JP2011106571A - Vibration damping control system and electric equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vibration damping control system improving responsiveness to steeply changing vibration and additionally regenerating power, and to provide electric equipment equipped with the vibration damping control system. <P>SOLUTION: An electromagnetic type suspension 11 combining a linear motor 1 and a spring 15 is arranged between the base 12 and the water tank 14 of a washing machine 21 and a position sensor 8 is arranged on a stator 7 side of the linear motor 1. A control device 41 detects a position θe with a position calculation part 55 based on a position signal output from the position sensor 8, and when detects speed v with a differentiator 57, suppresses the vibration generated on the water tank 14 during washing operation to a target value by vector-controlling the linear motor 1 based on the position θe, the speed v, an acceleration signal a output from an acceleration sensor 16 mounted to the base 12 and motor currents Ia, Ib, Ic, and regenerates the maximum power to be obtained then. <P>COPYRIGHT: (C)2011,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 (actuator) constituting a vehicle suspension system. In the above system, an electromagnetic absorber is disposed between the suspension lower arm that holds the wheel and forms a part of the unsprung part, and the mount part that is provided on the vehicle body and forms a part of the unsprung part. And it has an air spring in parallel with it.

  When a good vibration damping characteristic is required, the actuator controls the actuator force based on at least one of the sprung speed and the unsprung speed to apply the damping force. In other cases, a resistance of a specific magnitude according to the relative speed of the relative movement between the unsprung and unsprung parts in order that the generation of the actuator force is exclusively accompanied by power generation by the electromagnetic motor. The actuator force that becomes force is generated. These two controls are configured to be switchable based on signals from a vehicle speed sensor and an acceleration sensor attached to the vehicle body.

JP 2008-155756 A

  However, in the actuator control of Patent Document 1, since the control mainly for vibration suppression and the control mainly for power regeneration are switched, vibration is sufficiently damped during the control mainly for vibration suppression. In such a case, there is a possibility that the power that can be regenerated at that time cannot be recovered to the maximum extent.

  The present invention has been made in view of the above circumstances, and an object thereof is to continuously adjust the implementation ratio of vibration suppression and power regeneration to achieve both of the two controls, and the system An object of the present invention is to provide an electric device configured with a vibration suppression control system.

  In order to achieve the above object, the vibration suppression control system according to claim 1 is provided 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. A stator having a three-phase winding and a mover having a permanent magnet, and either 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, a current detection means for detecting a current supplied to the winding, a position sensor for detecting a relative position of the mover and outputting a position signal, and based on the position signal, A speed detection means for detecting a speed and outputting a speed signal, and an acceleration sensor for detecting an acceleration of the object to be controlled and outputting an acceleration signal, the current detected by the previous current detection means and the position signal And the speed based on the acceleration and the acceleration. By controlling the motor in vector, the vibration generated in the object to be controlled is suppressed, and the phase of the current supplied to the winding is adjusted, whereby electric power is regenerated to the power source by the linear motor, and the vibration control is performed. If the vibration value of the target object has not reached the target vibration value, control is performed mainly for vibration suppression.If the vibration value has reached, control for achieving both vibration suppression and power regeneration is performed. When the vibration value of the object to be controlled is less than or equal to the target vibration value in a state where the linear motor is not performing control, by executing control mainly for regeneration, the execution ratio of vibration suppression control and power regeneration control can be increased. And a control device for adjustment.

  According to a ninth aspect of the present invention, there is provided an electric apparatus comprising the vibration damping control system according to any of the first to eighth aspects, wherein a movable part that generates vibration when operating by generating a DC power supply from a commercial AC power supply is provided. And the movable part is the object to be damped.

  According to the vibration suppression control system and the electric apparatus of the present invention, vibration is reduced and regeneration is efficiently performed by continuously adjusting the implementation ratio of vibration suppression and power regeneration to achieve both of the two controls. be able to.

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 shows the electric current phase of vibration suppression and regenerative control Diagram showing the implementation ratio of vibration suppression and regenerative control The figure which shows the judgment means of the execution ratio of vibration suppression and regenerative control The figure which shows the control structure of the electromagnetic suspension in a washing machine process

(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 movable element 4 composed of 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 stator 7 having a rectangular parallelepiped main body 6. In addition, a position sensor 8 that outputs a relative displacement position of the mover 4 is disposed in the main body 6.

  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 disposed on the bottom surface side of the washing machine, and the support member 13 supports the stator 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 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 stator 7. Body) 15 is arranged. Therefore, in a state where the electromagnetic suspension 11 is disposed in the washing machine, the stator 7 is the fixed side and the mover 4 is the movable side.

