JP6244539B2 - Drum drive - Google Patents

Description

  The present invention is used in clothing processing apparatuses such as drum-type washing machines, drum-type washing / drying machines, drum-type clothes dryers used in general homes or offices, factories, construction sites, etc. In order to stir fresh concrete, etc., solid, liquid, powder, fluid, etc. are contained in a cylindrical drum, and rotating on a rotating shaft with an angle from the vertical, the action of the gravity of the earth changes, The present invention relates to an agitated drum driving device.

  Conventionally, when switching from the synchronous operation mode to the position feedback operation mode, this type of device estimates the torque of the motor during the synchronous operation mode and sets a control constant (see, for example, Patent Document 1). In addition, at the time of start-up, first, R (resistance), Ld (d-axis inductance) and Lq (q-axis inductance) of the motor are estimated simultaneously with positioning by DC excitation control, and then the motor KE ( In some cases, position sensorless vector control is performed after estimation of (induced voltage constant) (see, for example, Patent Document 2).

  FIG. 20 is a block diagram of a conventional driving device described in Patent Document 1. In FIG. As shown in FIG. 20, a permanent magnet motor 1 and a motor driving device 2 that controls the permanent magnet motor 1 are provided. The motor driving device 2 includes a control unit 3, a power conversion circuit 4, and current detection means 5. The control unit 3 includes a current controller 9, 10, a voltage command value generator 11, a dq / 3φ converter 12, an axis error calculator 13, a load estimator 14, an integral term initial value calculator 15, and a speed controller 16. , Control changeover switches 17, 18, subtractors 20, 21, 22, 23, PLL controller 24, and integrator 25, and current detection means 5 is motor current detection means 27, 28, 3φ / converter. 29.

  During the synchronous operation mode, by operating the load estimating unit 14 and the integral term initial value calculating unit 15 and then operating the control changeover switches 17 and 18, the position feedback operation mode is performed with the q-axis current corresponding to the load torque. Thus, the occurrence of a speed change at the time of switching from the synchronous operation mode to the position feedback operation mode is suppressed.

  FIG. 21 is a block diagram of a conventional drum driving device described in Patent Document 2. In FIG. As shown in FIG. 21, a motor 31 including a three-phase coil and a permanent magnet, and a motor driving device 32 that drives the motor 31 are provided. The motor drive device 32 includes a six-stone inverter circuit 33, a vector control unit 34, and a motor current detection circuit 35. The vector control unit 34 includes an arithmetic unit 36, a PWM generator 37, and an A / D converter 38. The arithmetic unit 36 includes a parameter estimator 41, a controller 42, and coordinate converters 43 and 44, and the motor current detection circuit 35 includes resistors 46, 47, and 48.

  By outputting the parameters R, Ld, Lq, and KE of the motor 31 estimated by the parameter estimator 41 to the controller 42 and operating the vector control unit 34, the variation in parameters due to manufacturing variations, temperature changes, aging changes, etc. Corresponding position sensorless vector control is performed.

JP 2007-037352 A JP 2011-041343 A

  However, none of the conventional configurations is related to the characteristics of the torque required against the gravity of the load generated as a function of the rotation angle unique to the drum whose rotation axis has an angle with respect to the vertical. In any configuration, the operation is performed in the synchronous operation mode (or called forced commutation control) state and the position feedback operation mode (or called vector control). For this reason, it has been difficult to suppress the supply current value to the motor with respect to the maximum torque generated at the position where the drum including the mass of the load eccentric at the time of rotation is rotated 90 degrees. Therefore, a large current rating is required as a component required for the motor and the inverter circuit, and there is a problem that it is large and expensive.

  The present invention solves the above-described conventional problems, and when a drum that is present in a mass-biased state is activated, the drum is rotated 90 degrees and the drum motor is rotated at the maximum torque generated by the earth's gravity. An object of the present invention is to provide a small and low-cost drum driving device that reduces supply current.

  In order to solve the above-described conventional problems, a drum driving device of the present invention includes a drum having a rotation shaft having an angle with respect to vertical, a drum motor having a permanent magnet in a rotor, and driving the drum, An inverter circuit for supplying a current to the drum motor, wherein the inverter circuit has a first operating means, a second operating means, and a switching means, and the first operating means is a phase of the permanent magnet. The second operating means generates a signal corresponding to the phase of the permanent magnet, and the switching means activates the drum motor with a signal from the first operating means. Then, the signal is switched to the signal from the second operating means before the time when the rotation angle of the drum from the start becomes 90 degrees first.

  As a result, when the drum existing in a mass-biased state is started, the first operating means ensures the start-up, and at the time of the maximum torque generated by the earth's gravity with the drum rotated 90 degrees, The operation with the supply current to the drum motor reduced by the operation means 2 can be performed, and the maximum value of the current supplied from the inverter circuit to the drum motor can be suppressed.

  The drum driving device of the present invention can reduce the current supplied from the inverter circuit to the drum motor, and can be small in size and low in cost.

