JP2019143780A - Vibration control system and washing machine - Google Patents

Abstract

To provide a low-cost vibration control system capable of appropriately controlling vibration of an object, and a washing machine.SOLUTION: A vibration control system includes: a linear actuator 10 having a movable element and a stationary element, which is connected to a vibrating object G; a current detection unit 50 for detecting a current value i of a current applied to the linear actuator 10; an acceleration/position estimation unit 60 for estimating a relative acceleration am, and/or a relative position xm between the movable element and the stationary element of the linear actuator 10 on the basis of the current value i detected by the current detection unit 50; and a thrust adjusting unit 90 for adjusting a thrust of the linear actuator 10 on the basis of the relative acceleration am, and/or the relative position xm estimated by the acceleration/position estimation unit 60.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vibration control system and a washing machine technology for controlling vibration of an object.

  For example, in Patent Document 1, “a linear motor and an elastic body arranged between a washing tub and a casing, and a current detection unit that detects a current supplied to a winding of the linear motor and outputs a current signal. A relative position calculation unit that detects a relative position of the mover of the linear motor and calculates a moving distance of the mover; detects a relative acceleration of the washing tub or the housing; and outputs a relative acceleration signal Based on the relative acceleration sensor, the moving distance, the relative acceleration signal, and the elastic constant of the elastic body, the excitation force calculation unit that calculates the excitation force signal, and the difference between the excitation force signal and the target vibration value Based on the torque control unit that outputs a command q-axis current value, the current signal, and an energization control unit that controls energization of the windings based on the command q-axis current value. The device is disclosed (see summary) ).

JP 2011-182934 A

  However, the vibration damping device disclosed in Patent Document 1 is provided with a relative acceleration sensor that detects the vibration of the washing machine, resulting in an increase in cost.

  This invention was made in view of such a background, and this invention makes it a subject to provide the low-cost vibration control system and washing machine which control the vibration of a target object appropriately.

In order to solve the above-described problem, the present invention detects a current value of a drive unit having a mover and a stator, connected to a vibrating object, and a current passed through the drive unit. A current detection unit, an estimation unit for estimating a relative acceleration and / or a relative position between the mover and the stator of the drive unit based on the current value detected by the current detection unit, and the estimation unit And a thrust adjustment unit that adjusts the thrust of the drive unit based on the estimated relative acceleration and / or the relative position.
Other solutions will be described later in the embodiment.

  ADVANTAGE OF THE INVENTION According to this invention, the low-cost vibration control system and washing machine which control the vibration of a target object appropriately can be provided.

It is a figure which shows the structural example of the vibration control system Z used by 1st Embodiment. 1 is a longitudinal sectional perspective view of a linear actuator 10 provided in a vibration control device 100. FIG. FIG. 3 is an end view taken along line AA in FIG. 2. FIG. 3 is a diagram (example 1) illustrating a method for fixing the linear actuator 10; FIG. 6 is a diagram (example 2) illustrating a method for fixing the linear actuator 10; 3 is a diagram illustrating a configuration of a rectifier circuit Re and an inverter unit 40 included in the vibration control device 100. FIG. 3 is a diagram in which three linear actuators 10b to 10d (10) are connected to a rectifier circuit Re and an inverter unit 40. FIG. It is a figure which shows the specific structure of the current command generation part 70 and the voltage command generation part 80 which are used in 1st Embodiment. 5 is a diagram illustrating a specific configuration example of an acceleration estimation unit 610 in an acceleration / position estimation unit 60. FIG. 5 is a diagram illustrating a specific configuration example of a position estimation unit 620 in an acceleration / position estimation unit 60. FIG. It is a figure which shows the structure of the vibration control system Za used by 2nd Embodiment. It is a figure which shows the structure of the electric current instruction | command production | generation part 70a used by 2nd Embodiment. It is a figure which shows the variable example of gain m * and k *. It is a figure which shows the result in case control is performed according to the example shown in FIG. It is a figure which shows another example which varied gain m * or gain k *. It is a figure which shows the result in case control is performed according to the example shown in FIG. It is a figure which shows the structural example of the vibration control system Zb used by 3rd Embodiment. It is a figure which shows the structural example of the electric current instruction | command production | generation part 70b used by 3rd Embodiment. It is a figure which shows the relationship between the vibration frequency f of the target object G at the time of changing gain k *, and a vibration amplitude absolute value. It is a figure which shows the structural example of the vibration control system Zc used for 4th Embodiment. 1 is a perspective view of a washing machine W including a vibration control device 100. FIG. 1 is a longitudinal sectional view of a washing machine W including a vibration control device 100. FIG. It is a figure which shows the structure of the rectifier circuit Re and the inverter part 40 which are used in 4th Embodiment.

  Next, modes for carrying out the present invention (referred to as “embodiments”) will be described in detail with reference to the drawings as appropriate. In addition, in each drawing, the same code | symbol is attached | subjected about the same component and description is abbreviate | omitted suitably.

<< First Embodiment >>
(Vibration control system Z)
FIG. 1 is a diagram illustrating a configuration example of a vibration control system Z used in the first embodiment.
The vibration control system Z performs vibration suppression on the vibration of the object G, and includes a rectifier circuit (rectifier unit) Re and a vibration control device 100.
The rectifier circuit Re converts the AC voltage input from the AC power source E into a DC voltage and outputs the DC voltage. The rectifier circuit Re will be described later.
The vibration control device 100 dampens vibration of the object G using the DC voltage input from the rectifier circuit Re as a drive source. In the present embodiment, damping means shifting the vibration frequency of the object G vibrating at the resonance frequency.

(Vibration control device 100)
Next, the configuration of the vibration control device 100 that controls the linear actuator (drive unit, second drive unit) 10 will be described.
The vibration control apparatus 100 includes a linear actuator 10, an inverter unit (power conversion unit) 40, a current detection unit 50, an acceleration / position estimation unit (estimation unit) 60, and a thrust adjustment unit 90. The thrust adjustment unit 90 includes a current command generation unit 70 and a voltage command generation unit 80.

The linear actuator 10 is connected (for example, abutted) to the object G. The linear actuator 10 performs a linear motion by the input AC voltage and transmits the motion to the object G. The linear actuator 10 will be described later.
The inverter unit 40 is an inverter that converts the DC current input from the rectifier circuit Re into an AC voltage based on the voltage command value V * from the voltage command generation unit 80. In addition, although it is assumed that the inverter part 40 is controlled by PWM (Pulse Width Modulation), it is not restricted to this. The inverter unit 40 will be described later.
Incidentally, the double-headed arrow described on the object G indicates the vibration of the object G. Further, “+” and “−” in the rectifier circuit Re indicate the polarities of the voltages output from the rectifier circuit Re.

The current detection unit 50 is installed downstream of the inverter unit 40 and detects a current value i of a current flowing through the inverter unit 40, that is, a current flowing through the linear actuator 10.
The acceleration / position estimation unit 60 estimates the relative acceleration am and the relative position xm of the linear actuator 10 based on the current value i detected by the current detection unit 50. The acceleration / position estimation unit 60, the relative acceleration am, and the relative position xm will be described later.
The current command generation unit 70 generates a current command value i ** based on the relative acceleration am estimated by the acceleration / position estimation unit 60 and the relative position xm. The current command generator 70 will be described later.
The voltage command generator 80 generates a voltage command value V * based on the current command value i ** generated by the current command generator 70 and the current value i detected by the current detector 50. The generated voltage command value V * is input to the inverter unit 40. The voltage command generator 80 will be described later.

