG. 11 is a block diagram when an unbalance correction parameter adjustment means 29 is added to the control device of FIG. The unbalance correction parameter adjustment means adjusts the parameters for performing the cloth unraveling operation according to the unbalance amount estimated by the unbalance estimation means.

  In the cloth unraveling operation, the rotation speed, acceleration and rotation time, the number of operations, and forward / reverse timing are determined according to the mass of the laundry and the unbalance amount. For example, in the case of 4.5 kg of laundry and 1 kg of unbalance, the loosening operation is executed twice alternately forward and reverse, at a rotation speed of 60 r / min and a rotation time of 9 sec.

  Further, in the case of laundry of 6.0 kg and unbalance of 1 kg, the loosening operation is executed three times alternately forward and reverse, at a rotation speed of 45 r / min and at a rotation time of 15 sec.

  The unbalance correction parameter adjustment means has a table of each parameter in the memory, and rewrites the parameters of the unbalance correction means according to the conditions.

  As described above, the unbalance amount can be estimated with high accuracy by the displacement sensor or the vibration sensor and the unbalance estimation means, and the laundry unwinding operation is also performed by the unbalance correction means according to the size of the unbalance. Can be executed.

  Therefore, the amount of unbalance can be estimated with high accuracy during dehydration, and the amount of unbalance can be reduced by rotating the motor. Therefore, vibration and noise due to unbalance can be reduced and dehydration time can be shortened. it can.

  In this case, since proportional integral control is used, the speed gain (proportional gain) and integral gain are adjusted. However, the gain for feedforward control such as friction and the gain for feedback of acceleration are adjusted. However, the same effect can be obtained.

  Further, the number of rotations, the number of forward and reverse, the direction and order of forward and reverse, the rotation time, etc. are not limited to the values described here, and the same effect can be obtained with other values.

(Embodiment 3)
FIG. 12 is a block diagram of a speed control device for a washing machine according to the third embodiment of the present invention. Since the basic configuration of the speed control device is the same as that of the first embodiment, the basic description is omitted here. Further, the same components as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  The difference from FIG. 1 is that vibration is detected at a rotational speed at which the centrifugal force applied to the laundry is substantially equal to gravity, and the increase in the rotational speed and the acceleration are determined according to the detected value, and the control amount calculation means A speed control adjusting means 30 for outputting a command is provided.

  FIG. 13 is a flowchart corresponding to the speed profile and acceleration profile of the speed control apparatus of FIG.

  The speed control adjusting means enters the dehydration process, and calculates an amount of control based on the rotation speed measured by the speed detection means to increase the rotation speed to the dehydration rotation speed, and sends an acceleration signal to increase the rotation speed. Output. Here, the acceleration is 20 r / min / sec.

  Next, the first vibration detection is performed at a rotation speed at which the centrifugal force applied to the laundry is substantially equal to gravity, for example, 80 r / min. Here, when the value is equal to or greater than a predetermined threshold value, the rotation is temporarily stopped and the vibration amount is detected again under the same conditions after the restart. For example, the vibration sensor output voltage is set to 100 mV or less.

  When the vibration detected value is less than the threshold value, the acceleration is reduced and the rotation speed is increased to, for example, the second vibration detection rotation speed 150 r / min at 5 r / min / sec. By gradual acceleration, the harmonic component of the drive current can be suppressed, so that high-frequency vibration can be reduced, and noise can be reduced.

  Further, the control means conversely temporarily increases the acceleration to 40 r / min / sec between 160 r / min and 200 r / min. Here, the rotational speed corresponding to the resonance frequency is 180 r / min, and only the influence due to resonance is excluded, so that only the range is affected by harmonic vibration for about 1 sec.

  Further, the control means has a function of adjusting the control band in accordance with the rotation speed of the motor. In the dehydration process, speed control is performed at 50 Hz, which is 20 times the rotation speed, up to the rotation speed of 150 r / min in the vibration detection process.

  Thereafter, the speed control is performed at 150 Hz, which is 10 times the rotational speed, at a dehydration rotational speed of 900 r / min. When the rotational speed of 900 r / min is controlled with a control band of 50 Hz, the phase margin of the control system becomes small, and the vibration suppression characteristics deteriorate and amplify the vibration in the range including the rotation frequency in the vicinity of the control band. A case will arise.

