JP2773433B2 - Electric vacuum cleaner - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vacuum cleaner, and more particularly to a vacuum cleaner which is optimally operated according to a floor surface to be cleaned and a suction port to be used.

[0002]

2. Description of the Related Art A conventional vacuum cleaner is disclosed in Japanese Patent Application Laid-Open No. 64-52430.
As described in Japanese Patent Application Laid-Open Publication No. H10-209, the surface of the surface to be cleaned is detected from a change in current flowing through a nozzle motor provided in the suction port, and the input of the fan motor is controlled based on the result.

[0003]

In the above-mentioned prior art, for example, the current flowing through the nozzle motor provided at the suction port differs depending on the person who operates the suction port. There was a problem of making mistakes.

[0004] It is an object of the present invention to provide a vacuum cleaner in which an optimum suction force is automatically obtained according to a floor surface and a used suction port.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention is characterized by a filter for collecting dust, a variable speed fan motor for applying a suction force to a cleaner, and a cleaner body. In a vacuum cleaner having a pressure sensor for detecting clogging of the filter in a case, and a circuit for detecting a current of a rotary brush driving nozzle motor housed in a power brush suction port, the output from the pressure sensor A static pressure Hdata is detected, and a flow rate Qdata flowing from the suction port is calculated using the rotational speed and the load current of the fan motor and the static pressure detection value Hdata, and the flow rate and the static pressure at the suction section are calculated. A control circuit that adjusts the rotation speed of the fan motor in accordance with the related air volume command value Qcmd, the static pressure command value Hcmd, the static pressure detection value Hdata, and the air volume calculation value Qdata; The fluctuation width Δpbi of the peak value of the current of the nozzle motor which fluctuates according to the suction operation and the fluctuation width ΔΗ of the static pressure are detected, and the fluctuation width Δpbi, the airflow command value Qcmd, the fluctuation width Δpbi, and the static The pressure command value Hcmd, the fluctuation range ΔH and the airflow command value Qcmd, and the fluctuation range ΔH and the static pressure command value Hcmd are input to perform a Fuzzy calculation, and the airflow command value Qcmd is based on the Fuzzy calculation result. And the static pressure command value Hcmd is determined.

[0006]

Since the rotary brush is in direct contact with the floor, the current of the rotary brush driving nozzle motor changes during cleaning, and the fluctuation width Δpbi of the peak value of the current of the nozzle motor depends on the type of floor and the suction port. Changes according to the pressing force applied to the nozzle, and in the case of the suction port without a rotary brush, the fluctuation width of the static pressure Δ
H changes according to the type of floor surface and the pressing force to the suction opening.
The variation width Δpbi, the variation width ΔH, and the airflow command value Qcmd
And a static pressure command value Hcmd as input, perform a Fuzzy operation,
The result is integrated to create a new airflow command value Qcmd and a new static pressure command value Hcmd. Then, this result and the static pressure detection value H
Since the rotation speed of the fan motor is adjusted so that the data and the air volume calculation value Qdata match, the suction force can be adjusted in a stepless manner, depending on the floor surface, the used suction port, and the degree of suction operation of the operator. A vacuum cleaner that can be cleaned with optimal suction power is obtained.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. In the present embodiment, it is assumed that a variable speed motor is used as a fan motor as a drive source of the cleaner. As variable speed motors, AC commutator motors whose speed changes by controlling the input, phase control motors,
Induction motors driven by inverters, reluctance motors, brushless motors, etc. can be considered.
In the present embodiment, there is no brush with mechanical sliding,
Therefore, an example in which a brushless motor having a long life and good control response is used as a fan motor will be described.

Further, in the present invention, it is basically assumed that a nozzle motor for driving a rotary brush is provided at a suction opening. As the nozzle motor, a DC magnet motor or an AC commutator motor can be considered. An example using a DC magnet motor with a built-in rectifier circuit will be described. An example in which a pressure sensor (semiconductor pressure sensor) is provided in the cleaner body for detecting clogging of the filter will be described.

FIG. 1 is a block diagram showing a schematic configuration of a control circuit, and FIG. 2 shows an overall configuration of the control circuit.

