JP2010078075A - Vibration deadening control system and electric appliance - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vibration deadening control system wherein response to steeply changing vibration is improved, and the vibration deadening control system. <P>SOLUTION: Between the base 12 and the water tub 14 of a washing machine 21, an electromagnetic type suspension constituted by combining a linear motor 1 and a spring is arranged, and a position sensor 8 is arranged in the moving component 7 side of the linear motor 1. When the phase θ is detected with a position calculating section 55 on the basis of the position signal output from a position sensor 8 and the speed v is detected with a differentiator 57, a controller 41 executes the vector control of the linear motor 1 on the basis of the phase θ, the speed v, motor currents Ia, Ib, Ic to suppress the vibration generated with the water tub 14 while washing operation is performed. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vibration suppression control system that suppresses vibrations that occur in a vibration suppression object, and an electric device that includes the vibration suppression control system.

  For example, Patent Document 1 discloses an electromagnetic absorber constituting a vehicle suspension system. In the above system, an electromagnetic absorber (actuator) is connected between a suspension lower arm that holds a wheel and forms a part of an unsprung part, and a mount part that is provided on a vehicle body and forms a part of the unsprung part. And an air spring provided in parallel therewith.

The actuator includes a screw rod, a ball screw mechanism including a nut that holds a bearing ball and is screwed with the screw rod, and a motor that rotationally drives the screw rod. The motor and screw rod are on the fixed side, and the nut is fixedly supported on the upper end of the tube on the movable side. Then, by applying rotational torque to the screw rod by the motor and displacing the movable side including the nut, a resistance force that prevents the stroke operation is generated with respect to the stroke operation between the spring top and the spring bottom caused by vibration. Thus, a damping force for the stroke operation is applied.
JP 2008-114745 A

However, since the actuator of Patent Document 1 employs a ball screw mechanism, there is a problem in response speed with respect to vibration that changes sharply, and vibration may not be sufficiently attenuated.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vibration suppression control system capable of improving responsiveness to rapidly changing vibrations, and an electric circuit including the vibration suppression control system. To provide equipment.

The vibration suppression control system of the present invention is arranged between the vibration suppression object and the base, and an elastic body that elastically supports the vibration suppression object with respect to the fixed side,
The stator includes a permanent magnet and a mover including a three-phase winding, and one of the stator and the mover is fixed to the vibration control object, and the other is fixed to the base. A linear motor;
Current detecting means for detecting a current passed through the winding;
A position sensor for detecting a relative position of the mover;
Phase detection means for detecting the phase of the mover based on a position signal output from the position sensor, and speed detection means for detecting the speed of the mover based on the position signal, the phase and the phase The linear motor is vector-controlled based on the speed and the current detected by the current detection means, and is configured with a control device that suppresses vibrations generated in the vibration control target.

Moreover, an electrical device of the present invention comprises the vibration suppression control system according to any one of claims 1 to 5,
It has a movable part which generate | occur | produces a vibration, when generate | occur | producing and operating DC power supply from commercial AC power supply, The said movable part becomes the said damping object.

  According to the vibration suppression control system of the present invention, the control device converts the linear motor arranged together with the elastic body between the vibration suppression object and the base to the relative position signal of the mover output from the position sensor. Since the vector control is performed based on this, it is possible to suppress the sharply changing vibration generated in the object to be controlled with high accuracy.

  According to the electric device of the present invention, the vibration generated in the movable part is suppressed by the vibration suppression control system of the present invention, so that the operation with less vibration and low noise becomes possible.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. In the present invention, an electromagnetic suspension is configured using a linear motor. FIG. 2 is a perspective view showing part of the configuration of the linear motor. The linear motor 1 includes a stator 4 including a shaft 2 and permanent magnets 3 (N, S) arranged so that N poles and S poles are alternately arranged on the shaft 2, and U and V inside. , W-phase winding 5 and a movable element 7 having a rectangular parallelepiped main body 6. The main body 6 is provided with a position sensor 8 that outputs a relative displacement position of the mover 7.