(Linear actuator 10)
Next, the linear actuator 10 will be described with reference to FIGS. The linear actuator 10 shown in FIGS. 2 to 5 is an example, and may not have the configuration shown in FIGS.
FIG. 2 is a longitudinal sectional perspective view of the linear actuator 10 provided in the vibration control device 100.
Here, as shown in FIG. 2, an xyz axis is defined. In FIG. 2, half of the linear actuator 10 is illustrated in the x direction, but the configuration of the linear actuator 10 is symmetric with respect to the yz plane.
The linear actuator 10 includes a stator 11 that is an armature and a plate-like movable element 12 that extends in the z direction. The linear actuator 10 changes the relative position between the stator 11 and the mover 12 by the magnetic attraction force / repulsive force (that is, thrust) in the z-axis direction between the stator 11 and the mover 12. It is a motor that changes linearly in direction. As will be described later, in the linear actuator 10, either the mover 12 or the stator 11 is connected to the object G.

  The stator 11 has a core 11a formed by laminating electromagnetic steel plates, and includes a plurality of windings 11b wound around the magnetic pole teeth M of the core 11a.

FIG. 3 is an end view taken along line AA in FIG. In FIG. 3, the entire linear actuator 10 is illustrated, not half of the linear actuator 10 in the x direction (see FIG. 2).
As shown in FIG. 3, the core 11a of the stator 11 includes an annular portion N and magnetic pole teeth M (M1, M2).
The annular portion N has an annular shape (rectangular frame shape) in a longitudinal sectional view, and a magnetic circuit is configured by the annular portion N. The pair of magnetic pole teeth M1 and M2 extend inward in the y direction from the annular portion N and face each other. The distance between the magnetic pole teeth M1 and M2 is slightly longer than the thickness of the mover 12 having a plate shape. Windings 11b (11b1, 11b2) are wound around the magnetic pole teeth M1, M2, respectively. When a current is passed through the winding 11b, the stator 11 functions as an electromagnet.

  In the example shown in FIG. 2, two pairs of magnetic pole teeth M are provided in the z direction (moving direction of the mover 12). Further, the winding 11b wound around each of the two pairs of magnetic pole teeth M forms one winding 11b, and both ends thereof are connected to the output side of the inverter unit 40 (see FIG. 1). ing.

  The mover 12 shown in FIG. 3 extends in the z direction through the annular core 11a. As shown in FIG. 2, the mover 12 includes a plurality of metal plates 12a extending in the z direction and permanent magnets 121b, 122b, 123b installed on the metal plate 12a with a predetermined interval in the z direction. I have. A plurality of permanent magnets may be attached to the metal plate 12a, or a plurality of permanent magnets may be embedded in the metal plate 12a.

  The permanent magnets 121b, 122b, 123b shown in FIG. 2 are magnetized in the y direction. More specifically, permanent magnets magnetized in the positive direction of the y direction (for example, permanent magnets 121b and 123b) and permanent magnets magnetized in the negative direction of the y direction (for example, the permanent magnet 122b). They are arranged alternately in the z direction. A z-direction thrust is applied to the mover 12 by the attractive force / repulsive force between the mover 12 and the stator 11 functioning as an electromagnet. The “thrust force” is a force that changes the relative position between the mover 12 and the stator 11.

(Fixing method of linear actuator 10)
FIG. 4 is a diagram (example 1) illustrating a method for fixing the linear actuator 10.
In the example shown in FIG. 4, one end of the mover 12 of the linear actuator 10 is connected to the object G, and the other end is fixed to the fixing jig J via a spring (elastic body) 20.
Here, the spring (elastic body) 20 is a spring that applies an elastic force to the mover 12, and is interposed between the mover 12 and the fixing jig J. The fixing jig J is installed on a floor or the like, for example. As shown in FIG. 4, the mover 12 passes through the stator 11.

FIG. 5 is a diagram (example 2) illustrating a method of fixing the linear actuator 10.
In the example of FIG. 5, one end of the stator 11c of the linear actuator 10a may be connected to the object G, and the other end may be attached to the fixing jig J via a spring (elastic body) 20a. Further, one end of the mover 12a is connected to the fixing jig J, and nothing is connected to the other end.
4 and 5, the ends of the stators 11 and 11c are connected to the object G, but the ends of the stators 11 and 11c are fixed to the object G by screws or the like. May be.
Although not shown, the spring (elastic body) and the linear actuator 10 may be fixed in parallel to the fixing jig J and the object G.

  As shown in FIGS. 4 and 5, one of the stator 11 and the mover 12 is connected to the object G, and the relative force between the stator 11 and the mover 12 is increased by a magnetic attractive force / repulsive force. What is necessary is just to make it change a position.

(Rectifier circuit Re / Inverter unit 40)
FIG. 6 is a diagram illustrating a configuration of the rectifier circuit Re and the inverter unit 40 included in the vibration control device 100. Note that the rectifier circuit Re and the inverter unit 40 are existing technologies.
Here, in FIG. 6, the structure in the case of controlling the two linear actuators 10 using a three-phase full bridge inverter is shown. The first linear actuator 10 is referred to as a linear actuator 10b, and the second linear actuator 10 is referred to as a linear actuator 10c.
In the case where only one linear actuator 10 is controlled, a single-phase full bridge circuit may be used in the inverter unit 40.

  The inverter unit 40 shown in FIG. 1 converts the DC voltage applied from the rectifier circuit Re into a single-phase AC voltage based on the voltage command value V * from the voltage command generation unit 80. And the inverter part 40 applies this single phase alternating voltage to the coil | winding 11b (refer FIG. 2, FIG. 3) of the linear actuator 10. FIG. That is, the inverter unit 40 has a function of driving the linear actuator 10 based on the voltage command value V *.

(Rectifier circuit Re)
The rectifier circuit Re is a well-known voltage doubler rectifier circuit that converts an AC voltage applied from the AC power source E into a DC voltage. The rectifier circuit Re includes a diode bridge circuit Re1 in which diodes D1 to D4 are bridge-connected, and two smoothing capacitors Ch connected in series.

Then, the voltage (DC voltage including pulsating current) applied from the diode bridge circuit Re1 is smoothed by the smoothing capacitor Ch so that the DC voltage E _DC corresponding to approximately twice the voltage of the AC power supply E is generated. It has become.
The rectifier circuit Re is connected to the inverter unit 40 via a positive-side wiring 201a and a negative-side wiring 201b. Note that “+” and “−” in FIG. 6 indicate the polarities of the voltages output from the rectifier circuit Re.