In the figure, reference numeral 16 denotes an inverter control device. 29 is an AC power source, it rectifies the power source 29 by the rectifier circuit 21, and supplies the DC voltage E _d to the inverter circuit 20 is smoothed by the capacitor 22. The inverter circuit 20 includes a TR ₁ to Tr _6, a 120-degree conduction inverter constructed from a freewheeling diode D ₁ to D ₆ connected in parallel to each of the transistors TR ₁ to Tr _6. Transistor TR ₁ to Tr ₃ constitutes a positive arm. The transistors TR _{4 to} TR _{6 form} a negative arm,
Each conduction period is pulse width modulated (PWM) at an electrical angle of 120 degrees. R ₁ is a relatively low resistor connected between the negative side of the emitter side and the capacitor 22 of the transistor TR ₄ to Tr ₆ that constitutes a negative arm.

Reference numeral FM denotes a brushless motor (hereinafter referred to as a fan motor) which is a motor for driving a fan, and has a rotor R composed of two-pole permanent magnets, and armature windings U, V, and W. . Load currents I flowing through these windings U, V, W
_D can be detected as a voltage drop across the resistor R _1. The speed control circuit of the fan motor FM includes a magnetic pole position detection circuit 18 for detecting the magnetic pole position of the rotor R with the Hall element 17 and the like, a fan motor current detection circuit 23 for detecting and amplifying the load current _ID described above, and the transistor TR. _It mainly comprises a base driver 15 for driving _{1 to} TR ₆ and a microcomputer 19 for driving the base driver 15 based on a detection signal 18S obtained from the detection circuit 18.
An operation switch 30 is operated by an actual user.

On the other hand, reference numeral 26 denotes a nozzle motor for driving a rotary brush provided on the suction side of the vacuum cleaner. Electric power is supplied by controlling the phase of an AC power supply 29 by a triac (FLS) 25. 24 is the ignition circuit of the triac 25, 27 is the load current I flowing through the nozzle motor 26.
_{N is} a current detector, and 28 is a nozzle motor current detection circuit that detects and amplifies the output signal of the current detector 27.

The magnetic pole position detecting circuit 18 receives a signal from the Hall element 17 and generates a magnetic pole position signal 18S of the rotor R. The magnetic pole position signal 18S is used not only for switching the current of the armature windings U, V, and W (commutation), but also for detecting the rotation speed. The microcomputer 19 calculates the magnetic pole position signal 1
By counting 8S in a fixed sampling,
It is to find the speed.

[0014] Detection circuit 23 of the load current I _D of the fan motor FM is a voltage drop across the resistor R ₁ into a DC statement through a peak hold circuit (not shown), and amplifies and load of the fan motor FM The current _ID is obtained.

Nozzle motor (with a built-in rectifier circuit)
Detection circuit 28 for the load current I _N of 26, the output signal of the current detection circuit 27 is an AC to be rectified into a DC component, and amplified to obtain a load current I _N of the nozzle motor 26 It is.

The microcomputer 19 includes a central processing unit (CPU) 19-1, a read-only memory (ROM) 19-2, and a random access memory (RAM) 19-3. And a control bus. And the ROM 19-2
Includes a program necessary for driving the fan motor FM, for example, a speed calculation process, a speed control process (AS
R), current control processing (ACR), nozzle motor current detection processing, fan motor current detection processing, static pressure detection processing, and the like.

On the other hand, the RAM 19-3 stores the ROM 19
-2 is used to read and write various necessary external data when executing various programs stored in -2. The transistors TR _{1 to} TR ₆ are respectively driven by the base driver 15 in accordance with the ignition signal 19S generated and processed by the microcomputer.

The triac 25 is driven by the ignition circuit 24 according to the ignition signal 19D generated and processed by the microcomputer 19 based on the zero-cross detection circuit 32 of the AC power supply 29.

The static pressure detecting circuit 31 converts the output of the pressure sensor 8 in the cleaner body into a static pressure.

This type of brushless fan motor FM is
Since the current flowing through the armature winding corresponds to the output torque of the motor, the output torque can be varied by changing the applied current. That is, by adjusting the applied current, the output of the motor can be continuously and arbitrarily changed. Further, by changing the drive frequency of the inverter, the rotation speed of the fan motor FM can be freely changed.

The electric vacuum cleaner of the present invention uses such a brushless motor.

Next, FIG. 3 shows the overall structure of the vacuum cleaner, and FIG. 4 shows the internal structure of the power brush suction port.