  As shown in FIGS. 3 to 5, in this embodiment, the linear motor 1 and a spring are combined to support a water tank of a drum type washing / drying machine (hereinafter sometimes simply referred to as a washing machine). An electromagnetic suspension (absorber) 11 is configured. FIG. 3 is a front view showing the configuration of the electromagnetic suspension 11. A support member 13 is erected on the base 12 arranged on the bottom side of the washing machine, and the support member 13 supports the mover 7 of the linear motor 1 from below. The support member 13 may be composed of a plurality of rod-shaped members, or may be a conical or cylindrical member as shown in FIG. The upper end of the shaft 2 of the linear motor 1 is fixed to a shaft fixing portion 14a which is a part of the water tub 14 of the washing machine, and a spring (elastic) is provided between the shaft fixing portion 14a and the upper end side of the mover 7. Body) 15 is arranged. Therefore, in a state where the electromagnetic suspension 11 is disposed in the washing machine, the movable element 7 is on the fixed side and the stator 4 is on the movable side.

  FIG. 4 is a longitudinal side view of the drum type washing / drying machine, and FIG. An outer box 22 that forms an outer shell of a drum-type washing / drying machine (electrical equipment) 21 has a laundry entrance 23 that opens in a circular shape on the front surface. The laundry entrance 23 is opened and closed by a door 24. It has become so. Inside the outer case 22, a bottomed cylindrical water tank 14 with a closed back surface is disposed, and a stator of a permanent magnet motor 25 as a washing motor is screwed to the center of the back surface of the water tank 14. It is fixed by. The water tank (vibration target) 14 is supported on the base 12 by the electromagnetic suspension 11 described above. Note that two electromagnetic suspensions 11 are actually arranged on the left and right sides of the water tank 14 when viewed from the front, but only one of them is illustrated.

  The rotating shaft 26 of the permanent magnet motor 25 has a rear end (right end in FIG. 4) fixed to the rotor of the permanent magnet motor 25 and a front end (left end in FIG. 4) is the water tank 14. Protrusively inside. A bottomed cylindrical drum 27 whose rear surface is closed is fixed to the front end of the rotating shaft 26 so as to be coaxial with the water tank 14, and this drum 27 is driven by a permanent magnet motor 25. It rotates integrally with the rotating shaft 26. The drum 27 is provided with a plurality of flow holes 28 through which air and water can flow, and a plurality of baffles 29 for scraping and unraveling the laundry in the drum 27.

  A water supply valve 30 is connected to the water tank 14, and water is supplied into the water tank 14 when the water supply valve 30 is opened. Further, a drainage hose 32 having a drainage valve 31 is connected to the water tank 14, and when the drainage valve 31 is opened, water in the water tank 14 is discharged.

  A ventilation duct 33 extending in the front-rear direction is provided below the water tank 14. A front end portion of the ventilation duct 33 is connected to the water tank 14 via the front duct 34, and a rear end portion is connected to the water tank 14 via the rear duct 35. A blower fan 36 is provided at the rear end portion of the ventilation duct 33, and the air in the water tank 14 flows from the front duct 34 into the ventilation duct 33 as indicated by an arrow by the blowing action of the blower fan 36. And is returned to the water tank 14 through the rear duct 35.

  An evaporator 37 is disposed on the front end side inside the ventilation duct 33, and a condenser 38 is disposed on the rear end side. The evaporator 37 and the condenser 38 constitute a heat pump 40 together with a compressor 39 and a throttle valve (not shown), and the air flowing through the ventilation duct 33 is dehumidified by the evaporator 37 and heated by the condenser 38 to be a water tank. 14 is circulated in the interior.