  FIG. 4 is a longitudinal side view of the drum type washing / drying machine, and FIG. 5 is a perspective view showing the same part in a cutaway manner. 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 7 of the motor 1. For the calculation of the coordinate conversion in the current conversion unit 53, the position (phase difference between the α axis and the d axis, the electrical angle) θe described later is used. The d-axis current Id and the q-axis current Iq are given to the current control unit 54.

  The position signal output from the position sensor 8 disposed on the stator 7 of the linear motor 1 is A / D converted by the A / D converter 52 and is sent to the position calculation unit (phase detection means) 55 of the control device 41. Is given. The position calculation unit 55 converts the position signal into a position θe having the moving pitch of the movable element 4 as a cycle, and outputs the position signal to a current conversion unit 53 and a voltage conversion unit 56 described later, and can be handled by the control device 41. It is converted into a distance signal θm (mechanical angle) 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 θm (dθm / dt) to the torque control unit (regeneration) (q-axis current command generation means (regeneration)) 58.

  When the drum 27 of the washing / drying machine 21 rotates and the vibration is generated in the water tank 14, the torque control unit (regeneration) 58 generates a damping brake torque with respect to the speed of the mover corresponding to the vibration. Q-axis current command is generated 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 k of the spring 15. Then, a damping brake torque is given to the speed v (= dθm / dt) by multiplying the damping coefficient c by the reverse polarity, and a torque (q-axis) current command (regeneration) is multiplied by the reciprocal of the torque constant Kt of the linear motor 1. ) Iqref (regeneration) is generated. The current phase of this torque current command (regeneration) is used for control mainly for regeneration because the damping brake torque is maximized and the most regenerative power can be obtained.

  The acceleration signal output from the acceleration sensor 16 disposed on the base 12 of the electromagnetic suspension 11 is A / D converted by the A / D converter 52 and is supplied to the vibration suppression / power regeneration compatible control unit 42 of the control device 41. Is given. The difference Δa is calculated from the acceleration signal a by subtracting the difference from the target acceleration (zero) given from the outside in the subtractor 59a of the vibration suppression / power regeneration compatible control unit 42. The acceleration deviation Δa is subjected to proportional-integral calculation in the torque control unit (vibration suppression) 44 to generate a torque (q-axis) current command (vibration suppression) Iqref (vibration suppression).

  The torque control unit (vibration control) 44 generates a canceling torque with respect to the vibration (acceleration) given to the base 12 when vibration is generated in the water tank 14 due to rotation of the drum 27 of the washing / drying machine 21. A q-axis current command is generated and output so that The current phase of the torque current command (vibration suppression) is used for control mainly based on vibration suppression because the vibration canceling torque with respect to the base becomes the maximum and the vibration suppression can be obtained most.

The vibration suppression / regeneration implementation ratio adjusting means 43 will be described with reference to FIGS. FIG. 6 shows the phase relationship between Iqref (damping) and Iqref (regenerative), respectively. FIG. 6 (a) shows the q-axis current command Iqref (damping) in the case of control where the damping is 100%. 6 (b) shows the q-axis current command Iqref (regeneration) in the case of control with power regeneration set to 100%, and FIG. 6 (c) shows the case of both vibration suppression and power regeneration control. Q-axis current command. In the control mainly based on vibration suppression, the phase of Iqref is given by the opposite phase of the acceleration a given to the base 12. At this time, for example, at acceleration a> 0, the dq axis current vector is in the −q axis direction with the d axis current command set to 0.

In the control mainly for power regeneration, the phase of Iqref is given by the opposite phase of the velocity v of the mover 4 calculated based on the position signal output from the position sensor 8 attached to the stator 7 of the motor. At this time, for example, at a speed v> 0, the dq axis current vector is in the third quadrant direction with the d axis current command having the same polarity as the q axis current command (minus in this case). A method for determining the d-axis current will be described later.