3 and 4, reference numeral 1 denotes a cleaning floor surface, 2 denotes a main body of the vacuum cleaner, 3 denotes a hose, 4 denotes a hand switch portion, 5 denotes a feeling of extension, 6 denotes a power brush suction port inside a rotary brush,
Reference numeral 7 denotes a filter, and reference numeral 8 denotes a pressure sensor (semiconductor pressure sensor) for detecting the degree of clogging of the filter 7. The nozzle motor 2 is provided inside the suction case 6A of the power brush suction port 6.
6. Rotary brush 10, brush 1 attached to it
There is one. 12 is a timing belt for transmitting the driving force of the nozzle motor to the rotary brush 10, 13 is a suction extension pipe,
14 is a roller. The power supply lead wire 9 of the nozzle motor 26 is connected to a power supply line 5A provided in the extension tube 5.

Thus, when the nozzle motor 26 is supplied with electric power and rotates, the rotary brush 10 rotates via the timing belt 12. When the power brush suction port 6 is brought into contact with the floor surface 1 while the rotary brush 10 is rotating,
Since the brush 11 is provided with the brush 11, the brush 11 comes into contact with the floor 1 and the load current I
_N increases. By the way, as a result of various experiments, the rotary brush 10 also rotates in one direction because the nozzle motor 26 rotates in one direction, and when the power brush suction port 6 is operated back and forth, the power brush suction port 6 advances when the rotary brush 10 is rotated. load current I _N of the nozzle motor 26 is reduced in the case of operating the power brush suction port 6 in the direction,
When operating the power brush suction port 6 in the opposite direction it has been found that the load current I _N of the nozzle motor 26 becomes large fence.

Next, the change in the load current of the nozzle motor according to the floor surface will be described.

First, FIG. 5 shows a zero-cross detection circuit for controlling the phase of the nozzle motor, and FIG. 6 shows the voltage and current waveforms applied to the nozzle motor.

5 and 6, the AC power supply 29 is
(B) If the voltage V _S is the middle voltage, the resistor R2 and the diode D
7, a zero-cross signal 3 shown in FIG.
2S is obtained. The microcomputer 19 synchronizes the count timer shown in FIG. 6C which is synchronized with the rise and fall of the zero-cross signal 32S. When the count timer becomes zero, the microcomputer 19 sends a flash signal to the FLS 25. Output 19D. As a result, the load current IN shown in FIG. 6A flows through the nozzle motor 26, and the rotation speed of the nozzle motor 26, that is, the input is controlled by phase control.

FIG. 7 shows a configuration of a current detection circuit of the nozzle motor and an output example. Since the load current IN supplied to the nozzle motor 26 has an intermittent alternating current waveform as shown in FIG. 6A, the load current _IN is supplied by the full-wave rectification amplification circuit 28A, the diode D ₁₀ , and the peak hold circuit 28B.
The DC voltage signal V _DP shown in (b) is obtained. Then, as shown in FIG. 7C, the output signal V _DP changes between the voltages V _MX and V _MN corresponding to the operation of the mouthpiece at the time of the mouthpiece operation. The difference between the two voltages (V _MX -V _MN ) is defined as the fluctuation width V _MB of the detection voltage.

FIG. 8 shows a state in which the nozzle motor rotates at a low speed.
This shows the result of measuring the fluctuation width V _MB of the detection voltage corresponding to the change in the load current of the nozzle motor during the suction operation, according to the floor surface. Here, the rotation speed of the fan motor increases in order from the rotation speed to the rotation speed, in other words, the suction force increases in order. Also, carpets to carpets represent the length of the bristle feet, and become longer in order. In FIG. 8, it is considered whether or not the type of the cleaning floor can be estimated from the fluctuation width V _MB of the detected voltage. When the suction force of the rotational speed is weak, the fluctuation width V _MB is zero when the rotation is reversed, whereas the folding order (when the suction port is operated in the direction in which the rushes are arranged) and the folding reverse (in the direction orthogonal to the rushing direction). When the suction port is operated), the size of the carpet becomes larger in the order, but the case of the folding side is larger than the carpet. The same applies to the case of the rotation speed and the rotation speed, and the type of the floor surface cannot be determined simply based on the magnitude of the fluctuation width V _MB . However, Yuka and other decisions can be made.

FIG. 9 shows a state in which the nozzle motor rotates at a high speed.
This shows the result of measuring the fluctuation width V _MB of the detection voltage corresponding to the change in the load current of the nozzle motor during the suction operation, according to the floor surface. In FIG. 9, when the nozzle motor rotates at a high speed, the fluctuation width V _MB of the detection voltage increases in the order of yuka, tatami, and carpet regardless of the rotational speed from the rotational speed of the fan motor.
Here, the floor surface can be determined. That is, by adjusting the rotation speed of the fan motor according to the floor surface,
The cleaning floor surface can be determined using the fluctuation width V _MB of the detection voltage.