(Inverter unit 40)
The inverter unit 40 converts the above-described DC voltage into a single-phase AC voltage, and applies this single-phase AC voltage to the windings 11b (see FIGS. 2 and 3) of the linear actuators 10b and 10c.
For example, IGBTs (Insulated Gate Bipolar Transistors) are used as the switching elements S1 to S6. A free-wheeling diode D is connected to the switching elements S1 to S6 in antiparallel. When an IGBT is used as the switching elements S1 to S6 and the inverter unit 40 generates an AC voltage by PWM control, a pulse generator (not shown) is connected to the gate of the IGBT. The pulse generator generates a pulse having a duty corresponding to the value of the voltage command value V * output from the voltage command generator 80 shown in FIG.

  The inverter unit 40 is turned on when the vibration frequency of the linear actuator 10 (that is, the object G) approaches the resonance frequency, and is turned off otherwise.

  The connection point of the switching elements S1 and S2 is connected to the winding 11b of the linear actuator 10b via the wiring 201c. That is, a leg corresponding to one phase of the three-phase inverter unit 40 is connected to one linear actuator 10b.

The connection point of the switching elements S5 and S6 is connected to the winding 11b of the linear actuator 10c through the wiring 201e. That is, another leg corresponding to one phase of the three-phase inverter unit 40 is connected to the other linear actuator 10c.
That is, FIG. 6 shows an example in which two linear actuators 10 are in contact with the object G.
The linear actuators 10b and 10c are preferably connected to the inverter unit 40 so as to vibrate in the same direction.

  In addition, the connection point of the switching elements S3 and S4 is connected to the winding 11b of the linear actuator 10b through the wiring 201d and is also connected to the winding 11b of the linear actuator 10c. That is, the remaining legs of the three-phase inverter unit 40 are connected to the linear actuator 10b and the linear actuator 10c.

  As described above, the inverter units 40 are not separately provided corresponding to the linear actuators 10b and 10c, but the linear actuators 10b and 10c are commonly connected to one inverter unit 40. By doing in this way, the cost of the inverter part 40 can be reduced. Then, on / off of the switching elements S1 to S6 is controlled based on the PWM control, so that a single-phase AC voltage is applied to the windings 11b of the linear actuators 10b and 10c.

The current detection unit 50 detects the current value i of the current supplied to the inverter unit 40, that is, the linear actuators 10b and 10c. The current detection unit 50 is provided in the wiring 201 f disposed downstream of the inverter unit 40. That is, the current detection unit 50 detects the current value i of the current flowing through the windings 11b of the linear actuators 10b and 10c. However, it is necessary to invert the current value i detected by the current detection unit 50 at the timing when the switching elements S2 and S3 are turned on.
The wiring 201f described above is a wiring that connects the emitters of the switching elements S2, S4, and S6 and the wiring 201b.

Here, when the object G (see FIG. 1) vibrates, the stator 11 (see FIG. 2) of the linear actuator 10 and the mover 12 (see FIG. 2) move relative to each other. Then, an induced voltage is generated in the winding 11b. This induced voltage changes the current flowing through the inverter unit 40 and the wiring 201f. Such a change in current is detected by the current detection unit 50.
In addition, it is good also as a structure which arrange | positions the current detection part 50 to at least one of wiring 201c-201e, and detects the electric current (current value i) which flows into these wiring 201c-201e.

FIG. 7 is a diagram in which three linear actuators 10 b to 10 d (10) are connected to the rectifier circuit Re and the inverter unit 40.
In the example shown in FIG. 7, the connection point P1 of the diodes D1 and D2 is connected to the winding 11b (see FIG. 2) of the linear actuator 10b via the wiring 201d. Further, the connection point P1 of the diodes D1 and D2 is also connected to the winding 11b of the linear actuator 10c via the wiring 201d. Note that the linear actuator 10b and the winding 11b of the linear actuator 10c may be connected to a connection point of the diodes D3 and D4.
Further, the connection point P1 between the diodes D1 and D2 is connected to the winding 11b of the linear actuator 10d through the wiring 201g.
That is, the linear actuators 10b to 10d are connected to the input side of the diode bridge circuit Re1 constituting the rectifier circuit Re.

Furthermore, the connection point P2 of the switching elements S3 and S4 is connected to the winding 11b of the linear actuator 10d through the wiring 201h. That is, the linear actuator (first linear actuator) 10d is connected to the first leg corresponding to one phase of the three-phase full-bridge inverter constituting the inverter unit 40.
Since the connection between the wiring 201c and the wiring 201e is the same as that in FIG. 6, the description thereof is omitted here. In other words, the second leg corresponding to another one phase of the three-phase full-bridge inverter constituting the inverter unit 40 is connected to the linear actuator (second linear actuator) 10b. Further, the third leg corresponding to the remaining one phase is connected to the linear actuator (third linear actuator) 10c. Here, the first leg is a leg composed of switching elements S3 and S4, the second leg is a leg composed of switching elements S1 and S2, and the third leg is a switching element S5 and S6. A leg that is composed.

With this connection, three linear actuators 10 can be connected to one rectifier circuit Re and one inverter unit 40, and costs can be reduced.
Further, four or more linear actuators 10 may be connected to one inverter unit 40 or one rectifier circuit Re. By doing in this way, cost can be held down.

(Acceleration / position estimation unit 60 / thrust adjustment unit 90)
Next, the acceleration / position estimation unit 60 and the thrust adjustment unit 90 will be described with reference to FIG.
The acceleration / position estimation unit 60 and the thrust adjustment unit 90 are characteristic portions of the present embodiment.
1 includes an electronic circuit such as a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and various interfaces. Yes. Then, the program stored in the ROM is read out and expanded in the RAM, and the CPU executes various processes.

Here, with reference to FIG. 1, the control operation of each part will be described.
As described above, when the object G (see FIG. 1) vibrates, the stator 11 (see FIG. 2) of the linear actuator 10 and the mover 12 (see FIG. 2) move relative to each other. Then, an induced voltage is generated in the winding 11b. The induced voltage changes the current flowing through the inverter unit 40 and the wiring 201f shown in FIG. Such a change in current is detected by the current detection unit 50.

  The acceleration / position estimation unit 60 in FIG. 1 estimates the relative acceleration am and / or the relative position xm of the linear actuator 10 based on the current value i of the current detected by the current detection unit 50. Here, the relative acceleration am of the linear actuator 10 is a relative acceleration between the stator 11 and the mover 12 of the linear actuator 10 shown in FIG. Similarly, the relative position xm of the linear actuator 10 is a relative value between the stator 11 and the mover 12 of the linear actuator 10. Note that at least one of the relative acceleration am and the relative position xm may be estimated.

  When the resistance of the linear actuator 10 is R [Ω], the inductance is L [H], and the induced voltage is Em [V], the voltage equation of the linear actuator 10 is expressed by equation (1). Further, when the expression (1) is modified with respect to the induced voltage Em, the expression (1a) is obtained.