Block diagram of drum driving apparatus according to Embodiment 1 Detailed block diagram of first operating means 72 and switching means 74 of Embodiment 1 Operation waveform diagram of first driving means 72 of embodiment 1 Detailed block diagram of second operating means 73 of embodiment 1 Detailed block diagram of motor current control unit 75 of the first embodiment Waveform diagram showing changes of each variable before and after the switching operation of the first embodiment Current vector diagram before and after the switching operation of the drum drive device of the first embodiment Sectional drawing which showed the state of the rotation angle of the drum 51 of the drum drive device of Embodiment 1 Regarding the drum motor 60 of the first embodiment, a graph of torque generated when the current advance angle β is changed. Sectional view of rotor 59 of drum motor 60 of the first embodiment. Block diagram around the first operating means 110 and the switching means 111 of the drum driving apparatus of the second embodiment Operation waveform diagram of first driving means 110 of drum driving device of embodiment 2 Detailed block diagram of second operating means 120 of embodiment 2 Operation waveform diagram after the drum 51 of the drum driving apparatus of the second embodiment is activated The block diagram centering on the 1st operation means 135 of the drum drive device in Embodiment 3, and the switching means 137 Specific block diagram of second operating means 142 of the drum driving apparatus in the third embodiment Operation waveform diagram from start of drum driving device to switching operation in embodiment 3 State diagram of rotation of drum 51 including laundry 109 in the third embodiment Vector diagram at the time of switching of the switching means 137 in the third embodiment Block diagram of a conventional drum drive device Block diagram of a conventional drum drive device

  A drum driving device according to the present invention includes a drum having a rotation shaft having an angle with respect to the vertical, a drum motor having a permanent magnet in a rotor to drive the drum, and an inverter circuit for supplying current to the drum motor. The inverter circuit includes first operating means, second operating means, and switching means, the first operating means generates a signal independent of the phase of the permanent magnet, The second operating means generates a signal corresponding to the phase of the permanent magnet, and the switching means activates the drum motor with a signal from the first operating means, and the rotation angle of the drum from the activation. The signal is switched to the signal from the second operating means before the time when becomes 90 degrees first.

  Thus, the first operating means is reliably started, and at the time of the maximum torque generated by the gravity of the earth with the drum rotated 90 degrees, the second magnetic flux that makes the best use of the magnetic flux of the permanent magnet is used. Operation that reduces the supply current to the drum motor by the operating means is possible, the maximum value of the current supplied from the inverter circuit to the drum motor can be suppressed, and a small and low-cost drum drive device can be provided. .

  The said structure WHEREIN: It is good also as a structure which has a permanent magnet embedded in the said rotor.

  Thereby, at the time of the maximum torque generated by the earth's gravity with the drum rotated 90 degrees, the current supplied to the drum motor by the second operating means utilizing the reluctance torque in addition to the action of the magnetic flux of the permanent magnet. Can be further reduced, and the maximum value of the current supplied from the inverter circuit to the drum motor can be further suppressed.

  In the above configuration, the current supplied to the drum motor by the inverter circuit at the time when the rotation angle of the drum from the start becomes 90 degrees first is a leading phase with respect to the induced electromotive force due to the magnetic flux of the permanent magnet. It is good.

  As a result, at the time of the maximum torque generated by the earth's gravity with the drum rotated 90 degrees, the reluctance torque is also utilized, and an operation with reduced supply current to the drum motor by the second operating means becomes possible. The maximum value of the current supplied from the inverter circuit to the drum motor can be suppressed, and a small and low-cost drum driving device can be provided.

  In the above configuration, the second operating means receives the input signal of the input voltage and input current of the drum motor, and when the rotation angle of the drum from the start becomes 90 degrees for the first time, the current value with respect to the torque is substantially minimum. The drum motor may be driven by supplying a current having a phase as follows.

  As a result, the reluctance torque is fully utilized, the maximum value of the current supplied from the inverter circuit to the drum motor can be further suppressed, and a small and low-cost drum driving device can be provided.

  In the above-described configuration, the present invention includes a second operating means, a speed estimating means for estimating the speed of the permanent magnet, a speed setting means, a speed error amplifying means, and an output current vector of the inverter circuit, The first current component parallel to the magnetic flux of the permanent magnet and the second current component approximately orthogonal to the first current component are controlled separately, and the first current component and the second current component are controlled. The absolute value of the current vector may be changed according to the output of the speed error amplifying means while the ratio is substantially constant.

  As a result, speed control is possible with a relatively simple configuration, and the first current component and the second current component change in conjunction with each other so that the reluctance torque can be fully utilized and supplied to the drum motor. Voltage fluctuations can also be suppressed.

  In the above configuration, the present invention may operate the inverter circuit so that the angular acceleration of the drum at the time when the rotation angle of the drum from the start becomes 90 degrees first becomes negative.

  Accordingly, the kinetic energy of the drum can be used to further suppress the maximum value of the current supplied from the inverter circuit to the drum motor, and a small and low-cost drum driving device can be provided.

  In the above configuration, according to the present invention, after the inverter circuit is preliminarily driven at a rotation angle within 180 degrees from the start, the drum rotation is 360 degrees in the rotation direction opposite to the preliminary driving. The above driving may be performed.

  This makes it possible to further reduce the maximum value of the current supplied from the inverter circuit to the drum motor by utilizing the resonant action of the moment of inertia of the drum and the moment of gravity due to the biased mass. A drum drive can be provided.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Embodiment 1)
FIG. 1 is a block diagram of a drum driving device that performs washing in the first embodiment of the present invention and is generally called a drum-type washing machine or the like.