  FIG. 1 is a block diagram showing the configuration of a control device (vector calculation means) 41 that performs vector control of the linear motor 1. In the vector control, the current flowing through the winding 5 is separated into a magnetic flux direction of the permanent magnet 3 that is a field and a direction orthogonal thereto, and these are adjusted independently to control the magnetic flux and the generated torque. For the current control, a current value represented by a coordinate system rotating with the moving pitch of the mover 4 of the linear motor 1 as a cycle, that is, a so-called dq coordinate system is used. Yes, the q-axis is a direction orthogonal to the d-axis. The q-axis current Iq that is the q-axis component of the current flowing through the winding 5 is a component that generates torque (torque component current), and the d-axis current Id that is the d-axis component is a component that creates magnetic flux (excitation or Magnetization component current).

  The current sensor 50 (U, V, W) is a sensor that detects currents Ia, Ib, Ic flowing in each phase (U phase, V phase, W phase) of the motor 1. In place of the current sensor 50 (current detection means), three shunt resistors are arranged between the switching element on the lower arm side constituting the inverter circuit 51 (drive circuit) and the ground, and the terminal voltage thereof is set. A configuration may be adopted in which current is detected based on this. The current sensor 50 is actually interposed between the output terminal of the inverter circuit 51 and the winding 5 of the motor 1.

  The currents Ia, Ib, and Ic detected by the current sensor 50 are A / D converted by the A / D converter 52 and converted into the two-phase currents Iα and Iβ by the current converter 53, and then the d-axis current. Id, q-axis current Iq is converted. α and β are coordinate axes of a biaxial coordinate system fixed to the stator 4 of the motor 1. For the calculation of the coordinate conversion in the current conversion unit 53, a phase (phase difference between α axis and d axis, electrical angle) θ of the mover 7 described later is used. The d-axis current Id and the q-axis current Iq are given to the current control unit 54.

  A position signal output from the position sensor 8 disposed on the mover 7 of the linear motor 1 is given to a position calculation unit (phase detection means) 55 of the control device 41. The position calculation unit 55 converts the position signal into a phase θ having the movement pitch of the mover 7 as a cycle, and outputs the phase signal to a current conversion unit 53 and a voltage conversion unit 56 described later, and can be handled by the control device 41. Is converted into a distance signal x in the form and output to a differentiator (speed detection means) 57. The differentiator 57 outputs a speed signal v obtained by time differentiation of the distance signal x (dx / dt) to the torque control unit (q-axis current command generation means) 58.

When the drum 27 of the washing / drying machine 21 rotates and the water tank 14 vibrates, the torque control unit 58 issues a q-axis current command so as to generate a damping brake torque at a speed corresponding to the vibration. Generate and output. Here, a general model of a vibration system (one-mass parallel vibration system) in which an object of mass m [kg] is supported in parallel by a spring having a spring multiplier k [N / m] and a suspension having a damping coefficient c will be described. Suppose. The equation of motion when the object is subjected to free-damping vibration from the initial state where the displacement amount x [m] is given is expressed by equation (1).
m (d ² x / dt ² ) + c (dx / dt) + kx = 0 (1)
In the case of the electromagnetic suspension 11, the damping coefficient c is determined in consideration of the spring multiplier of the spring 15. Then, a damping brake torque is given to the speed v (= dx / dt) by multiplying the damping coefficient c by the reverse polarity, and the torque (q-axis) current command Iqref is multiplied by the reciprocal of the torque constant Kt of the linear motor 1. Generate.

  The torque current command Iqref is output to the current control unit 54. Since the linear motor 1 is basically operated in all fields, the excitation current command Idref is given “0”. For these current commands, the subtractors 59q and 59d of the current control unit 54 calculate the difference between the d-axis current Id and the q-axis current Iq output from the current conversion unit 53, and the deviations ΔIq and ΔId are calculated. The The current deviations ΔIq and ΔId are proportionally integrated in proportional integrators 60q and 60d, and voltage commands Vq and Vd expressed in the dq coordinate system are calculated.

The voltage commands Vq and Vd are converted into values expressed in the α-β coordinate system by the voltage conversion unit 56 and further converted into phase voltage commands Va, Vb and Vc expressed in the αβ / abc coordinate system.
The phase voltage commands Va, Vb, and Vc are input to the voltage output unit 61, and a pulse drive modulated (PWM) gate drive signal for supplying a voltage that matches the command value is formed. The inverter circuit 51 is configured by connecting switching elements such as IGBTs in a three-phase bridge, and a DC power supply voltage is supplied from a DC power supply circuit (not shown).

