JP2020070899A - Vibration control device and washing machine - Google Patents

Abstract

To provide a vibration control device capable of appropriately controlling vibration of a vibration control object.SOLUTION: A vibration control device comprises: an actuator which is connected to a vibration control object; a drive section which drives the actuator; a control section which controls the drive section; a detection section which detects a state of the vibration control object; and a start-up failure determination section which determines a failure in a start-up state of the vibration control object on the basis of the state detected by the detection section. When the start-up failure determination section determines the failure, the control section changes a drive force pattern of the actuator when restarting the same on the basis of information from the detection section.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a vibration damping device and a washing machine that control the vibration of a vibration damping target.

  In a washing machine, unbalanced loads are generated due to uneven distribution of laundry in the washing tub, and the center of gravity of rotation shifts. When the washing tub is rotated with a large unbalanced load, there is a problem that the shaking of the washing tub becomes large. In particular, in the dehydration step, while the washing tub accelerates, it passes through resonance frequencies in a plurality of directions such as up, down, left and right, and front and rear directions, so that the outer tub and the housing come into contact with each other, which causes a problem such as falling or failure of the washing machine. In order to prevent such a problem, when a large shake is sensed based on the information from the acceleration sensor attached to the outer tub, an error treatment is performed, the dehydration process (acceleration of the washing tub) is stopped, and the process is restarted.

  In order to reduce the increase in the vibration of the washing tub when the resonance frequency passes, it is effective to connect a damping mechanism such as a damper having a large damping force between the washing tub and the housing. However, the increase of the damping force increases the vibration transmission (transmission force) to the housing side at a high frequency after passing through the resonance frequency, resulting in a new problem of increasing noise.

  In order to solve such a problem, in Patent Document 1, a linear actuator is installed in a horizontal direction with respect to a casing of a washing machine, and a driving force to the linear actuator is controlled before and after a resonance frequency in the left-right direction. There is one that prevents an increase in the vibration in the left-right direction and suppresses an increase in the transmission force to the washing tub. The vibration damping device includes a linear motor arranged to horizontally connect the casing of the washing machine and the washing tub, and an acceleration sensor for detecting acceleration of the washing tub.

JP, 2011-182935, A

  However, in the device of Patent Document 1, the driving force control of the linear actuators installed in the left-right direction is performed based on a predetermined left-right vibration, so that the unbalanced load amount of the laundry and its Depending on the position, vibration cannot be properly suppressed.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vibration damping device and a washing machine that can appropriately suppress the vibration of a vibration damping target.

  In order to achieve the above-mentioned object, a vibration damping device of the present invention provides an actuator connected to a vibration damping target, a drive unit that drives the actuator, a control unit that controls the driving unit, and a state of the vibration damping target. A detection unit (for example, the acceleration sensor 40, the position sensor 42) for detecting, and a startup failure determination unit that determines a failure of the startup state of the vibration damping target based on the state detected by the detection unit, and controls The unit is characterized in that, when the activation failure determination unit determines that the operation is unsuccessful, the method changes how to apply the driving force of the actuator when restarting, based on the information from the detection unit. Other aspects of the present invention will be described in the embodiments described later.

  According to the present invention, it is possible to appropriately suppress the vibration of the vibration suppression target.

It is a perspective view of the washing machine which concerns on 1st Embodiment. It is a longitudinal section of a washing machine provided with a damping device concerning a 1st embodiment. It is a block diagram of the damping device which concerns on 1st Embodiment. FIG. 3 is a vertical cross-sectional view of an actuator included in the vibration damping device according to the first embodiment. It is the II-II line arrow end view of FIG. It is explanatory drawing which shows the driving force pattern which concerns on 1st Embodiment. It is explanatory drawing which shows the driving force pattern which concerns on 2nd Embodiment. It is explanatory drawing which shows the other driving force pattern which concerns on 2nd Embodiment. It is explanatory drawing which shows the driving force pattern which concerns on 3rd Embodiment.