  In FIG. 1, a drum 51 is rotatably supported by bearings 52 and 53 in a state having an angle of 90 degrees with respect to the vertical, that is, in a state having a horizontal rotation axis, and a laundry 54 such as clothing is provided therein. Is supposed to enter.

  Here, the term “vertical” in this application indicates the direction of gravity, and is treated as a synonym for vertical or perpendicular to horizontal.

  The drum 51 includes a small pulley 62, a belt 63, a belt 60, a four-pole drum motor 60 configured by rotatably holding a rotor 59 having permanent magnets 55, 56, 57, 58 including rare earth such as neodymium and dysprosium. It is rotated by being decelerated to 1/10 through the large pulley 64.

  A resin outer container 66, a water supply valve 67, a drain valve 68, and a lid 69 are provided outside the drum 51, and washing can be performed by applying water and a detergent to the laundry 54 of the drum 51. It is possible.

  The inverter circuit 71 supplies current to the drum motor 60. The inverter circuit 71 includes a first operating means 72, a second operating means 73, a switching means 74, a first current component Id, and a second current component Id. A motor current control unit 75 that controls the output current divided into current components Iq is provided. The first operating means 72 generates a signal S1 independent of the phase of the permanent magnets 55, 56, 57, 58, and the second operating means 73 responds to the phases of the permanent magnets 55, 56, 57, 58. Signal S2 is generated. The switching unit 74 first starts the drum motor 60 by connecting the signal S1 from the first operating unit to the motor current control unit 75, and the time when the rotation angle of the drum 51 from the start becomes 90 degrees first. Before that, the input to the motor current control unit 75 is switched to the signal S2 from the second operating means 73.

  In FIG. 1, each of S1 and S2 is shown by a single line, but in actuality, it is constituted by three sets of the second current component set value Iqr, phase θ, and electric angular velocity ω of the motor. Has been.

  Further, in the present embodiment, the switching means 74 is switched from S1 to S2 in response to the digital signal F changing after the first operating means 72 has been activated for a predetermined time.

  FIG. 2 shows a detailed block diagram of the first operating means 72 and the switching means 74 of the present embodiment.

  In FIG. 2, a timer 80 that measures the time from activation outputs a time signal t and is input to a time limiter 81, a current setting unit 82, and an angular velocity setting unit 83.

  The current setting unit 82 outputs the switching unit 74 as Iqr1, the angular velocity setting unit 83 outputs the switching unit 74 as ω1, and further passes through an integrator 86 that performs time integration of ω, and is also output as θ1. .

  The switching means 74 selects S1 when the F signal is low, and selects S2 when the F signal is high, and outputs Iqr, θ, and ω signals.

  FIG. 3 shows an operation waveform diagram of the first operating means 72 of the present embodiment.

  (A) shows the logic of the signal F, (A) shows Iqr1, (C) shows ω1, and (D) shows θ1 on the horizontal axis.

  In the period in which the first driving means operates effectively, that is, in the 0.6 second period from the start when the signal F is low, Iqr1 is a straight line from 0 to 6A in the first 0.3 second period. After that, 6A is held, and ω1 is assumed to increase linearly.

The motor phase θ1 is obtained by integrating ω1 over time, but because it is expressed using a variable that is reset to 0 when it becomes 2π (360 degrees), it becomes a waveform as seen in (D), At t = 0.6 seconds, θ1 = 0, and the motor electrical angle is 4π radians (2 rotations = 720 degrees) in 0.6 seconds when the first driving means operates. Since the drum motor 60 has four poles and the pulleys 62 and 64 are decelerated by 1/10, the rotation angle of the drum 51 is ideally synchronized from start to finish. Is assumed to be 36 degrees (0.1 rotation).

  However, in reality, depending on the position of the drum motor 60 in the rotational direction at the time t = 0 seconds, the actual rotation of the drum motor 60 until it settles in a synchronous state varies by about a quarter of a plus or minus rotation. The rotation angle of the drum 51 for 0.6 seconds is 27 to 45 degrees, but is smaller than 90 degrees.

  When the time limiter 81 raises the F signal from low to high at t = 0.6 seconds, the switching means 74 that has received the F signal switches the signal from S1 to S2, and the second operating means 73 To switch to.

  As for Idr, in the present embodiment, 0 A is selected from the switching means 74 when the F signal is low, and -3.8 A is selected and output when it is high.

  FIG. 4 shows a detailed block diagram of the second operating means 73 of the present embodiment.

  In FIG. 4, the speed error amplifying means 90 is the difference between ω obtained from the speed setting means 89 for outputting the angular speed set value ωr of the drum motor 60 and the switching means 74, that is, PI (proportional and integral) from the speed error. The elements are acted and added to output Iqr2, and the torque is adjusted so as to achieve a set speed.

  The phase error estimator 91 receives Id, Iq, Vd, Vq, and ω from a motor current control unit 75 described later, and parameters such as an induced electromotive force constant, q-axis inductance, and resistance value of the drum motor 60. Is used to calculate the difference Δθ between the phase θ currently used by the motor current control unit 75 and the phase where the voltage equation of the drum motor 60 is established.