The gate drive signals (upper arm: u, v, w / lower arm: x, y, z) formed by the voltage output unit 61 are given to the gates of the switching elements constituting the inverter circuit 51, thereby A PWM-modulated three-phase AC voltage that matches the phase voltage commands Va, Vb, and Vc is generated and applied to the winding 5 of the linear motor 1.
In the above configuration, the subtractors 59q and 59d and the proportional integrators 60q and 60d perform feedback control of the current loop by proportional integral (PI) calculation, and the d-axis current Id and the q-axis current Iq are respectively d-axis. Control is performed so as to match the current command Idref and the q-axis current command Iqref.

Next, the operation of this embodiment will be described. When a washing operation is performed in the washing / drying machine 21, vibration is generated in the water tank 14 when the drum 27 is rotationally driven by the washing motor 25. Then, the vibration causes the stator 4 side of the electromagnetic suspension 11 to be displaced, and the relative displacement is detected by the position sensor 8 and output to the control device 41 as a position signal.
In the control device 41, as described above, the brake torque that attenuates the vibration of the water tank 14 is calculated from the speed v based on the position signal, and the q-axis current command Iqref is output. Then, feedback control of the current loop is performed based on the q-axis current command Iqref, vector calculation is performed based on the phase angle θ obtained based on the position signal, and the q-axis current Iq is controlled. The motor 1 is driven. As a result, the vibration generated in the water tank 14 is attenuated by the brake torque generated by the linear motor 1.

  As described above, according to the present embodiment, the electromagnetic suspension 11 that is a combination of the linear motor 1 and the spring 15 is disposed between the base 12 of the washing machine 21 and the water tub 14, and the mover of the linear motor 1. The position sensor 8 is arranged on the 7 side. Then, when the control device 41 detects the phase θ based on the position signal output from the position sensor 8 by the position calculating unit 55 and detects the velocity v (= dx / dt) by the differentiator 57, the phase θ and the velocity are detected. The linear motor 1 is vector-controlled based on v and motor currents Ia, Ib, and Ic to suppress vibrations generated in the water tank 14 during the washing operation.

That is, by controlling the torque current Iq of the linear motor 1 so as to apply the brake torque that attenuates the vibration, the torque control unit 58 can suppress the rapidly changing vibration with high accuracy. In this case, since the torque control unit 58 generates the q-axis current command Iqref in inverse proportion to the relative speed v of the mover 7, the damping coefficient c set for the electromagnetic suspension 11 can be applied to attenuate the vibration. it can.
Further, since the vibration damping control system of the present invention is applied to the washing / drying machine 21 that generates DC power from the commercial AC power supply, operates the motor 25, and rotates the drum 27, the washing / drying machine 21 is operated with low vibration. In addition, it can be operated with low noise.

(Second embodiment)
6 and 7 show a second embodiment of the present invention. The same parts as those in the first embodiment are denoted by the same reference numerals and the description thereof will be omitted. Hereinafter, different parts will be described. In the second embodiment, as shown in FIG. 6, the electromagnetic suspension 11 is applied to a shock absorber for a vehicle. In this case, the mover 7 is fixed to a bearing portion (base portion) 71 that supports the axle via a support member 72, and the upper end of the shaft 2 is a shaft fixing that is a part of the vehicle body (vibration control object) 73. It is fixed to the portion 73a.

  Further, a displacement position sensor (object position sensor) 74 is disposed on the shaft fixing portion 73a. The displacement position sensor 74 outputs, as a position signal, the amount of displacement from the initial position on the basis of the initial position of the vehicle body 73 before the vibration suppression control by the control device is started, since the vehicle body 73 is not vibrating. It is like that. When the vehicle has a four-wheel configuration, the electromagnetic suspension 11 is arranged corresponding to each wheel.