Embodiments for carrying out the present invention will be described in detail with reference to the drawings as appropriate.
<< First Embodiment >>
FIG. 1 is a perspective view of the washing machine according to the first embodiment. FIG. 2 is a vertical cross-sectional view of a washing machine including the vibration damping device according to the first embodiment. The washing machine shown in FIGS. 1 and 2 is a drum type washer / dryer (hereinafter, washing machine W). 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 rear cover 32c (see FIG. 2), and an upper cover 32d. A circular insertion port h1 (see FIG. 2) for taking in and out clothes is formed near the center of the front cover 32b. The door 33 is an openable / closable lid provided at the above-mentioned insertion port h1.

  The operation / display panel 34 is a panel provided with electric switches, operation switches, a display, etc., and is installed on the top cover 32d. The drain hose H is a hose for discharging washing water from the outer tub 37 (see FIG. 2), and is connected to the outer tub 37. The washing machine W includes a washing tub 35, a lifter 36, a washing machine drive mechanism 38, a blower unit 39, and a washing machine controller 41 (microcomputer) that controls the washing machine W, in addition to the above-described configuration. There is. The outer tank 37 is the vibration suppression target object G (see FIG. 4).

  The washing tub 35 accommodates clothes and has a cylindrical shape with a bottom. The washing tub 35 is contained in an outer tub 37 and is rotatably supported coaxially with the outer tub 37. A large number of through holes (not shown) for passing water and ventilation are provided on the peripheral wall and the bottom wall of the washing tub 35. The opening h2 of the washing tub 35 faces the closed door 33 together with the opening h3 of the outer tub 37. The lifter 36 lifts and drops clothes during washing and drying, and is installed on the inner peripheral wall of the washing tub 35.

  The outer tub 37 stores the washing water and has a bottomed cylindrical shape. As shown in FIG. 2, the outer tub 37 includes the washing tub 35 therein. The actuator 10 and the spring 20 are installed on the left and right (x direction) of the outer tub 37, respectively. The actuator 10 is driven by the drive unit 414 according to a command from the control unit 415. The actuator 10 is, for example, an electric linear actuator, and the stator 11 is connected to the base 31 and the mover 12 is connected to the outer tank 37. The spring 20 is provided between the mover 12 and the fixing jig J.

  In FIG. 2, one of the left and right actuators 10 is shown. As shown in FIG. 2, the xyz axes are defined. The positive direction of the x-axis is defined as left and the negative direction is defined as right. When the left and right actuators 10 are distinguished, the left actuator is 10L and the right actuator 10R.

  A drain hole (not shown) is provided at the bottom of the bottom wall of the outer tank 37, and a drain hose H is connected to this drain hole.

  The washing machine drive mechanism 38 is a mechanism for rotating the washing tub 35, and is installed outside the bottom wall of the outer tub 37. The washing machine drive mechanism 38 is a permanent magnet motor (not shown), and its rotating shaft penetrates the bottom wall of the outer tub 37 and is connected to the bottom wall of the washing tub 35. Further, the washing machine drive mechanism 38 is provided with a position sensor 42 for detecting the rotation speed of the washing tub 35. The blower unit 39 blows warm air into the washing tub 35 and is arranged above the washing tub 35.

  An acceleration sensor 40 that detects the amount of vibration of the outer tub 37 and converts the acceleration vibration into electrical information and outputs the electrical information is installed at an arbitrary location in the outer tub 37.

  The washing machine controller 41 for controlling the washing machine W selects a washing process based on input information to the operation / display panel 34, and controls the washing machine drive mechanism 38, although wiring is not shown. Further, the washing machine controller 41 has a startup failure detection unit 410 (see FIG. 3) and a drive mechanism controller 413 (see FIG. 3).

  FIG. 3 is a configuration diagram of the vibration damping device according to the first embodiment. FIG. 3 shows an example of the washing machine controller 41. As an example, the activation failure detection unit 410 shows a method of performing activation failure detection based on acceleration information from the acceleration sensor 40 and speed information calculated by the position sensor 42.

