JP2011062346A - Damping device for drum washing machine and the drum washing machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a damping device for a drum washing machine, capable of appropriately switching damping control using a linear actuator and utility of power generated by the linear actuator. <P>SOLUTION: A washing tank 14 placed inside a case 22 by a power suspension 11 where a spring and the linear motor are placed in parallel is resiliently supported, and acceleration sensors 41, 42 are placed in the washing tank 14 and the case 22. Then, a torque control unit 58 of a control device 44 switches damping control for controlling a drive force of the linear motor in accordance with an operation state of a washing and drying machine 21, detection output of a position sensor 8 for detecting an amount of displacement of the power suspension 11, and detection output of the acceleration sensors 41, 42, and regenerative control for regenerating power generated by the linear motor. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a device for suppressing vibration generated during operation of a drum type washing machine, and a drum type washing machine including the device.

  In a drum-type washing machine, a drum (rotating tub) is arranged in the inside of a housing with the horizontal direction or a slightly elevated angle as an axis, but the drum is supported by an elastic support device such as a damper or a spring. It is designed to absorb vibrations generated during operation. For example, Patent Document 1 discloses a technique in which a pneumatic actuator is used as an elastic support device and vibrations generated during operation are more actively suppressed. Patent Document 1 discloses that the pneumatic actuator may be replaced with a motor mechanism.

JP 2008-183297 A

When the pneumatic actuator is replaced with a motor mechanism, an actuator configured using a linear motor, a so-called linear actuator is obtained. Assuming that a linear actuator is used, vibration can be more actively suppressed by applying a driving force against vibration from the actuator side to the drum side.
However, in a washing machine, the amplitude of vibration generated during operation does not become so large, and there is a period during which it is not always necessary to actively suppress the vibration. Then, when the actuator does not output a driving force, the linear motor performs a power generating action by applying a vibration as an external force. However, for the effective use of the generated power, Patent Literature 1 has no disclosure.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to control a drum type washing machine that can appropriately switch between vibration suppression control using a linear actuator and use of electric power generated by the linear actuator. An object of the present invention is to provide a vibration washing device and a drum type washing machine provided with the vibration damping device.

In order to achieve the above object, a vibration damping device for a drum-type washing machine according to claim 1 includes a rotating tub and a washing tub disposed inside a casing constituting the washing machine. A linear actuator supported between
A vibration sensor that is disposed in each of the housing and the washing tub and detects a physical quantity that changes according to the occurrence of vibration;
A position sensor for detecting a displacement amount of the linear actuator;
Vibration suppression control means for controlling vibration generated during operation of the washing machine by controlling the driving force of the linear actuator according to the detection output of the vibration sensor and the detection output of the position sensor,
The vibration damping control means regenerates the electric power generated in the linear actuator and the vibration damping control for driving the linear actuator according to the operating state of the washing machine and the detection outputs of the vibration sensor and the position sensor. It is characterized by switching between regenerative control.

The drum-type washing machine according to claim 9 includes a washing motor for rotating the rotating tub,
Washing control means for controlling the washing motor;
A vibration damping device according to any one of claims 1 to 8 is provided.

  According to the vibration damping device of the drum type washing machine according to claim 1 or the drum type washing machine according to claim 9, vibration damping is performed according to the operation state of the washing machine and the detection outputs of the vibration sensor and the position sensor. Since the control and the regeneration control are switched, the electric power generated by the linear actuator can be effectively used while effectively suppressing the vibration generated in the washing tub.

1 is a functional block diagram showing an electrical configuration of a control device that performs vector control of a linear motor according to an embodiment. Diagram showing the components for using the power generated by the linear motor Flow chart showing control content centered on torque control unit The figure which shows an example of the rotation speed change of the motor in the washing mode and the dehydration mode of the washing machine The figure which compared the displacement of the washing tub in the resonant frequency, changing the magnitude of the unbalanced load in the drum, with and without the vibration suppression control Perspective view showing part of the configuration of the linear motor Front view showing the configuration of the electric suspension Longitudinal side view of drum-type washer / dryer The perspective view which fractures | ruptures and shows a part of drum-type washing dryer

  Hereinafter, an embodiment will be described with reference to the drawings. In this embodiment, the electric suspension is configured using a linear motor. FIG. 6 is a perspective view showing a part of the configuration of the linear motor. A linear motor (linear actuator) 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 an internal And a mover 7 having a U-, V-, and W-phase winding 5 and 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. 7 to 9, in this embodiment, an electric suspension (absorber) 11 for supporting the washing tub of the drum type washing and drying machine is configured by combining the linear motor 1 and the spring. . FIG. 7 is a front view showing the configuration of the electric suspension 11. A support member 13 is erected on the base 12 arranged on the bottom side of the washing and drying machine, and the support member 13 supports the mover 7 of the linear motor 1 from below.