  FIG. 7 corresponds to FIG. The control device 75 is configured by adding a position control unit (speed command generating means) 76 to the control device 41 of the first embodiment and arranging a speed control unit 77 instead of the torque control unit 58. The position control unit 76 is given a control target position command for the vehicle body 73 from the outside and a displacement position signal from the displacement position sensor 74. The subtractor 78 calculates the difference between the control target position (corresponding to the initial position of the vehicle body 73) and the displacement position, and outputs the difference value to the proportional integrator 79.

  The proportional integrator 79 outputs the proportional integration calculation result to the speed control unit 77 as a target speed command. Similar to the position control unit 76, the speed control unit 77 also includes a subtractor 80 and a PI control unit 81. The PI control unit 81 calculates a difference between the target speed command and the speed given by the differentiator 57. As a result, the q-axis current command Iqref is output to the current control unit 54. Other configurations are the same as those of the first embodiment.

  Next, the operation of the second embodiment will be described. When the vehicle travels, vibrations are applied to the wheels, and the vibrations are transmitted to the vehicle body 73 side via the electromagnetic suspension 11. In that case, the control device 75 acquires the displacement position of the vehicle body 73 by the displacement position sensor 74, controls the displacement amount to zero, and keeps the position of the vehicle body 73 constant. In this case, in addition to the current control loop in the first embodiment, a speed control loop via the speed controller 77 and a position control loop via the position controller 76 exist.

  As described above, according to the second embodiment, the displacement position sensor 74 is disposed on the vehicle body side when receiving vibration from the bearing portion 71 side that supports one end of the electromagnetic suspension 11 and supports the vehicle axle. The position control unit 76 of the control device 75 generates and outputs a speed command based on the difference between the target position signal and the fluctuation position signal of the vehicle body 73, and the vehicle body 73 based on the speed command and the relative speed v of the mover 7. Is controlled so that the position in the support direction coincides with the target position (initial position). Therefore, the present invention can be applied to a vibration system in which vibration is applied also from the fixed side when the vehicle is stationary, so that the position of the vehicle body 73 can be controlled to be constant.

(Third embodiment)
FIG. 8 shows a third embodiment of the present invention, and different portions from the first embodiment will be described. In the third embodiment, the DC power supply circuit 82 for supplying the drive DC power to the inverter circuit 51 supplies the power to the inverter circuit (drive circuit) 83 for driving the washing motor (power motor) 25 in common. It is configured to supply. The voltage detector 85 of the control device 84 detects the voltage of the DC power source and outputs the detection result to a torque controller (q-axis current command generator) 86 that replaces the torque controller 58.

The torque control unit 86 is configured to variably set the value of the attenuation constant c in accordance with fluctuations in the DC power supply voltage supplied from the DC power supply circuit 82. Specifically, the value of the attenuation constant c is also lowered as the DC power supply voltage is lowered. That is, if the linear motor 1 does not act when vibration is applied to the water tank 14, regenerative power is generated in the linear motor 1, and the power is regenerated to the DC power supply circuit 82 side through the inverter circuit 51.
Therefore, when the DC power supply voltage is reduced, the value of the damping constant c is reduced to suppress the active vibration damping action by the electromagnetic suspension 11 and to increase the amount of power regenerated to the DC power supply circuit 82 side. To do. This gives priority to voltage drop compensation.

  As described above, according to the third embodiment, when the washing motor 25 is driven through the inverter circuit 83, the DC power is commonly supplied from the power circuit 82 to the inverter circuits 52 and 83, and the torque is increased. The control unit 86 decreases the absolute value of the q-axis current command Iqref as the DC power supply voltage decreases. Therefore, when the power supply voltage decreases, the power generated by the linear motor 1 can be regenerated more to the DC power supply circuit 82 side to compensate for the voltage decrease.