V = Ri + L (di / dt) + Em (1)
Em = V−Ri−L (di / dt) (1a)
Em = ωm · Ke (2)

Here, V is a voltage applied between the terminals of the winding 11b of the linear actuator 10, and i is a current (current value i) flowing through the linear actuator 10.
The acceleration / position estimation unit 60 uses the voltage command value V * output from the voltage command generation unit 80 instead of the voltage V and the current value i detected by the current detection unit 50 (the voltage command value V * is ( 1a) is substituted into V in the equation), and the induced voltage Em is estimated from the equation (1a).
The induced voltage Em is proportional to the relative speed ωm [m / s] between the mover 12 and the stator 11 of the linear actuator 10 and satisfies the relationship of the expression (2). Here, Ke [V · s / m] is an induced voltage constant of the linear actuator 10. The induced voltage constant Ke of the linear actuator 10, the resistance R of the linear actuator 10, the inductance L of the linear actuator 10, etc. are measured in advance.
Further, when the formula (2) is transformed into the formula of ωm, the following formula (2a) is obtained.

  ωm = Em / Ke (2a)

  Therefore, the acceleration / position estimation unit 60 estimates the relative speed ωm by multiplying the induced voltage Em estimated from the equation (1a) by the reciprocal of the induced voltage constant Ke based on the equation (2a). Thereafter, the speed / position estimation unit 60 estimates the relative acceleration am by performing time differentiation (dωm / dt) on the estimated relative speed ωm. Further, the speed / position estimation unit 60 estimates the relative position xm by time-integrating ωm. The relative acceleration am and the relative position xm are calculated by the following expressions (3) and (4) from the expressions (1) and (2).

am = (1 / Ke) {(dV / dt) -R (di / dt) -L (d ² i / dt ² )}
(3)

  As shown in FIG. 1, the acceleration / position estimation unit 60 outputs the estimated relative acceleration am and the relative position xm to the current command generation unit 70.

FIG. 8 is a diagram illustrating specific configurations of the current command generation unit 70 and the voltage command generation unit 80 used in the first embodiment.
(Current command generator 70)
First, a specific configuration of the current command generator 70 will be described.
The current command generation unit 70 includes an m * gain multiplication unit 71, a k * gain multiplication unit 72, an addition unit 73, a current command value calculation unit 74, and a current command limiter unit 75.
First, the m * gain multiplication unit 71 multiplies the relative acceleration am estimated by the acceleration / position estimation unit 60 by a predetermined gain m *. As a result, the m * gain multiplication unit 71 outputs a thrust command value Tm *. The thrust command value Tm * is a thrust that the linear actuator 10 should output.
Similarly, the k * gain multiplication unit 72 multiplies the relative position xm estimated by the acceleration / position estimation unit 60 by a predetermined gain k *. As a result, the k * gain multiplication unit 72 outputs the thrust command value Tk *.

  Here, the gain m * is a proportional gain multiplied by the relative acceleration am and the gain k * is multiplied by the relative position xm. The meaning of the gains m * and k * will be described later. In the first embodiment, the gains m * and k * are values determined by the designer and are constants.

  Next, the adding unit 73 adds the thrust command value Tm * and the thrust command value Tk * and outputs the result as the thrust command value T *. As described above, since either the thrust command value Tm * or the thrust command value Tk * may be calculated, either the thrust command value Tm * or the thrust command value Tk * is used as the thrust command value T *. Is output. When both the thrust command value Tm * and the thrust command value Tk * are input to the adding unit 73, an average value of the thrust command value Tm * and the thrust command value Tk * may be output as the thrust command value T *.

The current command value calculation unit 74 multiplies the thrust command value T * input from the addition unit 73 by the reciprocal of the thrust constant Kt [N / A] of the linear actuator 10 to generate a current command value i *. .
When the current command value i * exceeds the maximum current of the linear actuator 10, the inverter unit 40, or the like, the current command limiter unit 75 applies a limiter to the current command value i *, so that a new limited current command is generated. Outputs the value i **. The current command limiter unit 75 can be omitted. By providing such a current command limiter unit 75, it is possible to prevent an excessive current from flowing to the linear actuator 10 and the inverter unit 40.

(Voltage command generator 80)
Next, the voltage command generation unit 80 will be described.
The voltage command generation unit 80 includes a subtraction unit 81 and a proportional integration control unit 82.
The subtraction unit 81 calculates a current deviation value Δi that is the difference between the current command value i ** generated by the current command limiter unit 75 and the current (current value i) detected by the current detection unit 50.
Next, the proportional-integral control unit 82 calculates and outputs a voltage command value V * by performing proportional-integral control (PI (Proportional-Integral) control) on the current deviation value Δi.
By performing such control, feedback control based on proportional-integral control is performed, and control is performed so that the current value i matches (converges) with the current command value i **.
The voltage command value V * may be calculated by P (Proportional) control or PID (Proportional-Integral-Differential) control.
When the current value i matches the current command value i **, the linear actuator 10 vibrates at the target vibration width and vibration frequency.

Voltage command value V * is input to a pulse generator (not shown). The pulse generating unit performs PWM control based on the input voltage command value V * to switch on / off the switching elements S1 to S6 illustrated in FIG. In this way, a PWM-controlled voltage that matches the voltage command value V * is supplied to the wirings 201c to 201e shown in FIG.
By using such a proportional-integral control unit 82, it is possible to perform control using existing technology.

(Acceleration estimation unit 610)
FIG. 9 is a diagram illustrating a specific configuration example of the acceleration estimation unit 610 in the acceleration / position estimation unit 60.
The acceleration estimation unit 610 includes an induced voltage estimation unit 611, a 1 / Ke calculation unit 612, a multiplication unit 613, and a differential calculation unit 614.
The induced voltage estimation unit 611 calculates the above equation (1a) based on the current value i detected by the current detection unit 50 and the voltage command value V * output by the voltage command generation unit 80. That is, the induced voltage estimation unit 611 substitutes the voltage command value V * for “V” in the equation (1a), and further substitutes the current value i for “i” in the equation (1a). The induced voltage Em generated by relative movement of the stator 11 (see FIG. 2) and the mover 12 (see FIG. 2) is calculated.

Further, when the 1 / Ke calculation unit 612 acquires the induced voltage constant Ke of the linear actuator 10 from a memory or the like (not shown), the 1 / Ke calculation unit 612 calculates the reciprocal thereof.
Then, the multiplication unit 613 multiplies the output (induced voltage Em) of the induced voltage estimation unit 611 and the output (1 / Ke) of the 1 / Ke calculation unit 612. The result output from the multiplier 613 is obtained by substituting the equation (1a) for the induced voltage Em of the equation (2a), and is the relative speed ωm between the stator 11 and the mover 12 of the linear actuator 10.
Then, the differential calculation unit 614 differentiates the result output from the multiplication unit 613, that is, the relative speed ωm between the stator 11 of the linear actuator 10 and the mover 12. Thereby, the relative acceleration am between the stator 11 and the mover 12 is calculated (equation (3)).

(Position estimation unit 620)
FIG. 10 is a diagram illustrating a specific configuration example of the position estimation unit 620 in the acceleration / position estimation unit 60.
The position estimator 620 includes an induced voltage estimator 621, a 1 / Ke calculator 622, a multiplier 623, and an integral calculator 624.
The calculations performed by the induced voltage estimation unit 621, the 1 / Ke calculation unit 622, and the multiplication unit 623 in the position estimation unit 620 are the same as the units 611 to 613 illustrated in FIG. .
The integral calculation unit 624 integrates the result output from the multiplication unit 623, that is, the relative speed ωm between the stator 11 and the mover 12 of the linear actuator 10. Thereby, the relative position xm between the stator 11 (see FIG. 2) and the mover 12 (see FIG. 2) is calculated (equation (4)).