  The upper end of the shaft 2 of the linear motor 1 is fixed to a shaft fixing portion 14a that is a part of the laundry tub 14 of the land, 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 electric suspension 11 is disposed in the washing / drying machine, the movable element 7 is on the fixed side, and the fixed element 4 is on the movable side. A part of the shaft fixing portion 14a is made of an elastic body such as rubber, and can support the washing tub 14 even in a deformed state as shown by a broken line in the drawing.

  FIG. 8 is a longitudinal side view of the drum type washing and drying machine, and FIG. 9 is a perspective view showing the same part in a cutaway manner. A casing 22 that forms the outer shell of the 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. The Inside the housing 22, a bottomed cylindrical washing tub 14 whose back is closed is disposed, and a stator of a permanent magnet motor 25 as a washing motor is provided at the center of the back of the washing tub 14. It is fixed by screwing. The washing tub (damping target) 14 is supported on the base 12 by the electric suspension 11 described above. In practice, two electric suspensions 11 (L, R) are arranged on the left and right of the washing tub 14 as viewed from the front as shown in FIG.

  The rotating shaft 26 of the permanent magnet motor 25 has a rear end (right end in FIG. 8) fixed to the rotor of the permanent magnet motor 25, and a front end (left end in FIG. 8) is the washing tub. 14 protrudes. A bottomed cylindrical drum (rotating tub) 27 whose rear surface is closed is fixed to the front end of the rotating shaft 26 so as to be coaxial with the washing tub 14, and the drum 27 is a permanent magnet. The motor 25 is driven to rotate integrally with the rotary 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 washing tub 14, and water is supplied into the washing tub 14 when the water supply valve 30 is opened. Moreover, the drainage hose 32 which has the drain valve 31 is connected to the washing tub 14, and when the said drain valve 31 is open | released, the water in the washing tub 14 will be discharged | emitted. A ventilation duct 33 extending in the front-rear direction is provided below the washing tub 14. A front end portion of the ventilation duct 33 is connected to the inside of the washing tub 14 via a front duct 34, and a rear end portion thereof is connected to the inside of the washing tub 14 via a rear duct 35. A blower fan 36 is provided at the rear end portion of the ventilation duct 33, and the air in the washing tub 14 is blown from the front duct 34 through the ventilation duct 33 by the blowing action of the blower fan 36 as indicated by an arrow. Into the washing tub 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 40 (not shown), and air flowing in the ventilation duct 33 is dehumidified by the evaporator 37 and heated by the condenser 38. It is circulated in the washing tub 14. An acceleration sensor (vibration sensor) 41 for detecting vibration as acceleration (physical quantity) is attached to the outer bottom of the washing tub 14 corresponding to the position immediately below the center of gravity of the washing tub 14. An acceleration sensor (vibration sensor) 42 is attached. Further, the upper bottom portion of the housing 22 and the upper end of the washing tub 14 are elastically connected by a spring 43.

  FIG. 1 is a block diagram showing the configuration of a control device (vector calculation means, vibration control device) 44 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 44. The position calculation unit 55 converts the position signal into a phase θ with the movement pitch of the mover 7 as a cycle, and outputs the phase θ to the current conversion unit 53 and a voltage conversion unit 56 described later.
In the integrators 57a, 57b, 57c, and 57d, the acceleration signal α (1,2) output from the acceleration sensor 41 attached to the washing tub 14 and the acceleration sensor 42 attached to the housing 22 is integrated to obtain a velocity v ( 1, 2) is calculated, the velocity v (1,2) is integrated to calculate the displacement p (1,2) and output to the torque control unit (vibration control means) 58.