  In the present embodiment, (Vd−Ra · Id + ω · Lq · Iq) is divided by (Vq−Ra · Iq−ω · Lq · Id), and its arctangent function is taken and the sign is reversed. The calculated value is calculated as an error Δθ of the actual dq phase with respect to the dq coordinate used by the control.

  The convergence means 92 has a speed estimation means 93 and an integrator 94. The speed estimation means 93 uses permanent magnets 55, 56, PI (proportional / integral) so that Δθ converges to zero. The angular velocity ω2 of 57 and 58 is calculated. Further, ω2 is output as the estimated phase θ2 by calculating the time integration in the integrator 94.

  During the period when F is low, the integrator 94 is constantly updated so that Δθ is output as θ2, and the speed estimation means 93 is also constantly updated so that ω2 becomes ω. Is to be done.

  In a state where the operation of the second operating means 73 is valid, the drum motor 60 is operated without the position sensor by the action of the phase error estimator 91 and the converging means 92.

In the present embodiment, the phase error estimator 91 uses the above-described calculation formula of Δθ, but is not limited thereto, and values related to the voltage and current supplied to the drum motor 60 and the drum motor 60 A parameter may be used to derive a phase error Δθ or a value related to a d-axis voltage difference. In short, while generating a signal corresponding to the phase of the permanent magnets 55, 56, 57, 58, Any device capable of operating the drum motor 60 may be used.

  The cosine amplifier 95 outputs an Iref value obtained by multiplying the cosine function of Δθ by the Iqr value from the switching means 74. The speed error amplifying means 90 outputs an output value during a period when F is low. The value of the internal integrator is constantly updated so that Iqr2 becomes equal to the Iref value.

FIG. 5 shows a detailed block diagram of the motor current control unit 75 of the present embodiment.
The motor current control unit 75 supplies a three-phase current from the inverter circuit 71 to the drum motor 60. The input θ value is a permanent value when the magnetomotive force due to the U-phase current is used as a reference. If the direction of the magnetic flux by the magnets 55, 56, 57, and 58, that is, the true d-axis phase is correctly matched, the input Idr is the first parallel to the magnetic flux of the permanent magnets 55, 56, 57, and 58. 1 and Iqr is a second current component that is orthogonal to it and advanced in phase by +90 degrees (π / 2), and is controlled to a desired current vector.

  5, current error amplifiers 98 and 99, coordinate converters 100 and 101, a PWM power module 103, a DC power supply 104, and a current detection circuit 105 are included. The current error amplifier 98 includes a set value Idr and a coordinate converter 101. The difference in the output Id is calculated as PI (proportional / integral) and output as Vd.

  The current error amplifier 99 calculates the difference between the set value Iqr obtained from the switching means 74 and the output Iq of the coordinate converter 101 in a similar manner PI (proportional / integral) and outputs it as Vq.

  The coordinate converter 100 receives Vd, Vq, and θ output from the current error amplifiers 98 and 99 and converts them into Vu, Vv, and Vw using Equation 1 or the like.

  As described above, the use of the three phases has an effect that the drum motor 60 and the inverter circuit 71 have a relatively simple configuration and can transmit power continuously and smoothly. It is not limited, and may be two-phase, four-phase, five-phase, and the like.

  The PWM power module 103 is composed of six stone IGBTs (not shown), an electronic circuit, and the like. The PWM power module 103 receives a DC voltage of 280 V from the Vu, Vv, Vw and the DC power supply 104, and performs PWM (pulse width modulation). While performing, three-phase alternating current is output from U, V, and W, and a current of several amperes is supplied to the drum motor 60. Specifically, the microcomputer is configured as a single chip. It is configured as an integrated body of a pulse width modulator and a power portion provided in a separate package.

  For the U phase and the W phase, the instantaneous values of the current values Iu and Iw are detected by passing through the detection elements 106 and 107 of the current detection circuit 105 and input to the coordinate converter 101.

Note that the detection elements 106 and 107 detect a current value from the magnetic field by detecting a current value from a magnetic path by a current to be detected, or a voltage drop of a resistance called a shunt resistor. Things are available.

  Although the V-phase current Iv is not detected in the present embodiment, Iv is also obtained from the input Iu and Iw from the relationship of Iu + Iv + Iw = 0. For example, the d-axis current Id and the q-axis current Iq are calculated using θ.

  FIG. 6 is a waveform diagram showing the change of each variable before and after the switching operation by the output F of the switching means 74 of the present embodiment, with the time on the horizontal axis slightly enlarged.

  6A and 6B, both are input / output signals of the switching means 74. (A) is Iqr1 by a broken line, Iqr2 by a dashed line, Iqr by a solid line, (A) is ω1 by a broken line, ω2 by a dashed line, and ω by a solid line. (C) indicates θ1 by a broken line, θ2 by a one-dot chain line, and θ by a solid line.

  Due to the action of the switching means 74, θ = θ1 at t <0.6 seconds, and θ = θ2 at t> 0.6 seconds.

  As for Iqr2 at t <0.6 seconds, as described above, the integration component is continuously updated so that the output Iref value from Iqr1 through the cosine amplifier 95 becomes the output of the speed error amplifying means 90, that is, Iqr2. , Ω2 are set to be the same value as ω1 and θ2 is always set to be equal to Δθ.

  Here, Iqr1, ω1, and θ1 at t> 0.6 seconds are not described because they have little meaning.