  The vibration damping device includes an actuator 10 connected to a vibration damping target, a driving unit 414 that drives the actuator 10, a control unit 415 that controls the driving unit 414, and a detection unit that detects the state of the vibration damping target G. (For example, the acceleration sensor 40 and the position sensor 42), and the activation failure determination unit 412 that determines the failure of the activation state of the vibration suppression target G based on the state detected by the detection unit. When the activation failure determination unit 412 determines that the failure has occurred, the control unit 415 changes how to apply the driving force of the actuator when restarting, based on the information from the detection unit.

  The startup failure detection unit 410 has a differentiator 411 and a startup failure determination unit 412. The differentiator 411 differentiates the signal of the position sensor 42 with respect to time to calculate the speed. The start-up failure determination unit 412 compares the predetermined acceleration threshold value 412A with the acceleration information detected by the acceleration sensor 40 for each rotation speed, and determines the start-up failure.

  The acceleration [m / s ^ 2] increases as the rotational speed of the vibration suppression target G (see FIG. 4) increases, even with the same vibration amplitude [m]. Therefore, it is better to decrease the threshold value 412A as the rotation speed of the vibration suppression target object G increases.

  Although acceleration information is used for failure determination in FIG. 3, the pulsation value of the speed calculated by the position sensor 42 and the pulsation of the torque calculated from the current flowing through the permanent magnet motor of the washing machine drive mechanism 38 are used. Information may be used.

  FIG. 4 is a vertical cross-sectional view of an actuator included in the vibration damping device according to the first embodiment. FIG. 5 is an end view taken along the line II-II of FIG. FIG. 4 shows the configuration of the electric linear actuator. Although FIG. 4 illustrates half of the electric linear actuator in the x direction, the configuration of the actuator 10 is symmetrical with respect to the yz plane. Here, the damping target object G is the outer tub 37 (see FIG. 2) of the washing machine W (see FIG. 2).

  The actuator 10 includes a stator 11 which is an armature and a plate-shaped mover 12 extending in the z direction, and a magnetic attraction force / repulsive force (that is, thrust force) in the z axis direction between the stator. 11 is a motor that linearly changes the relative position between the movable element 12 and the movable element 12.

  The core 11a of the stator 11 includes an annular portion S and magnetic pole teeth T (T1 and T2), and the winding 11b (11b1 and 11b2) is wound around the core 11a. By energizing the winding 11b, the stator 11 functions as an electromagnet.

  The mover 12 penetrates the annular core 11a and extends in the z direction. Further, as shown in FIG. 4, the mover 12 includes a plurality of metal plates 12a extending in the z direction, permanent magnets 121b, 122b, 123b installed on the metal plate 12a at predetermined intervals in the z direction, Is equipped with. A plurality of permanent magnets may be attached to the metal plate, or a plurality of permanent magnets may be embedded in the metal plate.

  The actuator 10 is connected to a drive unit 414 (see FIG. 3) that applies a voltage to the winding 11b of the stator 11. The drive unit 414 is connected to the control unit 415 that calculates and outputs the driving force vibration of the actuator 10.

(Control unit)
Next, returning to FIG. 3, a configuration example of the control unit 415 will be described. The control unit 415 includes a driving force pattern changing unit 415A and a drive command generating unit 415B. The driving force pattern changing unit 415A determines the driving force pattern (how to give the driving force) to the actuator 10 based on the signal from the startup failure determination unit 412, the acceleration information from the acceleration sensor 40, and the speed information calculated by the differentiator 411. ) Is determined.

  The driving command generation unit 415B changes the magnitude of the driving force command given to the driving unit 414 based on the driving force pattern determined by the driving force pattern changing unit 415A, and controls the current of the winding 11b (see FIG. 4). Then, the driving force according to the driving force command is generated.