  The torque control unit 58 is supplied with a signal indicating an operation mode such as washing or dehydration from the control circuit unit (higher system) of the washing / drying machine 21 and a rotational speed command ωref of the permanent magnet motor 25. Yes. Then, when the drum 27 of the washing / drying machine 21 rotates and the washing tub 14 vibrates, the torque control unit 58 detects the motor 25 detected corresponding to each mode such as washing, dehydration, and rinsing. Priority is determined on which vibration of the washing tub 14 or the housing 22 is to be suppressed according to the rotational speed ω, the acceleration α obtained from the acceleration sensors 41 and 42, and the speed v and displacement p obtained based on the acceleration α. To do. Further, the rotational speed ω of the motor 25 detected corresponding to the section of each operation mode such as washing operation and dehydration operation, the acceleration α obtained from the acceleration sensors 41 and 42, and the speed v and displacement p obtained based on the acceleration α. Based on the above, a plurality of damping states are determined, and a q-axis current command Iqref is generated and output so as to generate a damping brake torque corresponding to the vibration for each state.

The torque controller 58 multiplies the acceleration α1, the speed v1, the displacement P1, and the acceleration α2, the speed v2, and the displacement P2 of the washing tub 14 by the feedback gains K1 to K6 and adds them to the q-axis current. It is generated as a command Iqref and output to each of the two electric suspensions 11 (L, R) that elastically support the washing tub 14. That is,
Iqref = K1 · α1 + K2 · v1 + K3 · p1
+ K4 · α2 + K5 · v2 + K6 · p2 + Iqr
It becomes. However, Iqr is a term for setting the current command Iqref when performing regenerative control to a certain value that is not zero.
In FIG. 1, only the configuration corresponding to one of the electric suspensions 11R is shown, but in reality, the control system from the current control unit 60 to the inverter circuit 51 is individually provided for the two electric suspensions 11L and 11R. It is prepared.

  The torque current command Iqref is output to the current control unit 54. Further, basically, the excitation current command Idref is set to “0” in order to cause the linear motor 1 to operate in the whole field. 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 to calculate the deviations ΔIq and ΔId. 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 order to generate a PWM command voltage corresponding to the DC power supply voltage in the voltage output unit 61, the A / D converter 52 performs A / D conversion after dividing the DC power supply voltage to an appropriate voltage level. The converted data is supplied to the voltage output unit 61.

  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. The permanent magnet motor 25 that rotationally drives the drum 27 is vector controlled in the same manner as the linear motor 1 by the control circuit section (comprising a microcomputer. Washing control means) that controls the overall operation of the washing / drying machine 21. Is done.

  FIG. 2 shows a linear motor 1 and an inverter circuit 51 and components for regenerating electric power generated by the linear motor 1 receiving external force and using the electric power. A switch (power path switching means) 62 composed of, for example, an N-channel MOSFET is connected between the inverter circuit 51 and the drive power supply (DC power supply). An LED (illuminating means) 63 is lit to illuminate the interior of the drum 27 when the user opens the door 24 of the washing / drying machine 21. The cathode of the LED 63 is connected to the ground, and the anode is connected to the terminal (3) of the electromagnetic relay 65 through a current limiting resistor element 64.

  The terminal (4) of the electromagnetic relay 65 is connected to the positive bus of the inverter circuit 51 via a switch (power path switching means) 66 composed of an FET similar to the switch 62, and a capacitor (charging means, For example, it is connected to the ground via a super capacitor or an electric double layer capacitor) 67. The capacitor 67 is charged by the regenerative power of the linear motor 1 to supply power to the LED 63. The terminal (5) of the electromagnetic relay 65 is connected to a 5V power source, and the terminal (1) is connected to the ground via a switch 68 composed of an NPN transistor. A diode 69 is connected between the terminals (1) and (5). A secondary battery may be used instead of the capacitor 67.

  If the switch 62 is on and the switch 66 is off, the electric power generated by the linear motor 1 passes through free wheel diodes connected between the collectors and emitters of the upper arm side IGBTs 51u to 51w constituting the inverter circuit 51. Regenerated on the power supply side. Further, when the switch 62 is off and the switch 66 is on, the capacitor 67 is charged by the electric power generated by the linear motor 1. When the switch 68 is turned on, the electromagnetic relay 65 is turned off by energizing the exciting coil between the terminals (1) and (5), the power supply from the capacitor 67 to the LED 63 is cut off, and the switch 68 is turned off. Then, power is supplied to the LED 63 by the charge of the capacitor 67.