  FIG. 7 shows the current vector before and after the switching operation by the switching means 74 on the true dq coordinate in the drum driving device of the present embodiment.

Iqr1, which is the Iqr value immediately before switching, has a length of 6A, which is the value of Iqr1, but has a slope of Δθ in the first quadrant as the direction, and the true q-axis component is a cosine amplifier. An output of 95, that is, an Iref value obtained by multiplying Iqr1 by a cosine of Δθ, and immediately after switching, a change to Iqr2 = Iref is made.
As a result, an effect similar to that of setting the initial value of the integrator for speed control described in Patent Document 1 can be obtained.

  In the case of a washing machine or the like, the load torque is suddenly reduced at the moment when the laundry 109 collapses, so that further overshooting of the angular velocity of the drum 51 is likely to occur. However, the Iref value is It is also effective in suppressing such overspeed.

  On the other hand, with respect to the phase θ, since θ1 is exactly 0 (a multiple of 2π) at the time of switching, by adding Δθ to this (that is, jumping phase advance), FIG. As shown in the figure, correction from the γ1 axis to the correct d-axis is performed, and hence the second driving means 73 can be operated satisfactorily.

  In the present embodiment, the calculation of the desired values of Vd and Vq after switching is somewhat complicated for the current error amplifiers 98 and 99 that perform PI type error amplification. Is not operated at the time of switching, but there is no problem with respect to these currents because the design can respond in a relatively short time.

  The current vector indicated by I90 is obtained when the drum 51 first reaches an angle of 90 degrees from the start after switching to the second operating means 73, and at the same time Iqr is being adjusted, Since Idr is set to -3.8 A, the phase advance (advance) with respect to the induced electromotive force E (= q-axis direction) due to the magnetic flux of the q-axis, that is, the permanent magnets 55, 56, 57, and 58 is set. The angle is in the second quadrant with β1.

  FIG. 8 is a cross-sectional view showing a state of the rotation angle of the drum 51 of the drum driving device of the present embodiment.

  In FIG. 8, (a) shows the state of the drum 51 at the start of activation, and the shaded portion shows a state in which the laundry 109 contains a large amount of water and is solidified. The gravity of mg Newton, which is obtained by multiplying the mass m kilogram of the laundry 109 by the gravitational acceleration g of the earth / square second, works downward from the center of gravity P of the laundry 109.

  Point O is the center of the drum 51 and serves as a rotation axis.

  Similarly, (a) shows a state in which the drum 51 has rotated 40 degrees from the time of activation shown in (a). In the present embodiment, at the time t = 0.6 seconds, The time when the switching from the first driving means 72 to the second driving means 73 is performed.

  Similarly, (C) shows a state where the rotation angle of the drum 51 from the start is 90 degrees first, and (D) shows a state where the rotation angle is 180 degrees.

  The moment of gravity mg around O, that is, the torque is the maximum in the state of (c), and if the density of the laundry 109 shown by diagonal lines is 1000 kg / rice equal to water, the laundry 109 Is half the volume of the drum 51, and is about 30 Nm in a semicircle in the expression method of FIG.

  Of course, when the rotation axis of the drum 51 has an angle θd other than 90 degrees with respect to the vertical, the torque is reduced to approximately the sine of θd, but at least the drum 51 As long as the rotation axis of the shaft is configured to have an angle with respect to the vertical, torque due to the influence of mg is required.

  In this embodiment, the switching operation from the first operating means 72 to the second operating means 73 is performed by the switching means 74 at 40 degrees shown in (a), and the required torque at that moment is (C) Is a value obtained by multiplying the torque necessary for the sine (0.64) of 40 degrees.

As the torque required for the rotating shaft of the drum 51, in addition to the torque due to the above-mentioned mg moment (referred to as “lifting torque”), the torque required for acceleration of the drum 51 (referred to as “acceleration torque”). In this regard, the moment of inertia of the drum 51 including the laundry 109 is multiplied by the angular acceleration of the drum 51. However, the lifting torque in the state of FIG. The fact that 0.64 is sufficient greatly acts, and the torque on the drum 51 shaft that must be realized by the first operating means 72 can be reduced, so that the value of Iqr1 is Compared with the case of realizing the required torque in (c), it can be considerably suppressed.

  In particular, in the present embodiment, since the drum motor 60 in which the permanent magnets 55, 56, 57 and 58 are embedded in the rotor 59 is used, the first operating means 72 tries to generate a large torque. In this case, since the strong magnetic field condition of Id> 0 is satisfied, the reluctance torque becomes negative, and more current tends to be supplied.

  Thereby, in some cases, since the current is excessive, the reluctance torque is won, the torque in the direction to match the current vector and the d axis is not generated, and there is a case where there is a step-out. It is advantageous to complete the switching from the first operating means 72 to the second operating means 73 at the stage before the torque is required, and the operation by the second operating means 73 is effective. Regardless of whether the phase of the supply current is in phase with the induced electromotive force due to the magnetic flux of the permanent magnets 55, 56, 57, 58, or the phase is advanced, the rotation angle of the drum 51 is initially set to 90 as the switching timing of the switching means 74. One effect can be expected to be before the time is reached.