  Furthermore, the control means has a function of adjusting the control band in accordance with the washing operation. At the time of washing, the rotation speed is equivalent to 50 r / min, and the control band is set to 2 Hz lower than the resonance frequency. Further, at the time of drying, the maximum rotation speed is 120 r / min, so the control band is 20 Hz. During dehydration, the frequency is set to 50 Hz to 150 Hz as described above.

  As described above, the acceleration and the control band can be adjusted according to the operation rotational speed by the speed control fine adjustment means.

  Therefore, generation of vibration due to harmonics can be suppressed during dehydration, and vibration due to rotational vibration and resonance of the support mechanism system can also be reduced, so that noise can be reduced and dehydration time can be shortened.

(Embodiment 4)
FIG. 14: is a block block diagram of the speed control apparatus of the washing machine which is the 4th Embodiment of this invention. Since the basic configuration of the speed control device is the same as that of the first embodiment, the basic description is omitted here. Further, the same components as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  1 is different from FIG. 1 in that it has a mechanism characteristic adjusting means 31 for changing the resonance characteristic by changing both or one of the spring characteristic and the viscosity characteristic of the support means.

  FIG. 15 is a block diagram of the mechanism adjusting means. The sixteen support means includes a spring, a fluid cylinder solenoid, a displacement sensor, and a viscosity adjustment coil. The fluid cylinder solenoid controls and drives the cylinder up and down by applying a current to the solenoid so that the displacement becomes a constant value based on the displacement sensor signal. That is, the fluid cylinder is controlled and driven so that the vibration of the receiving cylinder is eliminated. The solenoid is electromagnetically driven.

  The vibration detection means 311 detects vibration due to unbalance, and based on the vibration signal, the vibration suppression control means 312 calculates a control amount and drives the fluid cylinder solenoid up and down to cancel the vibration.

  In addition, the control band of the cylinder is changed according to the rotation speed. When the rotation speed is 120 r / min, the rotation frequency is set to 20 Hz, which is 2 times or more of the rotation frequency 2 Hz, and prevents resonance due to the rotation speed. is doing. Further, when the rotational speed is 900 r / min during dehydration, the control band is increased to 150 Hz.

  Further, a coil is wound around the cylinder, and the viscosity characteristic of the fluid is changed by applying an electric current. The fluid in the cylinder is an MR fluid, and a magnetic field is applied to the MR fluid by a current flowing through the coil, and the viscosity characteristics change. The relationship between the magnetic field and the viscosity is stored in advance, and an electric current is applied according to the rotation speed. When the rotation speed is 120 r / min or more, the current is applied so that the viscosity coefficient is high and 0.5 or more.

  Therefore, in the configuration of only the spring as in the conventional support means, when the rotation speed is increased in the dehydration process, the influence of the three resonance frequencies causes the generation of large vibrations and consequently noise, but the influence is reduced. Can do.

  As described above, the resonance frequency and viscosity characteristics of the support means can be adjusted by the mechanism characteristic adjusting means in accordance with the operating rotational speed.

  Therefore, generation of vibration due to harmonics can be suppressed during dehydration, and vibration due to rotational vibration and resonance of the support mechanism system can also be reduced, so that noise can be reduced and dehydration time can be shortened.

(Embodiment 5)
FIG. 16: is a block block diagram of the speed control apparatus of the washing machine which is the 5th Embodiment of this invention. Since the basic configuration of the speed control device is the same as that of the first embodiment, the basic description is omitted here. Further, the same components as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  The difference from FIG. 1 is that an unbalance position detecting means 32 that detects an unbalance position in the circumferential direction of the estimated unbalance amount, a balancer 33 that is a counterbalance that corrects the unbalance, and a balancer in the circumferential direction. A balancer position detecting means 34 for detecting the position and an unbalance control means 35 for correcting the unbalance by moving the balancer are provided. The balancer position detection means 34 is constituted by a photodiode, and the unbalance control means 35 is constituted by a linear motor.

  FIG. 17 is a schematic view of a drum with a balancer. The drum has a plurality of rails on the circumference, and here there are four rails. The balancer moves on the rail in the circumferential direction. In the balancer, six balancers are arranged on one rail, and the mass of one balancer is 50 g.

  Therefore, it is possible to correct the counter balance up to an unbalance of 1200 g at maximum.