  Note that the driving force pattern changing unit 415A preferably generates the driving force pattern (driving force command pattern) so that it falls within the maximum output of the actuator 10. Alternatively, the driving force pattern prepared in advance as table data may be used.

  FIG. 6 is an explanatory diagram showing a driving force pattern according to the first embodiment. In FIG. 6, as an example, when the driving force pattern is changed using the driving force pattern changing unit 415A, the rotation speed of the washing tub 35 (a) and the lateral acceleration absolute value (b) detected by the acceleration sensor 40 are shown. The start failure determination signal (c) and the driving force command (d) determined by the start failure determination unit 412 are shown. The waveform in FIG. 6 was measured under the condition that a predetermined amount of unbalance was applied in the washing tub 35. Description will be made with reference to FIG. 3 as appropriate.

  In the outer tank lateral acceleration absolute value (b), the outer tank lateral acceleration absolute value reaches the threshold value 412A at time t1, and the activation failure determination signal is output. Based on the start-up failure determination vibration, the drive mechanism controller 413 reduces the rotation speed of the washing tub 35 and accelerates it again.

  The driving force pattern changing unit 415A determines the actuator based on the signal from the activation failure determination unit 412, the acceleration value from the acceleration sensor 40 when the activation failure determination signal is output, and the speed information calculated by the differentiator 411. The driving force pattern (how to give the driving force) to 10 is changed.

  The reason why the lateral acceleration is larger than the threshold value 412A and the vibration cannot be properly suppressed is that the driving force command of the linear actuator is insufficient. When the start failure is determined, the driving force pattern (see the driving force pattern A) is increased by increasing the driving force command in a section where the acceleration in the left-right direction increases as shown in the driving force command (d). It is better to suppress it (see driving force pattern B). The section in which the acceleration is high is obtained from the laundry tub rotation speed information (ω1 in FIG. 6) when the activation failure determination is output.

  In addition, such a large acceleration section is often near the resonance frequency determined by the structure of the washing machine. Therefore, based on the relationship between ω1 and the resonance frequency acquired in advance, it is better to calculate the section in which the driving force command is increased so as to include the section that sufficiently passes the resonance frequency.

  Moreover, the magnitude of the driving force may be gradually increased each time the driving force pattern is changed.

  In FIG. 6, the drive mechanism controller 413 decelerates the rotation speed of the washing tub 35 and accelerates it again based on the start failure determination. However, the washing tub 35 is rotated left and right at a low speed to unbalance the load. May be re-accelerated after being operated to mitigate. Alternatively, the washing tub 35 may be subjected to a water injection operation so as to reduce the unbalanced load and then re-accelerated.

(effect)
According to the first embodiment, the driving force pattern changing unit 415A drives the actuator 10 based on the signal from the startup failure determination unit 412, the acceleration information from the acceleration sensor 40, and the speed information calculated by the differentiator 411. The force pattern (how to apply the driving force) is determined. By changing the driving force pattern on the basis of the information about the failure of activation, the probability of continuous failure of activation can be reduced.

  Further, by using the speed information in the start-up failure determination for determining the driving force pattern, it is possible to appropriately determine the section in which the driving force should be increased, and reduce the probability of starting failure.

  In addition, the washing time can be shortened by reducing the probability of failure to start, and thus the power consumption can be reduced.

<< Second Embodiment >>
The second embodiment is different from the first embodiment in that the driving force patterns of the left and right actuators are different as shown in FIG. 7. The same parts as those of the first embodiment are designated by the same reference numerals, the description thereof will be omitted, and different parts will be described.

  FIG. 7 is an explanatory diagram showing a driving force pattern according to the second embodiment. Actuator L driving force command (d1) and actuator R driving force command (d2) show the waveforms of the driving force commands for actuator 10L in the left direction and actuator 10R in the right direction. In the actuator L driving force command (d1) and the actuator R driving force command (d2), a variable example of the driving force pattern is shown.