  Note that the integral / differential calculations in the equations (3) and (4) are based on the error of the current value i detected by the current detector 50, noise, the actually applied voltage V, and the voltage command generator 80. Is affected by an error from the voltage command value V *, which is an output of. Therefore, a low-pass filter or a high-pass filter may be installed.

<Effects of First Embodiment>
According to the first embodiment, the acceleration / position estimation unit 60 estimates and outputs the relative acceleration am and the relative position xm based on the current value i detected by the current detection unit 50.
The current command generator 70 calculates a thrust command value T * based on the relative acceleration am and the relative position xm, and further calculates a current command value i **. Then, the voltage command generation unit 80 performs feedback control so that the current value i detected by the current detection unit 50 follows the current command value i **.

Here, the gain m * and the gain k * will be described.
Here, an object of mass m [Kg] is vibrated into a general free vibration system that is supported in parallel by a spring having a spring constant k [N / m] and a damper having a damping coefficient c [Ns / m]. Assume that force F is applied.
When the displacement amount is x [m], the equation of motion is given by the following equation (5), and the resonance frequency ωn [rad / s] is given by the equation (6).

m (d ² x / dt ² ) + c (dx / dt) + kx = F (5)
ωn = (k / m) ^1/2 (6)

From equation (6), the resonance frequency ωn is determined by the mass m and the spring constant k.
For example, when the object G shown in FIG. 1 is a washing machine, in the washing machine, the rotation speed of the washing tub changes every moment during washing, rinsing, and drying. As the rotational speed changes, the frequency of the washing tub vibration also changes. Therefore, when the rotational speed of the washing tub approaches the resonance frequency ωn, the vibration of the washing tub increases and the vibration propagates to the main body of the washing machine.

Here, the gain m * multiplied by the relative acceleration am corresponds to the mass m in the equation of motion F = ma. Similarly, the gain k * multiplied by the relative position xm corresponds to the spring constant k at the mass point F = −kx fixed to the spring.
According to the first embodiment, the thrust command value T * is calculated in proportion to the relative acceleration am of the linear actuator 10 or the relative position xm by a predetermined gain m *, k *. That is, the force (thrust) generated by adjusting the gain m * corresponding to the mass by the equation of motion and the force (thrust) corresponding to the spring constant (elastic coefficient) can be controlled by the gain k *. In other words, setting the gains m * and k * corresponds to changing the mass of the washing machine and the spring constant of the spring 20 (see FIG. 4) or the spring 20a (see FIG. 5).

However, the gain m * is different from the actual mass m. Similarly, the gain k * is different from the spring constant k of the actual spring 20 (see FIG. 4) or the spring 20a (see FIG. 5).
That is, the gains m * and k * are values determined by the designer as described above, and are set to a value larger or smaller than the actual mass m and the spring constant k.
Thereby, the thrust command value T * output from the adding unit 73 becomes a thrust larger or smaller than the thrust actually output by the linear actuator 10. Thereby, the vibration of the target G connected to the linear actuator 10 is shifted, and the vibration of the target G can be shifted from the resonance frequency.
Specifically, by using the gains m * and k *, the vibration frequency of the object G can be set to the frequency ωn shown in the following equation (7).

ωn = {(k−k *) / (m−m *)} ^1/2 (7)

  The equation (7) is satisfied under the ideal condition that the estimated relative acceleration am and relative position xm are equal to the true value and the thrust command value T * is correctly output.

  In this way, if the object G is a washing machine, the resonance frequency ωn can be kept away from the rotational speed of the washing tub. Accordingly, it is possible to provide a washing machine with low vibration and low noise. Furthermore, if the object G is a washing machine, according to the first embodiment, the floor transmission force can be reduced during high-speed driving.

Further, according to the first embodiment, only the current detection unit 50, that is, the current sensor is required as a sensor. That is, in the first embodiment, there is no need to provide a sensor for detecting the relative acceleration, relative position, and speed of the mover 12 (see FIGS. 2 and 3).
That is, the vibration of the object G is detected based on the current change based on the induced voltage Em of the linear actuator 10 caused by the vibration of the object G, and the vibration of the object G is controlled based on the current change. In other words, since the linear actuator 10 is used as an acceleration sensor or a vibration sensor, there is no need to install an acceleration sensor or a vibration sensor.

And when many sensors are attached, if one sensor breaks down, the whole system will stop. It is also difficult to determine which sensor has failed.
According to the first embodiment, since only the current detection unit 50, that is, the current sensor is required as a sensor, it is possible to reduce the probability that the vibration control system Z stops due to a sensor failure. Furthermore, it becomes easy to determine which sensor has failed.

  By doing in this way, the vibration control system Z of 1st Embodiment can achieve cost reduction. Moreover, since the linear actuator 10 hardly damages or wears its constituent elements (the stator 11 and the mover 12), the durability of the vibration control system Z can be improved.

Moreover, as shown in FIG. 6 and FIG. 7, a single-phase AC voltage applied to the plurality of linear actuators 10 is generated by one inverter unit 40. By doing in this way, cost reduction can be achieved compared with the structure which provides two inverter parts.
Thus, the vibration control system Z can appropriately suppress the vibration of the object G with a relatively simple configuration.

  Further, the vibration control system Z of the first embodiment has a current command generation unit 70 that generates and outputs a current command value i ** to the inverter unit 40 based on the relative acceleration am and / or the relative position xm. Yes. Furthermore, the vibration control system Z includes a voltage command generation unit 80 that generates a voltage command value V * so that the current detected by the current detection unit 50 matches the current command. By having such a configuration, it is possible to easily perform vibration of the object G.

  In the first embodiment, the current command generator 70 multiplies the relative acceleration am and / or the relative position xm by a predetermined gain m *, k *. In this way, the vibration control system Z virtually changes the mass of the washing machine and the spring constants of the springs 20 and 20a to deform the vibration frequency. That is, by setting it as such a structure, based on the electric current value i, the vibration frequency of the target object G can be changed easily.

<< Second Embodiment >>
Next, a second embodiment of the present invention will be described with reference to FIGS.
(Vibration control system Za)
FIG. 11 is a diagram illustrating a configuration of a vibration control system Za used in the second embodiment.
The vibration control system Za shown in FIG. 11 is different from the vibration control system Z shown in FIG. 1 in that the current command generation unit 70 in FIG. 1 is a current command generation unit 70a in the thrust adjustment unit 90a of the vibration control device 100a. It is a point. The current command generator 70a will be described later.
The other configurations are the same as those in FIG.