Up to now, the description has been given of the floor surface determination using the fluctuation width V _MB of the detection voltage, which is the peak value of the current of the nozzle motor, but the floor surface determination using the output of the pressure sensor provided in the cleaner body is described. Will be described.

FIG. 10 shows the result of measuring the variation width H _{MB of the} static pressure with respect to the rotation speed of the fan motor according to the floor surface. In FIG. 10, it can be seen that, depending on the rotation speed of the fan motor, it is possible to determine the folding and folding, but it is not possible to distinguish between folding and carpeting.

Further, the fluctuation width V _MB of the detection voltage and the fluctuation width H _{MB of the} static pressure are different depending on the operation force of the user, so that a mere floor surface judgment may cause an erroneous judgment. Therefore, the _erroneous determination is covered using F _UZZY .

FIG. 11 shows an operation mode of the fan motor. Here, the suction force P ₀ of the cleaner is proportional to the product of the air volume Q and the static pressure H. In FIG. 11, the constant air volume Q always secures the required minimum air volume and static pressure at the suction port, and the static pressure increases in accordance with clogging of the filter. The constant static pressure H reduces the adhesion between the floor and the suction port.
For example, even if a foreign substance adheres to the suction port, the static pressure rises only to a certain extent, so that there is an advantage that the foreign substance can be easily removed. When the air volume becomes small, there is almost no suction force, so that the rotational speed N is shifted to a constant value to save unnecessary power. The range of the constant air volume Q and the constant static pressure H is controlled by Fuzzy.

FIG. 12 shows the measurement results of the relationship between the air flow rate and the static pressure of the typical suction port for the gap, the shelf, and the general suction port. The power brush mouth also enters the general mouth. The distinction between the power brush suction port and the other suction ports is determined by applying an instantaneous voltage to the nozzle motor based on the zero cross signal and detecting the current to determine the power brush suction port. From FIGS. 11 and 12, it can be seen that the gap operates at a constant static pressure control range, the general suction port operates at an air volume constant control range at first, and operates at a static pressure constant control range when a filter is clogged. Will be.

Next, the specific control and processing of the microcomputer 19 will be described mainly with reference to FIG.

Procedure 1: When the operation switch is turned on, an operation command fetch process and a start process (process 7) are performed, and the rotation speed of the fan motor is raised to the minimum value of the air volume command.

Procedure 2: The rotation speed N is calculated in response to the signal 18S from the magnetic pole position detection circuit 18 (Process 1).
In response to the signal 31S of the static pressure detection circuit 31, a static pressure detection process (process 13) is performed to detect the static pressure H. Then, the rotation speed N, the static pressure H, and the current command I * of the fan motor FM
(Equivalent to the load current) to calculate the air volume Q (Qdata).

Step 3: Apply the instantaneous voltage to the nozzle motor 26 upon receiving the signal from the zero-cross detection circuit 32, and perform the nozzle motor current detection processing (processing 2) upon receiving the signal 24S from the nozzle motor current detection circuit 24. In the suction port determination (process 14), if the nozzle motor current is detected, the power brush suction port is determined.

Step 4: Filter clogging detection processing (processing 5) is performed based on the relationship between the air volume Q and the static pressure H to detect the degree of filter clogging.

Step 5: In the mouth determination (process 14), if it is a power brush mouth, the zero-cross detection circuit 3
2. The nozzle motor 26 is driven (low-speed rotation) through the phase control angle setting (processing 8) and the call signal processing (processing 9),
Fluctuation width Δp of the peak value of the nozzle motor current during the suction operation
Bi (V _MB ) and the fluctuation width ΔH (H _MB ) of the static pressure are detected by the fluctuation width detection processing (processing 4).

[0042] F _UZZY computing unit to create a procedure 6 ··· F _UZZY air volume instruction Qcmd the arithmetic unit 19 and the static pressure command Hcmd
And a F _UZZY operation unit for generating In the case of the power brush suction port, the F _UZZY calculation unit which receives the fluctuation width Δpbi and the air volume command Qcmd as input, the fluctuation width Δpbi and the static pressure command Hc
and md select F _UZZY calculation section as an input, the other in the case of suction port to the input and F _UZZY computing unit and the variation width ΔH and the static pressure command Hcmd that as input and variation width ΔH and the air volume command Qcmd The _FUZZY calculation unit is selected, and a new air volume command Qcmd and a static pressure command Hcmd are created from the _FUZZY calculation result.