  Next, the operation of the present embodiment will be described with reference to FIGS. When a washing operation is performed in the washing / drying machine 21, vibration is generated in the washing tub 14 when the drum 27 is rotationally driven by the motor 25. FIG. 4 shows an example of changes in the rotational speed of the motor 25 in the washing mode and the subsequent dehydration mode in the washing machine. In the washing mode, the rotational speed of the motor 25 is at most about several tens of rpm, and the forward / reverse is switched in a short period. In this case, since the drum 27 does not vibrate so much, the displacement amount of the position sensor 8 (electric suspension 11) indicated by a broken line in the drawing does not show a very large value.

On the other hand, in the dehydration mode, the maximum rotational speed of the motor 25 may exceed several hundred rpm to 1000 rpm, and the drum 27 may vibrate greatly during the first acceleration period and the last deceleration period. In particular, during the acceleration period, when the rotation speed reaches the resonance point in the horizontal direction and the resonance point in the vertical direction of the vibration system centered on the drum 27, vibration tends to increase. In such a case, the displacement amount of the position sensor 8 becomes a large value.
Therefore, in the acceleration period and the deceleration period in the dewatering mode, the linear motor 1 is driven and the driving force generated by the electric suspension 11 is applied to the washing tub 14 side, so that the vibration is actively suppressed (damping). section). In other periods, the vibration energy applied as an external force to the electric suspension 11 is converted into electric energy, and the generated electric power is regenerated (regeneration section).

  FIG. 3 is a flowchart showing the control content centered on the torque control unit 58. First, referring to the operation mode signal, it is determined whether the washing mode or the dehydrating mode (step S1). The washing mode includes “rinse”. And if it is washing mode, it corresponds to the regeneration section shown in FIG. 4, and the electric power generated by the linear motor 1 receiving the vibration of the washing tub 14 as an external force during operation is regenerated to the power source side, or the capacitor 67 is charged. In order to determine whether or not to proceed, the process proceeds to step S7.

  The torque control unit 58 turns on the switch 66 and measures the amount of electric power (electric power × charge time) charged in the capacitor 67. If the electric energy is equal to or greater than a predetermined threshold, the switch 62 is turned on. Is turned off to regenerate the power generated by the linear motor 1 toward the power source. In this case, the feedback gains K1 to K6 are all set to zero, and the q-axis current command Iqref is controlled so that a reverse voltage is applied to each phase according to the speed of the mover 7. In this case, the brake torque acts in a direction opposite to the displacement direction of the mover 7 and regenerative power is generated in the linear motor 1, but a vibration damping action due to the brake torque also occurs. On the other hand, if the charging power amount of the capacitor 67 is less than a predetermined threshold value, the switch 62 is turned off and the switch 66 is turned on to charge the capacitor 67.

  In step S1, if the operation mode is the dehydration mode, it is determined whether the rotational speed of the motor 25 is equal to or greater than a predetermined threshold value (step S2). The rotational speed of the motor 25 is determined based on the speed command ωref. Even when the speed command ωref is not given, it is possible to obtain the frequency by extracting the frequency from the acceleration α1, the speed v1, and the displacement p1 of the washing tub 14. Here, the rotation speed threshold is set to a value corresponding to the vicinity of the natural frequency of the vibration system, and varies depending on individual specifications, but is set within a range of, for example, several tens of rpm to 300 rpm. If the rotational speed is less than the threshold value, it corresponds to the vibration suppression section shown in FIG. 4, so that the displacement p1 obtained from the sensor output obtained from the acceleration sensor 41 is equal to or greater than the threshold value causing the vibration of the washing tub 14 to be a problem. It is determined whether or not (step S3).

If displacement p1 is more than a threshold value in step S3, the washing tank 14 is made into the object and the vibration is suppressed. That is, the q-axis current command Iqref is generated and output so as to generate the damping brake torque in accordance with the vibration generated near the resonance point of the washing tub 14.
For example, the feedback gains K1 to K3 that multiply the acceleration α1, the speed v1, and the displacement p1 of the washing tub 14 are set to values calculated in advance, and the feedback gains K4 to K6 that multiply the acceleration α2, the velocity v2, and the displacement p2 of the housing 22 are set. Set to “0”. The feedback gains K <b> 1 to K <b> 3 are determined by simulation, previous actual machine experiments, etc., and set by a data table or the like in order to obtain appropriate values for suppressing vibration according to the rotational speed of the motor 25.