(Current command generator 70a)
FIG. 12 is a diagram illustrating a configuration of a current command generation unit 70a used in the second embodiment.
The current command generator 70a shown in FIG. 12 differs from the current command generator 70 shown in FIG. 8 in that the m * gain multiplier 71 is the m * gain multiplier 71a and the k * gain multiplier 72 is the k * gain. This is a multiplication unit 72a.
The m * gain multiplier 71a is different from the m * gain multiplier 71 of FIG. 8 in that the gain m * can be varied. Similarly, the k * gain multiplication unit 72a is different from the k * gain multiplication unit 72 of FIG. 8 in that the gain k * can be varied.
Since the other configuration is the same as that in FIG. 8, the same reference numerals as those in FIG.
As described above, the second embodiment is different from the first embodiment in that the magnitudes of the gains m * and k * are variable when the thrust command value T * is generated from the output of the acceleration / position estimation unit 60. Different.

(About variable gain)
FIG. 13 is a diagram illustrating a variable example of the gains m * and k *.
In the example shown in FIG. 13, the gains m * and k * are varied depending on the relative acceleration am or the polarity of the relative position xm. In the example shown in FIG. 13, when the relative acceleration am or the relative position xm is negative, the gains m * and k * are smaller than when the relative acceleration am or the relative position xm is positive.

FIG. 14 is a diagram illustrating a result when control is performed according to the example illustrated in FIG. 13.
In FIG. 14, the broken line indicates the relative acceleration am of the linear actuator 10 caused by the vibration of the object G and the time conversion of the relative position xm. The solid line shows the change over time of the current value i that flows through the linear actuator 10 in order to brake the vibration of the object G.

  As shown in FIG. 13, when the relative acceleration am or the relative position xm is negative, the gains m * and k * are controlled to be smaller than when the relative acceleration am or the relative position xm is positive. . For this reason, as shown in FIG. 14, the current value i is smaller in the negative case than in the positive case. Thus, even if the gains m * and k * are varied, the vibration of the object G can be appropriately suppressed.

  Here, actually, the relative acceleration am and the relative position xm operate following the change of the current (current value i). However, since the operation is complicated due to the influence of the object G and the structure of the linear actuator 10, the actual controlled relative acceleration am and the relative position xm are not shown in FIG. However, as described above, since the operation follows the change of the current (current value i), when the relative acceleration am or the relative position xm is negative, compared to the case where the relative acceleration am or the relative position xm is positive. The vibration amplitude becomes small.

  By performing such control, for example, when the space below or above the linear actuator 10 is narrow, the vibration amplitude in that space can be reduced.

FIG. 15 is a diagram illustrating another example in which the gain m * or the gain k * is varied.
When the relative acceleration am and the relative position xm are near zero, the relative acceleration am and the polarity of the relative position xm are alternately switched due to noise or the like, which may impair the vibration damping performance in some cases. That is, when the relative acceleration am and the relative position xm are near zero, the current value i is also near zero. For this reason, the ratio of noise to the current value i increases. That is, the SN (Signal to Noise) ratio becomes small.
Therefore, as shown in FIG. 15, when the relative acceleration am or the relative position xm is near zero, a dead zone is set such that the gains m * and k * are zero.
In FIG. 15, the positive side width and the negative side width of the dead zones of the gains m * and k * are different, but they may be the same.

FIG. 16 is a diagram illustrating a result when control is performed according to the example illustrated in FIG. 15.
Also in FIG. 16, as in FIG. 14, the broken lines indicate the relative acceleration am of the linear actuator 10 caused by the vibration of the object G and the time conversion of the relative position xm. The solid line shows the change over time of the current value i that flows through the linear actuator 10 in order to brake the vibration of the object G.
When the gains m * and k * are varied as shown in FIG. 15, the relationship between the relative acceleration am, the relative position xm, and the current value i is as shown in FIG. That is, the current value i is zero when the relative acceleration am and the relative position xm are near zero.

  Here, actually, the relative acceleration am and the relative position xm operate following the change of the current (current value i). However, since the operation is complicated due to the influence of the object G and the structure of the linear actuator 10, the actually controlled relative acceleration am and the relative position xm are not shown in FIG. However, as described above, since the operation follows the change of the current (current value i), the relative acceleration am and the relative position xm are controlled so as to substantially follow the current value i.

  By doing in this way, the control in the location where the SN ratio of the current value i is small can be avoided. Thereby, the vibration of the target object G can be suppressed appropriately. The current (current value i) as shown in FIG. 16 is obtained by controlling the gains m * and k * by the m * gain multiplication unit 71a and the k * gain multiplication unit 72a, the control by the current command value calculation unit 74, and the like. Is feasible.

<Effect>
In the second embodiment, the magnitudes of the gains m * and k * are varied by the m * gain multiplication unit 71a and the k * gain multiplication unit 72a. In this way, the current command value i ** can be varied depending on the relative acceleration am, the polarity and the magnitude of the relative position xm, and the like. That is, it is possible to provide appropriate vibration suppression control according to the magnitude, direction, and vibration space of the object G.

«Third embodiment»
Next, a third embodiment of the present invention will be described with reference to FIGS.
(Vibration control system Zb)
FIG. 17 is a diagram illustrating a configuration example of a vibration control system Zb used in the third embodiment.
The vibration control system Zb shown in FIG. 17 is different from the vibration control system Z shown in FIG. 1 in the following two points.
(1) The current command generation unit 70b in the thrust adjustment unit 90b of the vibration control device 100b acquires information (vibration frequency information) related to the vibration frequency f of the object G from the object G. In addition, when the target object G is a rotating body, a rotation frequency may be acquired instead of the vibration frequency f.
For example, if the object G is a washing machine, the current command generator 70b determines whether the washing tub is based on a rotation command to a motor that rotates the washing tub or a sensor that detects the rotation angle of the motor installed in the motor. The rotational frequency that generates the vibration frequency f is detected.

(2) The current command generation unit 70b outputs a current command value i ** limited based on the relative acceleration am calculated by the acceleration / position estimation unit 60, the relative position xm, and the acquired vibration frequency information. . The current command generator 70b will be described later.
Since other configurations are the same as those in FIG. 1, the same reference numerals as those in FIG.

(Current command generator 70b)
FIG. 18 is a diagram illustrating a configuration example of a current command generation unit 70b used in the third embodiment.
The current command generator 70b shown in FIG. 18 differs from FIG. 8 in the following four points.
(1) Instead of the m * gain multiplier 71, a thrust command generator 76a is provided.
(2) A thrust command generation unit 76 b is provided instead of the k * gain multiplication unit 72.
(3) Tables 77a and 77b referred to by the thrust command generators 76a and 76b are provided. The table 77a stores the relative acceleration am, the vibration frequency f, the mass of the object G, the thrust command value Tm *, and the like in association with each other. The table 77b stores the relative position xm, the vibration frequency f, the mass of the object G, the thrust command value Tk *, and the like in association with each other. When the object G is a washing machine, the mass of the object G is the mass of the washing machine and the mass of the laundry. In some cases, the mass of the linear actuator 10 may be included in the mass of the object G.

  (4) The thrust command generator 76a refers to the table 77a based on the input relative acceleration am and vibration frequency information, and outputs a corresponding thrust command value Tm *. Similarly, the thrust command generator 76b refers to the table 77b based on the input relative position xm and vibration frequency information, and outputs a corresponding thrust command value Tk *.