Step 7: Air volume Q constant control and static pressure H are controlled by the magnitude of the air volume command Qcmd and the static pressure command Hcmd.
Constant control or rotation speed N constant control is selected, and in each control, the static pressure detection value Hdata and the air volume calculation value Qda
ta and outputs a speed command N *.

Step 8 ... Then, upon receiving the signal 23S of the fan motor current detection circuit 23, the fan motor current detection processing (processing 3) is performed to detect the load current _ID . In response to the load current _ID (process 3), the rotation speed N (process 1) and the speed command N *, the current command I * is output from the speed control process (ASR) and the process 11 of the current control process (ACR). . In response to the current command I *, a base driver signal 19S is output in a roll signal generation process (process 10) to control the fan motor FM to a desired rotation speed.

Step 9: At the same time, the F _UZZY operation unit 1
Based on the result of 9A, the signal of the zero cross detection circuit 32 is received, the firing angle is determined by the phase control angle setting (processing 8), and the FLS 25 of the nozzle motor 26 is controlled through the call signal generation processing (processing 9). A roll call signal 19D is output and the nozzle motor 2
6 is controlled by linking with the fan motor FM.

Thus, the fluctuation width Δpbi (V _MB ) of the peak value of the nozzle motor current and the fluctuation width ΔH of the static pressure at the time of the suction operation.
The rotation speeds of the fan motor FM and the nozzle motor 26 can be adjusted according to the magnitude of (H _MB ).

Next, the operation of the F _UZZY operation unit will be described. FIG. 13 shows a general F _UZZY inference method. That is, the fit of the smaller degree of conformity membership A ₁₂ of adaptability between the input x ₂ for membership A ₁₁ of the rule 1 input x _1, obtains the area of membership B1 outputs. Similarly, the area of the output membership B2 is obtained in the rule 2. Then, the areas corresponding to the number of rules are overlapped to obtain the center of gravity.

FIG. 14 shows the membership function, and FIG.
FIG. 16 shows an example of the output of the air volume command Qcmd with respect to the current fluctuation width Δpbi by calculating the air volume command Qcmd and the static pressure command Hcmd by _UZZY calculation. FIG. 17 shows the rules studied for the vacuum cleaner. Thus, since the air volume command Qcmd (static pressure command Hcmd) changes stepwise according to the magnitudes of the fluctuation widths Δpbi and ΔH, it is possible to control the suction force to be optimal according to the floor surface.

[0049]

According to the present invention, the suction port used is automatically detected, and the fluctuation width Δpbi of the current of the nozzle motor and the fluctuation width ΔH of the static pressure according to the degree of clogging of the filter and the floor surface are input. _Since the rotation speeds of the fan motor and the nozzle motor are automatically controlled based on the _UZZY calculation result, it is possible to provide a vacuum cleaner capable of automatically obtaining an optimum suction force according to a used suction port and a cleaning floor surface.

[Brief description of the drawings]

FIG. 1 is a block diagram of a control circuit of a fan motor for a vacuum cleaner according to the present invention.

FIG. 2 is an overall configuration of the control circuit.

FIG. 3 is an overall configuration of a vacuum cleaner according to the present invention.

FIG. 4 shows the internal structure of a power brush mouthpiece.

FIG. 5 is a circuit diagram of a zero-cross detection circuit of an AC power supply voltage;

FIG. 6 is a diagram showing a voltage, a current waveform, a zero-cross signal, a count timer, and an FLS trigger signal applied to a nozzle motor according to the present invention.

FIG. 7 shows a configuration of a nozzle motor current detection circuit and an output example thereof.

FIG. 8 is a diagram showing a fluctuation range of a peak value of a nozzle motor current with respect to a floor surface at the time of low-speed rotation of the nozzle motor.

FIG. 9 is a diagram showing a fluctuation width of a peak value of a nozzle motor current with respect to a floor surface at the time of high-speed rotation of the nozzle motor.

FIG. 10 is a diagram showing a variation range of a static pressure on a floor surface according to the present invention.

FIG. 11 is a diagram illustrating a relationship between an air volume Q, a static pressure H, and a rotation speed N during F _UZZY control.

FIG. 12 is a diagram showing the relationship between the air volume Q of each suction port and the static pressure H according to the present invention.

FIG. 13 is a diagram showing a general FUZZY inference method.

FIG. 14 is a membership function applied to the vacuum cleaner of the present invention.

FIG. 15 is a _FUZZY calculation method applied to the vacuum cleaner of the present invention.