  In the outer tank lateral acceleration (b), in the start failure determination, the leftward acceleration of the outer tank 37 reaches the threshold value 412A, and the start failure determination signal (c) is output. Therefore, it is not necessary to increase the driving force command in the right direction of the washing tub. Therefore, in the driving force pattern D, unlike the driving force pattern C, the driving force command is strengthened only for the actuator in the direction reaching the threshold value 412A.

  FIG. 8 is an explanatory diagram showing another driving force pattern according to the second embodiment. In FIG. 8, as compared with FIG. 7, as shown in the actuator R driving force command (d2), the waveform of the driving force command for the actuator 10R in the right direction is changed. Based on the failure determination result, as shown in FIG. 8, the timing to give the driving force command to the actuator in the direction in which the startup failure determination is not output may be changed or the size may be reduced (see the driving force pattern E). ).

(effect)
According to the second embodiment, by independently changing the driving force command given to each actuator based on the acceleration information from the acceleration sensor 40, the driving force required for the actuator can be changed appropriately, and the vibration suppression target G Can be properly damped. Moreover, since unnecessary driving force is not applied, the power consumption of the actuator is reduced.

<< Third Embodiment >>
FIG. 9 is an explanatory diagram showing a driving force pattern according to the third embodiment. In the third embodiment, as shown in FIG. 9, when the driving force pattern changing unit 415AA determines the driving force pattern (driving force command pattern), in addition to the acceleration information of the washing tub 35, the motor current of the washing tub 35 is determined. , The weight information of the laundry, the previous driving force pattern, the control amount of the actuator (for example, current information), and the like, and selects the driving force pattern created in advance using a plurality of changing information correlated with the vibration of the washing tub 35. To do. This point is different from the first and second embodiments.

  The motor current of the washing tub 35 correlates with the shaking of the washing tub 35, and the magnitude of the amplitude changes. Therefore, like the acceleration information of the washing tub 35, it can be used to determine the change of the driving force pattern.

  Also, the heavier the laundry weight, the greater the shaking of the washing tub 35. Therefore, when the weight of the laundry is large, it is better to select a pattern in which the magnitude of the driving force command is large.

  Further, the current / voltage information of the actuator changes depending on the magnitude of the shaking of the washing tub 35. Therefore, in addition to the information of the acceleration sensor 40, it can be used to determine the change of the driving force pattern.

  Although the case of selecting the driving force pattern created in advance has been described with reference to FIG. 9, a new driving force pattern may be generated based on a plurality of pieces of information.

(effect)
In addition to the information of the acceleration sensor 40, a finer driving force pattern is obtained by using the motor current of the washing tub 35, the laundry weight information, the current / voltage information of the actuator, which changes in correlation with the shaking of the washing tub 35. (Driving force command pattern) can be changed.

  Further, even when the acceleration sensor 40 fails, the driving force pattern can be changed by using other information.

  In addition, it is possible to appropriately deal with a variation in manufacturing and a difference in vibration due to a difference in the installation environment of the washing machine, by using a plurality of information, and it is possible to reduce the failure probability of starting the washing machine. ..

(Modification)
In FIG. 3, an example of the acceleration sensor 40 and the position sensor 42 is shown as the detection unit, but the detection unit is not limited to this. For example, the detection unit includes an acceleration detection unit that detects acceleration of the vibration suppression target G, a speed detection unit that detects rotation speed information of the vibration suppression target G, and a current detection that detects energization current information of the vibration suppression target G. Means, and at least one of collision detection means for detecting the collision of the vibration suppression target G, the control unit 415 determines at least one piece of information from the detection unit and the determination result from the activation failure determination unit 412. Based on this, the driving force to the actuator may be controlled.

  In each embodiment, the configuration in which the spring 20 (see FIG. 2) is provided between the mover 12 (see FIG. 4) and the fixing jig J (see FIG. 2) has been described, but the configuration is not limited to this. For example, instead of the spring 20, a mechanism using rubber or hydraulic pressure may be applied.