  However, the permanent magnets 55, 56, 57, 58 as in the present embodiment are not embedded in the iron core of the rotor 59, and the drum has a rotor configured by adhering the permanent magnet to the surface of the cylindrical iron core. Even in the case of a motor, the present invention is valid, and the timing of the switching means 74 is set before the rotation angle of the drum 51 is initially 90 degrees, and the second operating means is induced by the magnetic flux of the permanent magnet. By operating to supply a current in phase with the electromotive force, it is possible to pass the conditions that require the maximum torque in the operation that makes the best use of the magnetic flux of the permanent magnet, and the supply current to the drum motor is reduced. The effect that it can be kept as small as possible is obtained.

  In the present embodiment, after the switching to the second operation means 73 is completed, the rotation angle of the drum 51 from the start is initially 90 degrees as shown in FIG. Regarding the current phase, in FIG. 7, the current I90 whose phase has advanced with respect to the induced electromotive force E caused by the magnetic flux of the permanent magnets 55, 56, 57, 58 in the state where the angle β1 is in the second quadrant, The inverter circuit 71 is supplied to the drum motor 60.

  FIG. 9 shows a case where the lead phase (also referred to as current advance angle) β of the induced electromotive force E is changed in the absolute value 9A of the current vector on the dq plane in the drum motor 60 of the present embodiment. It is a graph showing the relationship with the generated torque, where the horizontal axis is β, and the vertical axis torque is the value converted to the axis of the drum 51, that is, the value obtained by multiplying the reciprocal of the reduction ratio by the pulleys 62 and 64. It is.

  FIG. 10 shows a cross-sectional view of the rotor 59 of the drum motor 60 of the present embodiment.

  Since the drum motor 60 has a configuration in which the permanent magnets 55, 56, 57, and 58 are embedded in the rotor 59, the inductance values Ld and Lq of the d-axis and the q-axis have a relationship of Lq> Ld. .

  As a result, as shown in FIG. 9, a torque Tsum that is the sum of the reluctance torque Trel and the magnet torque Tmag generated by the permanent magnets 55, 56, 57, and 58 and the current is generated. From the reciprocal viewpoint of current, in the vicinity of β = 25 degrees, the minimum current (9 A) can be achieved for the desired torque (30 Nm).

In the operation by the first operating means 72, it is difficult to stabilize near the point G, and the portion on the left side of the point G is used to perform a highly stable operation. In this case, since the torque is reduced from the point G, it is necessary to cover the current value as larger than 6A in order to obtain a torque equivalent to the point G. As a result, the loss of the drum motor 60 increases, resulting in an increase in power consumption and an increase in temperature, an increase in the current rating of the PWM power module 103, and demagnetization of the permanent magnets 55, 56, 57, and 58. In some cases, it is necessary to increase the resistance to the above, and the cost and shape of the drum driving device become large.

  On the other hand, the operating condition of β = 25 degrees by the second operating means 73 as shown in the present embodiment is also possible, and Tsum has a maximum value of 30 Nm, which is described in FIG. The value is almost equal to β1.

  Therefore, in the drum driving device of the present embodiment, the second operating means 73 receives the input voltages Vd and Vq of the drum motor 60 and the signals of the input currents Id and Iq, and the rotation angle of the drum 51 from the start. Is initially 90 degrees, that is, in the state shown in FIG. 8C, the drum motor 60 is driven by supplying a current having a phase at which the current value with respect to the torque is substantially minimum.

  However, in the case of the drum motor 60 in which the action of the reluctance torque is small, by supplying an almost in-phase current to the induced electromotive force, the interaction between the magnetic flux and the current of the permanent magnets 55, 56, 57, and 58 A configuration in which the generated magnet torque Tmag is utilized to the maximum extent may be employed.

  In the present embodiment, the second operating means 73 is operated in a state of Idr = -3.8 A, so that when the maximum drum shaft torque is required, β = 25 degrees. Therefore, when the required torque at the 90 ° position shown in FIG. 8C is smaller, such as when the load is light, β tends to be greater than 25 °, but the second operation With a relatively simple configuration in which the Idr value used for the operation of the means 73 is a constant value, reliable operation at a current of 9 A or less is guaranteed.

  Note that the normal laundry 109 collapses under the action of gravity mg before falling into the state of FIG. 8D, and falls under the drum 51. If there is a portion that includes a knuckles that are filled to fill the drum 51, there may be a state close to (d) where the laundry 109 is reversed.

  In the state of (d), the positional energy of the laundry 109 is maximized, but the moment of gravity mg acting on the laundry 109 becomes zero, and the torque required for the rotation of the drum 51 is a comparison of only the acceleration torque. It becomes a small value.

  In the present embodiment, the coordinate converters 100 and 101 use simple ones that add the direction cosines using only the cosine functions (cosine) shown in Equation 1 and Equation 2, respectively. As long as the microcomputer environment can calculate the sine function (sine) in a short time, Formula 3 and Formula 4 may be used. In some cases, the calculation time can be shortened, and can be used appropriately. .

  In the present embodiment, the drum motor 60 is configured to rotationally drive the drum 51 via the pulleys 62 and 64 and the belt 63, and there is a constant mechanical reduction (1/10). Therefore, the torque required for the drum motor 60 can be reduced, which is advantageous for downsizing and cost reduction of the apparatus.