  If the unbalance is about 3 kg as shown in FIG. 6A, a loosening operation is performed to make the unbalance less than 1000 g. When the unbalance is 1000 g, as shown in FIG. 18, 4 × 6 balancers are evenly arranged at the beginning as shown in FIG. 18A, but in order to correct the unbalance, FIG. As shown in FIG. 18B, the balancer moves and controls the balancer so as to correct the imbalance based on the signal of the unbalance position detection means and the signal of the balancer position detection means.

  As described above, the resonance frequency and viscosity characteristics of the support means can be adjusted by the mechanism characteristic adjusting means in accordance with the operating rotational speed.

  Therefore, generation of vibration due to harmonics can be suppressed during dehydration, and vibration due to rotational vibration and resonance of the support mechanism system can also be reduced, so that noise can be reduced and dehydration time can be shortened.

  In this embodiment, the MR fluid is used to switch the viscosity. However, the same effect can be obtained if the fluid changes in viscosity such as ER fluid.

  Further, since the fluid resistance is changed not by directly changing the viscosity of the fluid but by changing the hole diameter when the fluid moves through the cylinder, the same effect can be obtained.

  As described above, the washing machine according to the present invention can detect the unbalance amount that is the bias of the laundry in the dehydration process with high accuracy, and can reduce the unbalance amount. In addition, it is possible to adjust the resonance characteristics of the support mechanism system, and since vibration and noise associated with unbalance and resonance can be reduced, it is possible to achieve high-speed dehydration with low vibration and low noise. This is useful for reducing vibration and noise caused by uneven laundry in the washing machine.

1 is a block diagram of a control device for a washing machine according to Embodiment 1 of the present invention. Flowchart of operation sequence of control device of the washing machine Relationship diagram between displacement sensor output value and unbalance amount of the washing machine Relationship diagram between displacement sensor output value and rotation speed of the washing machine (A) Flow chart of operation sequence of unbalance correction means of the washing machine (b) Speed profile diagram of the unbalance correction means of the washing machine (A) Graph showing the amount of vibration immediately after the washing operation of the washing machine (b) Graph showing the amount of vibration after the unwinding operation of the washing machine Block diagram of a control device for a washing machine in Embodiment 2 of the present invention Flowchart of operation sequence of operation switching means of the washing machine Block diagram including control parameter means of the washing machine Detailed block diagram of control amount calculation means of the washing machine Block diagram including the unbalance correction parameter adjustment means of the washing machine Block diagram of a control device for a washing machine in Embodiment 3 of the present invention Flowchart of operation sequence of control device of the washing machine Block diagram of a control device for a washing machine in Embodiment 4 of the present invention Configuration diagram of mechanism adjustment means of the washing machine Block diagram of a control device for a washing machine in Embodiment 5 of the present invention (A) Explanatory diagram of balancer operation by unbalance control means of the washing machine (b) Configuration diagram of the washing machine (A) Internal structure diagram of conventional washing machine (b) Block diagram of control circuit of the washing machine Speed profile diagram of another example control device of the washing machine (A) Block diagram of a control device of another example of the washing machine (b) Configuration diagram of the washing machine (A) Configuration diagram of another example of the washing machine (b) Block diagram of a control device of the washing machine

Explanation of symbols

10 Housing 11 Rotating drum (washing tub)
DESCRIPTION OF SYMBOLS 12 Motor 13 Receptacle 14 Seal packing 15 Support spring 16 Damper 17 Displacement sensor 18 Cover 19 Antivibration rubber 21 Unbalance amount estimation means 22 Control means

Claims (21)