  Further, in each of the embodiments, the configuration in which the mover 12 is connected to the vibration suppression target object G has been described, but the configuration is not limited to this. That is, one of the stator 11 and the mover 12 may be connected to the damping object G, and the relative position between the stator 11 and the mover 12 may be changed by the magnetic attraction force / repulsion force. ..

  Further, in each embodiment, the configuration in which the vibration control of the washing machine W is performed by the actuator 10 or the like has been described, but the configuration is not limited to this. For example, each embodiment can be applied to home electric appliances such as air conditioners and refrigerators.

  Further, in each of the embodiments, the acceleration sensor 40 has been described as having a configuration capable of detecting acceleration values in the uniaxial directions. However, a sensor capable of detecting acceleration values in the three axial directions of xyz may be used.

  Further, in each of the embodiments, the lateral acceleration of the washing tub 35 is taken as an example, but it may be used for suppressing vertical and longitudinal vibrations.

  Further, in each embodiment, the actuator has been described as having two configurations, but it may be used in the case of one or three or more actuators.

  Further, the driving force pattern in each embodiment may be changed based on a model learned from a past driving force pattern using statistical processing such as machine learning.

  As described above, according to the present embodiment, the driving force pattern (how to apply the driving force) to the actuator can be changed based on the error information to reduce the continuous occurrence of errors in the dehydration process.

  Further, the embodiments are described in detail for the purpose of explaining the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Further, it is possible to add / delete / replace other configurations with respect to a part of the configurations of the embodiment. Further, the above-mentioned mechanisms and configurations are shown to be necessary for explanation, and not all the mechanisms and configurations are shown in the product.

10 Actuator 11 Stator 11a Core 11b Winding 12 Mover 20 Spring 31 Base 32 Housing 32a Side plate 32b Front cover 32d Top cover 33 Door 34 Operation / display panel 35 Wash tub 36 Lifter 37 Outer tub (Vibration suppression object)
38 Washing machine drive mechanism 39 Blower unit 40 Accelerometer (detection unit)
41 Washing machine controller 42 Position sensor (detection unit)
121b, 122b, 123b Permanent magnet 410 Start-up failure detection unit 411 Differentiator 412 Start-up failure determination unit 412A Threshold value 413 Drive mechanism controller 414 Drive unit 415 Control unit 415A Driving force pattern change unit 415B Drive command generation unit h1 G vibration damping Object H Drain hose S Annular part T Magnetic pole tooth W Washing machine

Claims (6)

An actuator connected to the damping object,
A drive unit for driving the actuator,
A control unit for controlling the drive unit,
A detection unit that detects the state of the vibration suppression object,
Based on the state detected by the detection unit, a startup failure determination unit that determines a failure of the startup state of the vibration damping object, and the control unit, if the startup failure determination unit is determined to fail A vibration damping device, characterized in that a method of applying a driving force of the actuator is changed when restarting, based on information from the detection unit. The vibration damping device according to claim 1, wherein the driving force of the actuator is different before and after an error is detected by the startup failure determination unit. The control unit determines how to apply the driving force of the actuator based on information from the startup failure determination unit when the startup failure determination unit determines that the failure has occurred. The damping device described. The vibration damping device according to claim 1, wherein the actuator is an electric linear actuator. The detection unit is an acceleration detection unit that detects acceleration of the vibration suppression target, a speed detection unit that detects rotation speed information of the vibration suppression target, and a current detection unit that detects energization current information of the vibration suppression target. And at least one of collision detection means for detecting a collision of the vibration suppression target,
The vibration damping device according to claim 1, wherein the control unit controls the driving force to the actuator based on at least one information from the detection unit and a determination result from the startup failure determination unit. .. A washing tub to store clothes,
An outer tub containing the washing tub,
A washing machine drive mechanism for rotating the washing tub,
The vibration damping device according to any one of claims 1 to 5, which controls an actuator connected to the outer tub that is a vibration damping target.

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