  However, the pulleys 62 and 64 and the belt 63 are not necessarily used. For example, a gear (gear) is used for deceleration, or the drum 51 and the drum motor 60 are directly connected to each other without mechanical deceleration. In any case, the rotation angle of the drum 51 to be finally driven is focused on, and the drum rotation angle is particularly 90 degrees. The discussion is based on the operation of the drum motor at this point.

  Further, in the present embodiment, what is expressed as “phase of permanent magnets 55, 56, 57, 58” is an expression from the geometrical surface, and there is a pole at the mounting position (mechanical angle) of each permanent magnet. It shows a numerical value obtained by multiplying the logarithm 2 and converted to an electrical angle in the range of 0 to 2π radians.

  As a magnetic expression, it can be said that the phase of the magnetic pole of the rotor 59, the phase of the magnetic flux density distribution, and the like.

  For example, it can also be obtained by attaching a rotary encoder for confirmation and appropriately processing, and the operation by the second operation means 73 is supplied with a current waveform having a constant phase relationship with the phase of the permanent magnet. This can be confirmed.

(Embodiment 2)
FIG. 11 shows a block diagram around the first operating means 110 and the switching means 111 of the drum driving apparatus according to the second embodiment of the present invention.

  In FIG. 11, the first driving means 110 has a timer 80 equivalent to that of the first embodiment, and is input to the time limiter 112, the current setting unit 113, and the angular velocity setting unit 114.

  The current setting unit 113 outputs the switching unit 111 as Iqr1, and the angular velocity setting unit 114 outputs the switching unit 111 as ω1.

An AND circuit 116 is provided for generating the F signal of the switching means 111, and generates an F signal with the logical product of the K signal from the first operating means 110 and the H signal from the second operating means 120. The switching means 111 selects S1 when the F signal is low and selects S2 when the F signal is high, and outputs Iqr, Idr, and ω signals.

FIG. 12 is an operation waveform diagram of the first operating means 110 of the drum driving device of the present embodiment.
In FIG. 12, (A) shows the K signal waveform, (A) shows the Iqr waveform, and (C) shows the ω1 waveform.

  The K signal becomes low until the time of 0.3 seconds from the start, and thereby the F signal is forced to become low, so that the operation from the first operating means 110 to S1 is limited.

  The Iqr1 signal increases linearly in 0.3 seconds from start-up to 4.5A, maintains a constant value until t = 0.6 seconds, and then decreases linearly to 0A until t = 1 second. To do.

  The ω1 signal keeps a constant value after linearly increasing to 42 rad / s until t = 0.6 seconds.

  FIG. 13 shows a detailed block diagram of the second operating means 120 of the present embodiment.

  In FIG. 13, the speed error amplifying means 122 is a speed setting means 89 that outputs the set value ωr of the angular speed of the drum motor 60 and the difference of ω obtained from the switching means 111, that is, PI (proportional and integral) from the speed error. Add elements by acting on them, and output Iqra. Further, when Iqra becomes 5A or more, a limiter 123 that limits the upper limit value of 5A is provided, and the output of the limiter 123 becomes Iqr2, and the torque is adjusted to control the speed.

  In this embodiment, the output Iqr2 of the limiter 123 is also output to the speed error amplifying means 122, and the speed error amplifying means 122 compares the internal integral by comparing with Iqra. Adjustments are made so that the value of the vessel does not become excessive.

  The d-axis voltage error estimator 125 receives Id, Iq, Vd, and ω from the motor current control unit 75, and the induced electromotive force constant of the drum motor 60, the d-axis and q-axis inductance, the resistance value, and the like. The error Δε of the d-axis voltage is calculated by calculating the voltage equation using these parameters.

  In the present embodiment, Δε = − (Vd− (Ra + pLd) · Id + ω · Lq · Iq) is calculated, the control axis is delayed when Δε> 0, and the control axis is advanced when Δε <0.

  The convergence means 127 includes a speed estimation means 128 and an integrator 129. The speed estimation means 128 uses the permanent magnets 55, 56, PI, using PI (proportional / integration) so that Δε converges to zero. The angular velocity ω2 of 57 and 58 is calculated. Further, ω2 is output as the estimated phase θ by calculating the time integration in the integrator 129.

  During the period when F is low, the speed estimation means 128 always updates the integral element so that ω2 becomes ω.

  When the F signal is high, the d-axis voltage error estimator 125 and the converging means 127 cause the drum motor 60 to operate without a position sensor, while the F signal is low. The integrator 129 operates in the form of calculating ω by integrating ω, that is, ω1.

  The comparator 130 compares the threshold value ε1 (= 3V) with Δε, and outputs high as the H signal when the former is large and low as the H signal when the latter is large.

  The d-axis voltage error estimator 125 is not limited to the above equation for calculating Δε. For example, the d-axis voltage error estimator 125 may be one that does not include a differential term with p added. Since Ld is not necessary and the calculation is simplified, it is possible to use an inexpensive microcomputer with a low processing speed.

  Regarding the present embodiment, components other than those described above are configured using the same components as those in the first embodiment.

  With the above configuration, the operation in this embodiment will be described.

  FIG. 14 is an operation waveform diagram from when the drum 51 of the drum driving apparatus according to the second embodiment of the present invention starts up until the rotation angle of the drum 51 reaches 90 degrees for the first time.