  Then, vector calculation is performed by the phase angle θ obtained based on the position signal output from the position sensor 8 of the electric suspension 11, the q-axis current Iq is controlled, and the linear motor 1 is driven via the inverter circuit 51. As a result, a brake torque that attenuates the vibration of the washing tub 14 is generated and acts to suppress the vibration.

  On the other hand, if the displacement p1 is less than the threshold value in step S3, the displacement load obtained by multiplying the acceleration α2 obtained from the sensor output obtained from the acceleration sensor 42 by the weight M of the entire washing / drying machine 21. It is determined whether or not M · α2 is equal to or greater than a threshold value at which the vibration of the housing 22 causes a problem (step S4). If the displacement load M · α2 is equal to or greater than the threshold value, the vibration of the casing 22 is suppressed. That is, in a state where the casing 22 vibrates near its own resonance point and the vibration propagates to the floor, a brake torque that attenuates the vibration of the casing 22 is generated to suppress the vibration. .

  In this case, the feedback gains K4 to K6 are set to values calculated in advance. The feedback gains K4 to K6 in this case are also obtained by simulation, a prior actual machine experiment, etc., as described above, and set by a data table or the like. In step S4, when the displacement load M · α2 is less than the threshold value, the process proceeds to step S7 to regenerate the generated power or charge the generated power.

  In step S2, if the rotational speed of the motor 25 is equal to or greater than the threshold value, the process proceeds to step S5 and the same determination as in step S3 is performed. If the displacement p1 is equal to or greater than the threshold value, vibration is also suppressed for the washing tub 14 as a target. If the displacement p1 is less than the threshold value in step S5, the process proceeds to step S6 and the same determination as in step S4 is performed. If the displacement load M · α2 is equal to or greater than the threshold, vibration is also suppressed for the housing 22 as a target. If the displacement load M · α2 is less than the threshold value in step S6, the process proceeds to step S7.

When suppressing the vibration of the washing tub 14 or the housing 22, the feedback gains K1 and K4 multiplied by the acceleration α output from the acceleration sensors 41 and 42 are set to values calculated in advance, and the other feedback gains are set to zero. When set, acceleration feedback is used. Further, when the feedback gains K2 and K5 multiplied by the speed v are set to values calculated in advance and the other feedback gains are set to zero, the skyhook control is performed. Further, when the feedback gains K2, K3, K5, and K6 multiplied by the speed v and the displacement p are set to values calculated in advance, and other feedback gains are set to zero, the LQ control is performed.
For example, the feedback gain can be set by combining acceleration feedback and skyhook control. It should be noted that which of these control modes is suitable for vibration suppression should be different depending on the specifications of the washing machine, and thus is determined by simulation, prior actual machine experiments, or the like as described above.

  By performing the processing as described above, if the capacitor 67 is in a charged state, the user opens the door 24 after the operation of the washing / drying machine 21 is finished and the supply of the main power is shut off, and the drum In order to take out the laundry in 27, the switch 68 is turned off and the electromagnetic relay 65 is turned on, so that power is supplied from the capacitor 67 to the LED 63. Then, the LED 63 emits light and the interior of the drum 27 is illuminated.

  Here, FIG. 5 shows the unbalanced load in the drum 27 as the displacement of the washing tub 14 at the resonance frequency of the vibration system when the vibration suppression control of this embodiment is performed and when the vibration suppression control is not performed. This is a comparison with different sizes. As the unbalance load increases, the difference from the case where the vibration suppression control is not performed increases, and it can be seen that the vibration suppression control of this embodiment is effective.

  As described above, according to this embodiment, the washing tub 14 disposed inside the housing 22 is elastically supported by the electric suspension 11 configured by arranging the spring 15 and the linear motor 1 in parallel. Acceleration sensors 41 and 42 are arranged in the washing tub 14 and the housing 22, respectively. Then, the torque control unit 58 of the control device 44 responds to the operation state of the washing / drying machine 21, the detection output of the position sensor 8 that detects the displacement amount of the electric suspension 11, and the detection outputs of the acceleration sensors 41 and 42. The vibration suppression control that controls the driving force of the linear motor 1 and the regenerative control that regenerates the electric power generated in the linear motor 1 are switched.