Here, in the control that achieves both vibration suppression and power regeneration, the phase of Iqref is located between the current commands Iqref (vibration) and Iqref (regeneration) of the two controls described above, and the two current commands are Given by compositing. The vibration suppression / regeneration execution ratio adjusting means 43 changes the coefficients P1 and P2 for determining the control execution ratio based on, for example, a line as shown in FIG. Part (regeneration) 58. The values of P1 and P2 are set such that the total execution ratio of the two controls is “1”, and is calculated experimentally, for example. For example, among the lines shown in FIG. 7, a line that protrudes upward from P1max and a line that protrudes downward from P2max are control mainly for vibration suppression (the two-dot chain line in FIG. 7), and a line that protrudes downward from P1max. A line protruding upward from P2max indicates a gain setting in the case of control mainly based on power regeneration (a chain line in FIG. 7). Further, the values of P1max and P2max are not necessarily equal. The vibration suppression / regeneration execution ratio adjustment means 43 compares the target vibration value given from the outside with the vibration value (acceleration) of the base 12, and executes two controls of vibration suppression and power regeneration based on the above-described line. Determine the percentage. As shown in FIG. 8, when target vibration value> actual vibration value, vibration suppression and power regeneration are performed at the same time, and the actual vibration value is settled at an implementation ratio that matches the target vibration value. When the target vibration value is smaller than the actual vibration value, only control mainly including vibration suppression is performed so that the actual vibration value is equal to or less than the target vibration value.

When this is replaced with a washing machine process, the control is switched as shown in FIG. At the time of washing, the values of P1 and P2 are adjusted based on the above-described method of determining the execution ratio, and both vibration suppression and power regeneration are achieved, and the vibration of the washing machine housing in which the base 12 is installed is set to the target vibration value. And the maximum power obtained at that time is regenerated in the power source.

At the time of dehydration, the control method of the electromagnetic suspension 11 is divided into three patterns: low speed, medium speed, and high speed. First, at the time of dehydration at low speed (at the time of start-up), there is a resonance point of the washing tub, so that the vibration of the washing tub increases. As a result, an acceleration signal of an acceleration sensor that detects vibration of a washing tub (not shown) may exceed a threshold value, and the dehydration operation may be stopped. In order to prevent this starting failure, the electromagnetic suspension 11 is required to have a strong damper force. In order to reduce the vibration of the washing tub, the electromagnetic suspension 11 only needs to be braked so as to suppress the vibration of the washing tub. Therefore, regenerative brake control (power regeneration) mainly including power regeneration is performed. That is, control is performed with a larger ratio of P2. However, to reduce the vibration of the housing at the same time, for example, power regeneration control is performed only near the resonance point of the washing tub (that is, when the acceleration signal of the acceleration sensor of the washing tub not shown) is likely to exceed the threshold value. The section achieves both vibration suppression and power regeneration based on the above-described method of determining the implementation ratio. In addition, when it is necessary to increase the damper force, such as when dehydration is started, electromagnetic suspension control is turned on only for the lower arm of the inverter circuit configured by connecting a switching element to a three-phase bridge instead of a regenerative brake. Alternatively, the movable member 4 may be fixed to the stator 7 by exciting a direct current to the winding 5 so that the movable member 4 is not displaced.

When dehydrating at medium speed, the same control as for washing is performed. Finally, the high-speed dehydration will be described. In this mode, the frequency of vibration generated in the water tank 14 is increased by the rotation of the drum 27 of the washing / drying machine 21, and is absorbed by the spring 15 attached to the electromagnetic suspension 11, and the vibration value of the casing is the target vibration. Below the value. That is, since it is not necessary to perform vibration suppression control, only control mainly for power regeneration is performed. However, when the vibration value exceeds the target vibration value due to regenerative braking, both vibration suppression and regenerative control is performed. Further, at the time of high speed of dehydration, the electromagnetic suspension 11 is required to have a weak damper force, and the mover displaced by vibration may be moved freely without performing control to regenerate power.

As described above, by continuously switching the control of the electromagnetic suspension 11 by the washing machine process, it is possible to reduce the vibration of the casing to the target value in all processes and obtain the most regenerative power at that time. .

Here, the DC power supply circuit 62 that supplies the drive DC power to the inverter circuit 51 supplies the power to the washing motor (power motor) 25 or the inverter circuit (drive circuit) 63 that drives the compressor 39 in common. It is configured to supply. For this reason, the electric power generated in the electromagnetic suspension 11 can be regenerated in the DC power supply circuit 62 via the inverter circuit 51, and the power consumption can be reduced as the washing machine system. Further, this regenerative power can be used by storing it in another DC power supply circuit (not shown).

Further, the vibration suppression / regeneration execution ratio adjusting means 43 is configured to variably set the execution ratios of the two controls in accordance with fluctuations in the DC power supply voltage supplied from the DC power supply circuit 62. Specifically, the rate of regenerative control is increased as the DC power supply voltage decreases. That is, if the linear motor 1 does not perform a vibration control operation when vibration is applied to the water tank 14, regenerative power is generated in the linear motor 1, and the power is supplied to the DC power supply circuit 62 side via the inverter circuit 51. It is regenerated.