The present invention is not limited to the embodiments described above or shown in the drawings, and the following modifications or expansions are possible.
Of course, the electromagnetic actuator may be configured with the movable element of the linear motor as the movable side and the stator as the fixed side.
The current of the linear motor does not necessarily need to detect all three phases with a current sensor or the like, but only any two phases may be detected, and the remaining one phase may be obtained by calculation.
The elastic body is not limited to the spring 15 and may be any structure as long as it elastically supports the object to be controlled with respect to the fixed side.
The electric device is not limited to a washing machine, and any electric device may be used as long as it has a movable portion that generates vibration when operating with a DC power source generated from a commercial AC power source.
Further, the second embodiment is not limited to a vehicle, and can be applied to a suspension or the like that is arranged to suppress vibrations, for example, when a precision instrument is carried on a carriage or the like.

1 is a functional block diagram showing an electrical configuration of a control device that performs vector control of a linear motor according to a first embodiment of the present invention. Perspective view showing part of the configuration of the linear motor Front view showing the configuration of the electromagnetic suspension Longitudinal side view of drum-type washer / dryer The perspective view which fractures | ruptures and shows a part of drum-type washing dryer The figure which is 2nd Example of this invention and shows the structure of the suspension for vehicles. 1 equivalent diagram FIG. 1 equivalent view showing a third embodiment of the present invention.

Explanation of symbols

  In the drawings, 1 is a linear motor, 3 is a permanent magnet, 4 is a stator, 5 is a winding, 7 is a mover, 8 is a position sensor, 11 is an electromagnetic suspension, 12 is a base, and 14 is a water tank. ), 15 is a spring (elastic body), 21 is a drum type washer / dryer (electrical equipment), 25 is a permanent magnet motor (motor for power), 41 is a control device, 50 is a current sensor (current detection means), 51 Is an inverter circuit (drive circuit), 55 is a position calculation unit (phase detection unit), 57 is a differentiator (speed detection unit), 58 is a torque control unit (q-axis current command generation unit), and 71 is a bearing unit (base unit). 73 is a vehicle body (damping object), 74 is a displacement position sensor (object position sensor), 75 is a control device, 76 is a position control unit (speed command generating means), 82 is a DC power supply circuit, and 83 is an inverter circuit. (Drive circuit), 84 is a control device 86 shows a torque control section (q-axis current command generating means).

Claims (6)

An elastic body that is disposed between the damping object and the base and elastically supports the damping object with respect to the fixed side;
The stator includes a permanent magnet and a mover including a three-phase winding, and one of the stator and the mover is fixed to the vibration control object, and the other is fixed to the base. A linear motor;
Current detecting means for detecting a current passed through the winding;
A position sensor for detecting a relative position of the mover;
Phase detection means for detecting the phase of the mover based on a position signal output from the position sensor, and speed detection means for detecting the speed of the mover based on the position signal, the phase and the phase A damping device comprising: a control device that suppresses vibrations generated in the damping object by performing vector control of the linear motor based on a speed and a current detected by the current detecting means. Control system. When receiving vibration from the side where the base is installed,
An object position sensor that outputs a fluctuation position signal based on an initial position for the vibration suppression object;
The control device includes:
Based on the difference between the target position signal of the vibration control object given from the outside and the fluctuation position signal, it has speed command generation output means for generating and outputting a speed command,
2. The vibration suppression control system according to claim 1, wherein control is performed so that the position of the vibration suppression object matches the target position based on the speed command and the speed of the mover.   3. The vibration damping control system according to claim 1, wherein the control device includes a q-axis current command generation unit that generates a q-axis current command in inverse proportion to the speed detected by the speed detection unit. When the power motor is provided with a drive circuit for energizing and driving the power motor, and the power motor is a generation source of vibration for the vibration control object,
4. The vibration suppression control system according to claim 3, wherein a direct current power supplied to the drive circuit and a direct current power supplied to a drive circuit for energizing and driving the linear motor are shared.   5. The vibration suppression control system according to claim 4, wherein the q-axis current command generation means reduces the absolute value of the q-axis current command in accordance with a decrease in the DC power supply voltage. A vibration suppression control system according to any one of claims 1 to 5,
An electric device comprising a movable part that generates vibration when operating by generating a direct-current power supply from a commercial alternating-current power supply, and the movable part is the object to be damped.

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