In this way, the thrust command generator 76a outputs the thrust command value Tm * with the relative acceleration am and the vibration frequency information as inputs. This is essentially controlling the gain m *. Hereinafter, the thrust command generation unit 76a may be appropriately described as controlling the gain m *.
Similarly, the thrust command generator 76b receives the relative position xm and the vibration frequency information and outputs a thrust command value Tk *. This is essentially controlling the gain k *. Hereinafter, the thrust command generator 76b may be appropriately described as controlling the gain k *.

The tables 77a and 77b may be combined into one, and the tables may be referred to by the thrust command generators 76a and 76b.
Since the other configuration has the same configuration as the current command generation unit 70 shown in FIG. 8, the same reference numerals as those in FIG.

FIG. 19 is a diagram illustrating the relationship between the vibration frequency f of the object G and the absolute value of the vibration amplitude when the gain k * is varied.
A waveform 501 is a waveform when the linear actuator 10 is not energized (when vibration suppression control is not performed). That is, when energization is not performed, the vibration amplitude becomes maximum at the resonance frequency ωn from the relationship of the equation (6).
A waveform 502 and a waveform 503 indicate the results of controlling the linear actuator 10 based on the method of the first embodiment.
Here, a waveform 502 shows a waveform when the gain k * is set so that the resonance frequency becomes small.
A waveform 503 indicates a waveform when the gain k * is adjusted so as to increase the resonance frequency.

  A waveform 504 is a result of controlling the linear actuator 10 based on the third embodiment. Specifically, when the vibration frequency f is smaller than the resonance frequency ωn of the waveform 501, the gain k * is controlled so that the resonance frequency is increased (to be the waveform 503). The gain k * is adjusted so that the resonance frequency becomes smaller (becomes the waveform 502) after the vibration frequency f becomes larger and passes the resonance frequency ωn of the waveform 501 (becomes higher than the resonance frequency ωn).

  Although FIG. 19 shows the case where the gain k * is controlled, the gain m * is also controlled in the same manner.

  As described above, by changing the gain m * or the gain k * using the vibration frequency information from the object G, an appropriate reduction in vibration amplitude can be realized.

<Effect>
According to the third embodiment, the thrust command value T * is generated based on the vibration frequency information of the object G, and an increase in vibration near the resonance frequency is suppressed. For example, when the object G is the washing machine W, the relative acceleration of the linear actuator 10 may be different depending on the amount of laundry in the washing tub even if the vibration with the same vibration frequency is generated. According to the third embodiment, it is possible to cope with such a situation. That is, it is possible to provide a vibration control system Zb having high vibration damping performance.

<< Fourth Embodiment >>
Next, a fourth embodiment of the present invention will be described with reference to FIGS.
In 4th Embodiment, the example which applied the vibration control system Z of 1st-3rd embodiment to the washing machine W is shown.
(Vibration control system Z)
FIG. 20 is a diagram illustrating a configuration example of a vibration control system Zc used in the fourth embodiment.
20 is different from the vibration control system Z in FIG. 1 in that an outer tub 37 of the washing machine W is provided in the linear actuator 10 as the object G in FIG.
The rectifier circuit Re is originally provided in the washing machine W.
As shown in FIG. 20, the rectifier circuit Re is connected to the inverter unit 40 and is connected to the inverter unit 38a that supplies electric power to a motor (first drive unit) 38b that rotates the washing tub 35 (see FIG. 22). Is also connected.
Since other configurations are the same as those in FIG. 1, the same reference numerals as those in FIG.

(Washing machine W)
FIG. 21 is a perspective view of a washing machine W including the vibration control device 100.
In addition, since the vibration control apparatus 100 is installed in the inside of the washing machine W, the vibration control apparatus 100 is not illustrated in FIG.
A washing machine W shown in FIG. 21 is a drum-type washing machine W and also has a function of drying clothes. The washing machine W includes a base 31, a housing 32, a door 33, an operation / display panel 34, and a drain hose H.

The base 31 supports the housing 32.
The housing 32 includes left and right side plates 32a, a front cover 32b, a back cover 32c (see FIG. 22), and an upper cover 32d. In the vicinity of the center of the front cover 32b, a circular slot h1 (see FIG. 22) for taking in and out clothes is formed.
The door 33 is a lid that can be opened and closed provided at the aforementioned inlet h1.

The operation / display panel 34 is a panel provided with electrical switches, operation switches, indicators, and the like, and is installed on the upper surface cover 32d.
The drain hose H is a hose for discharging washing water from the outer tub 37 (see FIG. 22), and is connected to the outer tub 37.

FIG. 22 is a longitudinal sectional view of a washing machine W including the vibration control device 100. The washing machine W includes a washing tub 35, a lifter 36, an outer tub 37, a drive mechanism 38, and a blower unit 39 in addition to the configuration described above.
Further, the washing machine W is provided with a control microcomputer C. The control microcomputer C controls each part of the washing machine W, and includes an inverter unit 40, an acceleration / position estimation unit 60, a thrust adjustment unit 90, and the like shown in FIG. Note that control lines indicating control by the control microcomputer C are not shown in order to prevent the figure from becoming complicated.
The AC power source E and the rectifier circuit Re are not shown in FIG.

  The washing tub 35 accommodates clothing and has a bottomed cylindrical shape. The washing tub 35 is contained in the outer tub 37 and is rotatably supported coaxially with the outer tub 37. The peripheral wall and bottom wall of the washing tub 35 are provided with a number of through holes (not shown) for water flow and ventilation. The opening h2 of the washing tub 35 faces the door 33 in the closed state together with the opening h3 of the outer tub 37.

In addition, in the example shown in FIG. 22, although the rotation center axis | shaft of the washing tub 35 inclines so that an opening side may become high, it is not restricted to this. That is, the rotation center axis of the washing tub 35 may be in the horizontal direction or in the vertical direction.
The lifter 36 lifts and drops clothing during washing and drying, and is installed on the inner peripheral wall of the washing tub 35.

  The outer tub 37 stores washing water and has a bottomed cylindrical shape. As shown in FIG. 22, the outer tub 37 includes a washing tub 35. On the left and right sides of the outer tub 37, a linear actuator 10 (stator 11 and movable element 12) and a spring 20 are installed. In FIG. 6, one of the two linear actuators 10 is illustrated.

  Further, a drain hole (not shown) is provided at the bottom of the bottom wall of the outer tub 37, and a drain hose H is connected to the drain hole. Then, the washing water is stored in the outer tub 37 in a state where a drain valve (not shown) provided in the drain hose H is closed, and the washing water is discharged by opening the drain valve. It is like that.

  The drive mechanism 38 is a mechanism that rotates the washing tub 35, and is installed outside the bottom wall of the outer tub 37. The drive mechanism 38 includes an inverter unit 38a for driving the motor 38b shown in FIG. 20 and a motor 38b. A rotation shaft of a motor 38 b (see FIG. 20) provided in the drive mechanism 38 passes through the bottom wall of the outer tub 37 and is connected to the bottom wall of the washing tub 35.

  The blower unit 39 feeds warm air into the washing tub 35 and is disposed on the upper side of the washing tub 35. The blower unit 39 includes a heater (not shown) and a fan (not shown). The air heated by the heater is sent to the washing tub 35 by a fan. As a result, the clothes containing water are gradually dried in the washing tub 35.