  Therefore, when the DC power supply voltage is lowered, the regenerative control execution ratio is increased to suppress the active vibration damping action by the electromagnetic suspension 11, and the amount of power to be regenerated to the DC power supply circuit 62 side is increased. To do. Thereby, it is possible to prioritize compensation for voltage drop.

  As described above, when the washing motor 25 is driven via the inverter circuit 63, the inverter circuit 51, 63 is commonly supplied with DC power from the power supply circuit 62, and the damping / regeneration implementation ratio adjusting means. 43 shifts the phase of the q-axis current command Iqref more than the regenerative control in accordance with the decrease of the DC power supply voltage. 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 62 side to compensate for the voltage decrease.

In the vibration suppression / power regeneration compatible control unit 42, the torque current command (vibration) and the torque current command (regeneration) are added by the adder 45 to calculate the torque current command Iqref. The voltage detector 49 of the control device 41 detects the voltage of the DC power supply and outputs the detection result to the A / D converter 52. The q-axis current command limiting means 46 limits the q-axis current command in accordance with the power supply voltage given by A / D conversion by the A / D converter 52 in addition to the normal current command limitation. The q-axis current command is limited when the power supply voltage that rises due to regenerative power exceeds the target power supply voltage given from the outside.

The torque current command Iqref is output to the current control unit 54. In the control mainly for vibration suppression, the linear motor 1 is basically operated in all fields, so that the excitation current command Idref is given “0”. In the control for performing the regeneration, an excitation current command determined by the d-axis current command determination means 47 is given. The d-axis current command determining means 47 determines the d-axis current command Idref using the following equation based on the regenerative current command Idqbrk and the torque current command Iqref given from the outside.

Idqbrk = √ (Idref ² + Iqref ² ) (2)
Here, the polarity of the d-axis current command is the same as that of the q-axis current command. The regenerative current command Idqbrk is obtained experimentally, for example. Increasing the regenerative current command increases the braking force, and decreasing it decreases the braking force.

These dq-axis current commands are calculated by calculating the difference between the d-axis current Id and the q-axis current Iq output from the current conversion unit 53 in the subtractors 59q and 59d of the current control unit 54 to obtain the deviations ΔIq and ΔId. Is calculated. 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 based on the DC power supply voltage. The

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 62.

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 mover 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 for regenerating the vibration of the water tank 14 is calculated from the speed v based on the position signal, and the q-axis current command (regeneration) Iqref (regeneration) is output and attached to the base 12. From the acceleration deviation Δa based on the obtained acceleration sensor signal, a cancel torque that attenuates the vibration of the water tank 14 is calculated, and a q-axis current command (damping) Iqref (damping) is output. The torque control unit that outputs them is adjusted by the vibration suppression / regeneration execution ratio adjusting means 43. Then, feedback of the current loop based on the q-axis current command Iqref obtained by adding the q-axis current command (vibration) and the q-axis current command (regeneration) and the d-axis current command Idref output by the d-axis current command determination means 47. Control is performed, vector calculation is performed based on the electrical angle θe obtained based on the position signal, the q-axis current Iq and the d-axis current Id are controlled, and the linear motor 1 is driven via the inverter circuit 51. As a result, the vibration generated in the water tank 14 is attenuated by the torque obtained by synthesizing the brake torque generated by the linear motor 1 and the canceling torque that attenuates the vibration, thereby regenerating electric power.

  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 tank 14, and the stator of the linear motor 1. The position sensor 8 is arranged on the 7 side. Then, when the control device 41 detects the position θe based on the position signal output from the position sensor 8 by the position calculation unit 55 and detects the speed v (= dθm / dt) by the differentiator 57, the position θe and the speed are detected. Vector control is performed on the linear motor 1 based on v, acceleration a, and motor currents Ia, Ib, and Ic to suppress vibration generated in the water tank 14 during the washing operation and to regenerate power.

That is, the torque current Iq of the linear motor 1 is applied by the torque control unit (vibration control) 44 and the torque control unit (regeneration) 58 so as to apply a torque obtained by synthesizing a brake torque that regenerates vibration and a canceling torque that attenuates vibration. By controlling, it is possible to suppress the sharply changing vibration to the target value with high accuracy, and to perform power regeneration on that. In this case, the torque control unit (vibration control) 44 generates the q-axis current command Iqref in inverse proportion to the acceleration a of the base 12, so that the damping coefficient c set for the electromagnetic suspension 11 is applied to attenuate the vibration. Since the torque control unit (regeneration) 58 generates the q-axis current command Iqref in inverse proportion to the relative speed v of the mover 4, it can apply brake torque and regenerate vibration.