A washing tub for rotating laundry, a motor for rotationally driving the washing tub, a receiving cylinder that accommodates the washing tub and supported by a support means with respect to a housing, and vibration detection for detecting vibration of the receiving cylinder An unbalance amount estimating means for estimating an unbalance amount according to the output of the vibration detecting means in a state where the resonance characteristic of the support means can be detected, and a control means for controlling the driving of the motor, The washing machine according to claim 1, wherein the control means outputs a control amount based on outputs of the vibration detection means and the unbalance amount estimation means. 2. The washing machine according to claim 1, wherein the control means comprises unbalance correction means for executing forward / reverse inversion operation and temporary stop operation during washing at a rotational speed at which centrifugal force applied to the laundry is smaller than gravity. 3. The washing machine according to claim 2, wherein the unbalance correction means is executed in a state where a predetermined amount of water is stored in the washing tub. The unbalance amount estimation means has vibration detection means for detecting the vibration of the receiving cylinder at a rotation speed that is smaller than the rotation speed of the washing tub corresponding to the resonance frequency of the support means and can detect resonance vibration, and the vibration detection means 2. The washing machine according to claim 1, wherein the unbalance amount is estimated according to the vibration detection value. The vibration detection means is disposed between the housing and the receiving cylinder, and the unbalance amount estimation means has storage means that stores a table that represents the relationship between the vibration amount and the unbalance amount that is the output of the vibration detection means. The washing machine according to claim 4. 5. The washing machine according to claim 4, wherein the unbalance amount estimation means includes resonance estimation means capable of estimating the resonance frequency from the laundry substance amount and the vibration amount. 5. The washing machine according to claim 4, wherein the rotation speed estimated by the unbalance amount estimation means is a rotation speed corresponding to a resonance frequency at which the support means resonates and the washing tub vibrates in the front-rear direction. 5. The washing machine according to claim 4, wherein the rotation speed estimated by the unbalance amount estimation means is a rotation speed corresponding to a resonance frequency at which the support means resonates and the washing tub vibrates in the vertical direction. 5. The washing machine according to claim 4, wherein the rotation speed estimated by the unbalance amount estimation means is a rotation speed corresponding to a resonance frequency at which the support means resonates and the washing tub vibrates in the left-right direction. In the start-up sequence for increasing the rotational speed up to the dehydrating rotational speed, the control means determines the rotational speed to be increased, the acceleration amount, and the unbalance correction according to the laundry substance amount, the estimated unbalance estimated amount, and a predetermined threshold value. 2. The washing machine according to claim 1, further comprising operation switching means for determining execution. 11. The washing machine according to claim 10, wherein the control means includes a control parameter adjustment unit that calculates a moment of inertia according to the amount of laundry substance and the amount of unbalance and recalculates the control parameter. 11. The laundry according to claim 10, wherein the control unit includes an unbalance correction parameter adjustment unit that changes the number of reverse rotation operations of the correction operation, the rotation speed, and the rotation acceleration according to the laundry substance amount and the unbalance amount. Machine. The operation switching means, based on at least two threshold values, rotates up to a predetermined dehydration speed when the estimated imbalance amount is less than the first threshold value, and dehydrates when it is greater than or equal to the first threshold value and less than the second threshold value. 11. The washing machine according to claim 10, wherein when the rotational speed is lowered and the rotational speed is increased and the rotational speed is equal to or higher than the second threshold value, the unbalance correction means is operated without increasing the rotational speed. The control means detects the centrifugal force applied to the laundry at a rotational speed substantially equal to gravity, and if the rotational force is less than a preset activation threshold, the rotational speed is gradually increased so that the centrifugal force applied to the laundry is greater than the gravity. The acceleration is increased to increase the rotational speed when the increase is stopped at a rotational speed at which the resonance characteristic can be detected by a number, and vibration is detected again and is less than a preset dehydration switching threshold value. Washing machine. 15. The washing machine according to claim 14, wherein the control means increases the rotational speed acceleration only in the vicinity of the rotational speed corresponding to the resonance frequency of the support means. The control means is characterized in that the control band of the motor is adjusted according to the number of rotations, and the control band at the time of dehydration is set to a rotation frequency that is higher than the rotation frequency and that can control vibration accompanying rotation. The washing machine according to claim 14. The control means adjusts the control band of the motor according to the washing operation, and sets the control band during washing and drying to be lower than the resonance frequency of the support means and below the frequency at which the mechanism resonance vibration is amplified by the control system. The washing machine according to claim 14, wherein 2. The washing machine according to claim 1, wherein the support means includes a mechanism characteristic adjusting means capable of changing the resonance characteristic by changing the spring characteristic and the viscosity characteristic. 19. The washing machine according to claim 18, wherein the mechanism characteristic adjusting means sets the resonance frequency of the support means to a frequency sufficiently higher than the rotation frequency as the rotational speed of the motor increases. The control means includes balancer movement control means, and the balancer movement control means includes unbalance position detection means, a balancer that can move on the circumference of the washing tub, and a balancer position detection means that detects the balancer position. The washing machine according to claim 1, characterized in that: The balancer movement control means moves based on the balancer position by the balancer position detection means so as to cancel the unbalance according to the unbalance position of the washing tub by the unbalance position detection means and the estimated value of the unbalance amount estimation means. 21. The washing machine according to claim 20, wherein the balancer outputs a mass and a moving position of the balancer.