FIG. 16 shows an embodiment of the present invention in which F _{UZZY with} respect to a current fluctuation width _Δpbi
It is a figure which shows the example of an output of the air volume command Qcmd by calculation.

FIG. 17 is a diagram showing a F _UZZY rule studied for the vacuum cleaner of the present invention.

[Explanation of symbols]

8 ... Pressure sensor, 16 ... Inverter, 19 ... Microcomputer, 23 ... Fan motor current detection circuit, 25 ...
Triac, 26: nozzle motor, 28: nozzle motor current detection circuit, 30: operation switch, 31: static pressure detection circuit.

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kazuo Tahara 4026 Kuji-cho, Hitachi City, Ibaraki Prefecture Hitachi, Ltd.Hitachi Laboratory (72) Inventor Tsunehiro Endo 4026 Kuji-cho, Hitachi City, Ibaraki Prefecture Hitachi, Ltd. Inside the research laboratory (72) Inventor Hisao Suga 1-1-1, Higashitaga-cho, Hitachi City, Ibaraki Prefecture Inside the Taga Plant, Hitachi, Ltd. (72) Inventor Fumio Joraku 1-1-1, Higashitaga-machi, Hitachi City, Ibaraki Prefecture Co., Ltd. Hitachi, Ltd. Taga Plant (72) Inventor Yoshitaro Ishii 1-1-1, Higashitaga-cho, Hitachi City, Ibaraki Prefecture Hitachi, Ltd. Taga Plant (58) Fields investigated (Int. Cl. ⁶ , DB name) A47L 9 / 28 A47L 9/04

Claims (7)

(57) [Claims] 1. A filter for collecting dust, a variable speed fan motor for applying a suction force to a cleaner, a pressure sensor for detecting clogging of the filter in a cleaner body case, and a power brush suction port A circuit for detecting a current of a rotary brush driving nozzle motor housed in the vacuum cleaner, wherein a static pressure Hdata from an output of the pressure sensor is detected, and a rotation speed and a load current of the fan motor and the static current Hdata are detected. Using the detected pressure value Hdata, the air volume Qdata flowing from the suction port
And the rotation speed of the fan motor according to the airflow command value Qcmd and the static pressure command value Hcmd related to the airflow at the suction port and the static pressure, and the static pressure detection value Hdata and the airflow calculation value Qdata. And a fluctuation range Δpbi of a peak value of the current of the nozzle motor and a fluctuation width Δ 応 じ of the static pressure which fluctuate according to the suction operation during cleaning.
And the fluctuation width Δpbi and the airflow command value Qcmd,
The fluctuation width Δpbi, the static pressure command value Hcmd, and the fluctuation width Δ
H, the airflow command value Qcmd, the fluctuation range ΔH, and the static pressure command value Hcmd, and perform a fuzzy calculation. Based on the Fuzzy calculation result, the airflow command value Qcmd and the static pressure command value Hcmd are calculated. A vacuum cleaner characterized in that it is determined. 2. The method according to claim 1, wherein when the current of the nozzle motor is detected, the fluctuation width Δpbi, the airflow command value Qcmd, and the fluctuation width Δpbi
And the static pressure command value Hcmd are input, and a fuzzy operation is performed. When the current of the nozzle motor is not detected, the fluctuation width ΔH, the airflow command value Qcmd, the fluctuation width ΔH, and the static pressure command value Hcmd And a fuzzy operation is performed with the input as the input, and the air volume command value Qcmd and the static pressure command value Hcmd are determined based on the result of the fuzzy operation. 3. The vacuum cleaner according to claim 1, wherein the airflow command value Qcmd input to the fuzzy operation is an airflow calculation value Qdata. 4. The vacuum cleaner according to claim 1, wherein the static pressure command value Hcmd of the input of the fuzzy calculation is a static pressure calculation value Hdata. 5. The electric cleaning apparatus according to claim 1, wherein the Fuzzy operation result is integrated, and the air volume command value Qcmd and the static pressure command value Hcmd are determined based on the result. Machine. 6. The vacuum cleaner according to claim 1, wherein a phase control angle of the nozzle motor is determined based on the result of the fuzzy calculation. 7. The air flow command value Qcmd according to claim 1, wherein the result of the fuzzy operation is integrated, the air flow command value Qcmd and the static pressure command value Hcmd are determined based on the result. The static pressure command value Hcmd is equal to the fluctuation range Δ
A vacuum cleaner having a stepped shape with respect to the input of pbi and the variation width ΔH.