  Therefore, the electric power generated by the linear motor 1 can be effectively used while effectively suppressing the vibration generated in the washing tub 14. Since the washing / drying machine 21 is configured by including the permanent magnet motor 25 that rotates the drum 27, the control circuit that controls the permanent magnet motor 25, and the control device 44, vibration and noise that are about to occur in the dehydration mode and the like. Can be suppressed as much as possible to improve the quietness.

  The torque control unit 58 switches between vibration suppression control and regenerative control based on a speed command ωref output by the control circuit unit that controls the washing / drying machine 21 according to the operating state. That is, in the dehydration mode, the vibration becomes large when the motor 25 and the drum 27 rotate at a speed corresponding to the resonance frequency of the vibration system. By switching to regenerative control when the number of rotations increases to some extent, vibration can be effectively suppressed, and power generated by the linear motor 1 based on vibration energy can be efficiently recovered.

  Then, the torque control unit 58 switches the vibration suppression target to the housing 22 and the washing tub 14 according to the result of comparing the detection outputs of the acceleration sensors 41 and 42 and the position sensor 8 with the threshold values set for each. Based on the magnitude of each vibration displacement, the magnitude of the vibration load, etc., it is possible to appropriately switch the target to be subjected to vibration suppression. Further, in this case, since the settings of the gains K1 to K6 in the feedback control are changed according to the switching of the vibration suppression target, an appropriate gain can be given to suppress the vibration of each target.

Further, it is configured such that the electric power generated by the linear motor 1 can be charged to the capacitor 67 by applying vibration as an external force, and the electric power is regenerated to the power source side or charged to the capacitor 67 by the switches 62 and 67. It is possible to switch between regeneration and charging according to the magnitude of the generated power of the linear motor 1 and the timing at which the power is generated. Specifically, switching between regeneration and charging is performed depending on whether the amount of power charged in the capacitor 67 is equal to or greater than a threshold value. Therefore, the capacitor 67 can be maintained in an appropriate charged state, and the charged power can be used as necessary.
Then, since the electric power charged in the capacitor 67 is supplied to the LED 63 that illuminates the inside of the drum 27, even when the main power supply of the washing / drying machine 21 is shut off, the user opens the door 24 to While taking out the laundry, the LED 63 can be turned on to make the inside easier to see.

The present invention is not limited to the embodiments described above or shown in the drawings, and the following modifications or expansions are possible.
The rotation speed threshold set in step S2 may be set to a rotation speed corresponding to the vicinity of the resonance point of the vibration system unique to each product.
The displacement threshold value set in step S3 is a value determined by product specifications, and may be changed as appropriate within the range of the value.
The threshold value of the displacement load set in step S4 is also a value determined by product specifications. When the weight M is fixed, the acceleration may be changed as long as it is within the range of the value.
The threshold value of the power amount (power × time) set in step S7 is a value determined according to the capacity of the charging means such as a capacitor, and may be changed as appropriate within the range of the value.

In the dehydration mode, the regeneration control may be performed, and in the washing mode, the vibration suppression control may be performed.
The threshold value set for the displacement and vibration load may be changed as appropriate according to the individual design.
Of course, the electric 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 magnet of the linear motor is not limited to a configuration in which N poles and S poles are alternately arranged, but may be a Halbach array, a magnet facing type, or the like.
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 position of the acceleration sensor 41 attached to the washing tub 14 may be another position such as the side, front, or back of the washing tub 14 regardless of the position immediately below the position of the center of gravity of the washing tub 14.
The electric suspension 11 may be attached to the front and rear instead of the left and right.
The linear motor 1 may be configured to support the casing 22 in the vertical direction by a single linear motor 1 instead of being configured to be mounted in parallel with the spring 15.
The acceleration sensor 41 may be attached to the movable part of the linear motor 1 instead of the washing tub 14.
The position of the acceleration sensor 42 attached to the housing 22 may be other configurations such as the side, front, and back of the washing tub 14.
The control method in the case of performing vibration suppression control is not limited to acceleration feedback control, skyhook control, and LQ control, and other methods may be used.
A plurality of methods for suppressing the vibration of the washing tub 14 and the housing 22 may be used in combination.