(Rectifier circuit Re / Inverter unit 40)
FIG. 23 is a diagram illustrating a configuration of the rectifier circuit Re and the inverter unit 40 used in the fourth embodiment.
23 differs from FIG. 6 in that, as described above, the output of the rectifier circuit Re is supplied to the inverter unit 40 and the three-phase AC voltage is applied to the motor 38b that rotates the washing tub 35 (see FIG. 22). Is supplied to the motor drive inverter 38a. By doing so, it is not necessary to prepare the rectifier circuit Re separately, and the cost can be reduced.
Other configurations are the same as those in FIG. 6, and thus the same reference numerals are given and description thereof is omitted.
The rectifier circuit Re is originally provided in the washing machine W as described above.

  Here, although FIGS. 20-23 has shown the example which applied the vibration control system Z of 1st Embodiment to the washing machine W, it shows to vibration control system Za of 2nd Embodiment, or 3rd Embodiment. The vibration control system Zb may be applied.

<Effect>
According to the fourth embodiment, the rectifier circuit Re is shared by the inverter unit 40 and the inverter unit 38a. That is, the rectifier circuit Re originally provided in the washing machine W can be used for controlling the linear actuator 10. Thereby, it becomes possible to provide the washing machine W provided with the low-cost vibration control system Z. In addition, vibration can be reduced even in the washing machine W in which the rotation speed and the weight of the laundry change in a complicated manner.

  Moreover, in each embodiment, as shown in FIG.4 and FIG.5, although the springs 20 and 20a are provided between the linear actuator 10 and the fixing jig J, it is not restricted to this. For example, instead of the spring 20, a mechanism using rubber or hydraulic pressure may be applied.

In the fourth embodiment, the configuration in which the vibration control of the washing machine W is performed by the vibration control device 100 or the like has been described. However, the configuration is not limited thereto. For example, in addition to home appliances such as air conditioners and refrigerators, the first to third embodiments of the present invention are applied to items that vibrate, such as railway vehicles, automobiles, construction machines, buildings, elevators, compressors, and the like. it can.
Moreover, although each embodiment demonstrated the structure which drives the linear actuator 10 with single phase alternating current power, you may drive the linear actuator 10 with three phase alternating current power, for example.

  The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to having all the configurations described. In addition, a part of the configuration of a certain embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of a certain embodiment. In addition, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

Further, each of the above-described configurations, functions, the units 60 and 90, the storage unit, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit. Further, as shown in FIG. 4, the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by a processor such as a CPU. In addition to storing information such as programs, tables 77a and 77b, and files for realizing each function in an HD (Hard Disk), a memory, a recording device such as an SSD (Solid State Drive), or an IC (Integrated Circuit) ) Cards, SD (Secure Digital) cards, DVDs (Digital Versatile Discs) and other recording media.
In each embodiment, control lines and information lines are those that are considered necessary for explanation, and not all control lines and information lines are necessarily shown on the product. In practice, it can be considered that almost all configurations are connected to each other.

10, 10a to 10d Linear actuator (drive unit, second drive unit)
DESCRIPTION OF SYMBOLS 11, 11a Stator 12, 12a Movable element 35 Washing tub 37 Outer tub 38a Inverter part 38b of washing machine Motor (1st drive part)
40 Inverter part (power conversion part) of vibration control device
50 Current detection unit 60 Acceleration / position estimation unit (estimation unit)
70, 70a, 70b Current command generation unit 71, 71a m * gain multiplication unit 72, 72a k * gain multiplication unit 74 Current command value calculation unit 75 Current command limiter unit 76a, 76b Thrust command generation unit 77a, 77b Table 80 Voltage command Generation unit 82 Proportional integral control unit 90, 90a, 90b Thrust adjustment unit 100, 100a, 100b Vibration control device E AC power supply G Target object Re Rectification circuit (rectification unit)
Re1 Diode bridge circuit W Washing machine Z, Za Vibration control system

Claims (12)

A drive unit having a mover and a stator and connected to a vibrating object;
A current detection unit for detecting a current value of a current supplied to the drive unit;
Based on the current value detected by the current detection unit, an estimation unit that estimates relative acceleration and / or relative position between the mover and the stator of the drive unit;
A thrust adjustment unit that adjusts the thrust of the drive unit based on the relative acceleration and / or the relative position estimated by the estimation unit;
A vibration control system comprising: The thrust adjuster is
A current command generator that generates and outputs a current command to the drive unit based on the relative acceleration and / or the relative position;
A voltage command generation unit that generates a voltage command value to a power conversion unit that drives the drive unit such that a current detected by the current detection unit matches the current command;
The vibration control system according to claim 1, further comprising: The current command generator is
The vibration control system according to claim 2, wherein the current command is generated by multiplying the relative acceleration and / or the relative position by a predetermined proportional gain. The current command generator is
The vibration control system according to claim 3, wherein the proportional gain is variable. The current command generator is
The vibration control system according to claim 4, wherein the amplitude of the current command is changed according to the relative acceleration and / or the polarity of the relative position. The current command generator is
The vibration control system according to claim 4, wherein the current command is set to zero when the relative acceleration and / or the relative position is near zero. The current command generator is
The vibration control system according to claim 2, wherein the magnitude of the absolute value of the current command is limited. The current command generator is
The vibration control system according to claim 3, wherein a magnitude of the proportional gain is varied according to a vibration frequency of the object in addition to the relative acceleration and / or the relative position. The drive unit is supplied with electric power through a rectifying unit that rectifies an AC voltage supplied from a power source, and a power conversion unit that converts the voltage rectified by the rectifying unit into an AC voltage.
The vibration control system according to claim 1, wherein a plurality of the drive units are connected to one power conversion unit and, if necessary, to one rectification unit. The drive unit includes a first linear actuator, a second linear actuator, and a third linear actuator,
The rectifying unit is a diode bridge circuit,
The power conversion unit is a three-phase full-bridge inverter,
The first linear actuator, the second linear actuator, and the third linear actuator are connected to the input side of the diode bridge circuit,
A first linear actuator is connected to a first leg corresponding to one phase of the three-phase full-bridge inverter;
A second linear actuator is connected to a second leg corresponding to another phase of the three-phase full-bridge inverter;
The vibration control system according to claim 9, wherein a third linear actuator is connected to a third leg corresponding to the remaining one phase of the three-phase full-bridge inverter. A washing tub for storing clothes;
An outer tub containing the washing tub;
A first drive for rotating the washing tub;
And having
A second drive unit having a mover and a stator and connected to the outer tub;
A current detection unit for detecting a current supplied to the second drive unit;
An estimation unit that estimates a relative acceleration and / or a relative position between the mover and the stator in the second drive unit based on the current value detected by the current detection unit;
A thrust adjustment unit that adjusts the thrust of the second drive unit based on the relative acceleration and / or the relative position estimated by the estimation unit;
A washing machine comprising: The first driving unit and the second driving unit include a rectifying unit that rectifies an AC voltage supplied from a power source, and a power conversion unit that converts the voltage rectified by the rectifying unit into an AC voltage. The washing machine according to claim 11, wherein electric power is supplied.

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