  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 is possible to operate with low noise and regenerate vibration as electric power.

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 mover of the linear motor as the fixed side and the stator as the moveable 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 present invention is not limited to the washing machine described in the first embodiment, and is also applied to, for example, a shock absorber for a vehicle, a suspension arranged to suppress vibration when a precision device is carried on a carriage, etc. it can.

  DESCRIPTION OF SYMBOLS 1 ... Linear motor, 3 ... Permanent magnet, 4 ... Movable element, 5 ... Winding, 7 ... Stator, 8 ... Position sensor, 11 ... Electromagnetic suspension, 12 ... Base, 14 ... Water tank (vibration control object), DESCRIPTION OF SYMBOLS 15 ... Spring (elastic body), 21 ... Drum type washing / drying machine (electrical equipment), 25 ... Permanent magnet motor (power motor), 41 ... Control device, 44 ... Torque control part (vibration suppression) (q-axis current command Generating means (vibration suppression)), 50 ... current sensor (current detection means), 51 ... inverter circuit (drive circuit), 55 ... position calculation unit (phase detection means), 57 ... differentiator (speed detection means), 58 ... Torque control unit (regeneration) (q-axis current command generation means (regeneration)), 62 ... DC power supply circuit, 63 ... inverter circuit (drive circuit)

Claims (9)

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;
A stator having a three-phase winding; and a mover having a permanent magnet, wherein one of the stator and the mover is fixed to the object to be controlled, and the other is fixed to the base. Linear motor
Current detecting means for detecting a current passed through the winding;
A position sensor that detects a relative position of the mover and outputs a position signal;
Speed detecting means for detecting the speed of the mover based on the position signal and outputting a speed signal;
An acceleration sensor that detects an acceleration of the vibration suppression object and outputs an acceleration signal;
By performing vector control of the linear motor based on the current detected by the current detection means, the position signal, the speed, and the acceleration, it is possible to suppress vibrations that occur with respect to the vibration suppression object,
By adjusting the phase of the current passed through the winding, power is regenerated to the power source by the linear motor,
When the vibration value of the vibration control object does not reach the target vibration value, the control mainly for vibration control is performed,
If it has reached, implement control to achieve both vibration suppression and power regeneration,
When the vibration value of the vibration control object is equal to or less than the target vibration value in a state where the linear motor does not perform control, by performing control mainly for regeneration,
A vibration suppression control system comprising: a control device that adjusts an execution ratio of vibration suppression control and power regeneration control. When receiving vibration from the side where the base is installed,
The controller is
Current command generation output means for generating and outputting a q-axis current command serving as a thrust of the linear motor based on a difference between a target acceleration signal of the vibration control object given from the outside and the acceleration signal;
2. The vibration suppression control system according to claim 1, wherein an acceleration of the vibration suppression object is controlled so as to coincide with the target acceleration.   3. The vibration suppression control system according to claim 1, wherein the control device includes a vibration suppression / regeneration ratio adjusting unit that generates a q-axis current command based on the acceleration signal and the velocity signal. .   The vibration suppression / regenerative adjustment unit adjusts the ratio of the first q-axis current command calculated based on the speed and the second q-axis current command calculated based on the acceleration, and synthesizes the q-axis current command. The vibration suppression control system according to claim 3, wherein: A power motor and a drive circuit that drives the power motor by energizing the power motor, and the power motor is a source of vibration for the vibration control object;
5. The DC power source supplied to the drive circuit and the DC power source supplied to the drive circuit that drives the linear motor by energizing it are shared. The vibration suppression control system described in 1.   The control device includes a current command limiting unit that limits the q-axis current command so that a voltage of the DC power supply does not exceed a target power supply voltage of the drive circuit given from outside during power regeneration. The vibration suppression control system according to claim 5. 7. The vibration suppression control according to claim 6, wherein the control device determines a d-axis current command for adjusting a current phase from a relationship between a regenerative current command given from outside during regeneration and the q-axis current command. system.   The vibration control system according to any one of claims 1 to 7, wherein the control device performs control mainly based on regeneration when the vibration suppression object is resonating. A vibration suppression control system according to any one of claims 1 to 8,
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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