The ratio at which the output obtained by multiplying the acceleration, speed, and displacement of the washing tub 14 or the acceleration, speed, and displacement of the housing 22 by the feedback gain is distributed to the plurality of electric suspensions 11 may be uneven.
The feedback gains K1 to K6 may be configured not only to use values calculated in advance, but also to change according to the sensor output values obtained from the acceleration sensors 41 and 42. That is, a learning function may be provided so as to determine a gain that provides an optimal vibration damping effect according to the actual operating state.
When performing regenerative control, the power generated by the linear motor 1 by receiving vibration energy may be regenerated as it is without performing control to apply a reverse voltage.
Relative values calculated from sensor outputs obtained from the acceleration sensors 41 and 42 may be used as the acceleration, speed, and displacement information used in a plurality of vibration suppression states with different vibration suppression targets.
The electric power charged in the capacitor 67 may be supplied to illumination means other than the LED 63 or may be supplied to equipment other than the illumination means.
You may apply to the drum-type washing machine without a drying function.

  In the drawings, 1 is a linear motor (linear actuator), 8 is a position sensor, 11 is an electric suspension, 14 is a washing tub, 15 is a spring (elastic body), 21 is a drum type washer / dryer, 22 is a housing, and 27 is Drum (rotating tank), 41 and 42 are acceleration sensors (vibration sensors), 44 is a control device (vibration control device), 58 is a torque control unit (vibration control unit), 62 is a switch (power path switching unit), 63 Denotes an LED (illuminating means), 67 denotes a capacitor (charging means), and 68 denotes a switch (power path switching means).

Claims (9)

A linear actuator that houses the rotating tub and supports the washing tub disposed inside the casing constituting the washing machine with the casing;
For each of the housing and the washing tub, a vibration sensor that detects a physical quantity that changes according to the occurrence of vibration;
A position sensor for detecting a displacement amount of the linear actuator;
Vibration suppression control means for controlling vibration generated during operation of the washing machine by controlling the driving force of the linear actuator according to the detection output of the vibration sensor and the detection output of the position sensor,
The vibration damping control means regenerates the electric power generated in the linear actuator and the vibration damping control for driving the linear actuator according to the operating state of the washing machine and the detection outputs of the vibration sensor and the position sensor. A vibration damping device for a drum-type washing machine, wherein the regeneration control is switched.   2. The vibration damping device for a drum type washing machine according to claim 1, further comprising an elastic body that elastically supports the washing tub with the housing.   3. The vibration damping device for a drum type washing machine according to claim 2, wherein the elastic body and the linear actuator are arranged in parallel to constitute an electric suspension.   The vibration suppression control unit is configured to control the vibration suppression control based on a speed command of the washing machine motor output by the washing control unit that controls the washing motor that rotates the rotating tub according to the operating state of the washing machine. 4. The vibration damping device for a drum type washing machine according to claim 1, wherein switching between the regenerative control and the regenerative control is performed. 5.   The vibration suppression control unit switches the vibration suppression target to one of the housing and the washing tub according to the result of comparing the detection outputs of the vibration sensor and the position sensor with the threshold values set for each. The vibration damping device for a drum-type washing machine according to any one of claims 1 to 4.   6. The vibration damping device for a drum type washing machine according to claim 5, wherein the vibration damping control means changes a gain setting in feedback control in accordance with switching of the vibration damping target. Charging means for charging the electric power generated by the linear actuator;
Power path switching means for switching between regenerating the power on the power source side or charging the charging means;
The said vibration suppression control means controls the path switching of the said electric power path switching means according to the magnitude | size of the said electric power, and the timing which the said electric power generate | occur | produced. Drum-type washing machine vibration control device. Illuminating means for illuminating the inside of the rotating tank
8. The vibration damping device for a drum-type washing machine according to claim 1, wherein the electric power charged in the charging unit can be supplied to the lighting unit. A washing motor for rotating the rotating tub;
Washing control means for controlling the washing motor;
A drum-type washing machine comprising the vibration damping device according to claim 1.

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