  (A) is Δε, (A) is the logic of each signal of F, H, and K, (C) is the electrical angular velocity ω of the drum motor 60, (D) is the rotation angle of the drum 51, and (E) is the drum 51. A diagram of angular acceleration is shown.

  Regarding the time t from the start-up, in a period of t <0.3 seconds, the low speed condition of ω <ωa is satisfied, Δε of the d-axis voltage error estimator 125 is small as an absolute value, and is used for estimating the advance / delay of the coordinate axis. In this embodiment, by setting the K signal to low, the F signal is set to low regardless of the H signal, and the first operating means 110 is operated and started.

  When ω> ωa, the determination by Δε is effective, and the current set by Iqr1 flows in a delayed phase with respect to the true q axis, and is compared with εref. The controller 130 determines that H becomes low, and in this state, the acceleration of the drum 51 by the first operating means 110 proceeds.

  At t = 0.45 seconds, when the rotation angle of the drum 51 reaches 32 degrees from the start-up, the current phase of the drum motor 60 is increased due to an increase in torque required to raise the gravity mg applied to the laundry 109. Gradually approaches the true q-axis and Δε <εref.

  Then, the signal H becomes high, the signal F also becomes high, the switching operation by the switching means 111 is performed, and the switching is performed from S1 to S2.

  Note that this timing changes depending on the amount of the laundry 109 and the like, and when the necessary torque is small, the switching timing is delayed. In this embodiment, Iqr1 shown in FIG. , T = 1 second, so that Δε decreases to a negative value within 1 second after the start of operation in the first operating means 110, and S2 of the switching means 111 until then. Switching to is completed.

  The speed error amplifying means 122 of the second operating means 120 corresponds only to the output of Iqr1 used in the first operating means 110 as the initial value of the integrator provided inside when F becomes high. However, by setting εref appropriately, true Iq can be set to a value close to Iqr1 at the time of switching, and immediately after switching to the control by the second driving means 120. The overshoot of the speed of the drum 51 can be eliminated without causing a problem.

  In the present embodiment, at t = 0.8 seconds, the rotation angle of the drum 51 reaches 90 degrees for the first time after activation, but the Iqr value is as shown in FIG. The operation is performed in a state where the generated torque stays below the value for supplying the torque by mg in the drum 51 shown below.

  Here, the energy of the rotational motion of the drum 51 including the laundry 109 begins to be used to give potential energy to the laundry 109, so that ω decreases with time, in other words, the angular acceleration of the drum becomes negative. This is indicated by A90 (<0) in FIG.

  In ordinary laundry 109, when the angle exceeds 90 degrees, the moment of mg is reduced due to the sudden collapse in the drum 51, so the period of decrease in the rotational angular velocity of the drum 51 ends in a short time. Will not interfere with driving.

  As described above, the drum driving device according to the present embodiment performs an operation in which the angular acceleration of the drum 51 is negative at the time when the rotation angle of the drum 51 from the start becomes 90 degrees for the first time. Operation can be performed while effectively reducing the torque generated by the drum motor 60 under the condition that the maximum torque is required by effectively using the rotational kinetic energy.

(Embodiment 3)
FIG. 15 shows a specific block diagram of a portion centering on the first operating means 135 and the switching means 137 of the drum driving device in the present embodiment.

  In FIG. 15, the first driving means 135 is input to the timer 80 equivalent to the first embodiment, the time limiter 138 that generates the F signal, the current setting unit 139, and the angular velocity setting unit 140.

  Current setter 139 outputs Iqr1 to switching means 137, and output from angular velocity setter 140 to switching means 137 as ω1, and performs time integration with ω integrator 86 similar to the first embodiment to output θ1. To do.

  The switching means 137 selects S1 when the F signal is low, and selects S2 when the F signal is high, and outputs Iqr, Idr, θ, and ω signals.

  In the present embodiment, S2 includes output signals Iqr2, Idr2, θ2, and ω2 from the second operating means 142.

  FIG. 16 shows a specific block diagram of the second operating means 142 of the drum driving device in the present embodiment.

  In FIG. 16, the speed setting means 89 has the same configuration as that of the first embodiment. However, in this embodiment, the difference between the outputs ωr and ω of the speed setting means 89 is expressed as PI (proportional and integral) elements. In addition to the speed error amplifying means 143 that outputs Iar, which is the set value of the absolute value of the current vector, by acting, adds a current distributor 144 that receives Iar and the set value βr, and βr is The angle of the advance phase of the current vector with respect to the q axis when driven by the second operating means 142 is set, and in this embodiment, it is set to 20 degrees.

The current distributor 144 is for the input signals Iar and βr.
A value calculated by a calculation formula of Iqr2 = Iar · cos βr and Idr2 = −Iar · sin βr is output.

  The phase error estimator 91 and the convergence means 92 have a speed estimation means 93 and an integrator 94, which use the same configuration as in the first embodiment.

  The output Irefa of the cosine ratio amplifier 146 outputs Irefa = Iqr * (cosΔθ) / (cosβr) amplified by the ratio of each cosine of Δθ and βr with respect to Iqr. During the low period, the value of the internal integrator is constantly updated so that the output value Iar becomes equal to the Irefa value.

  With the above configuration, the operation of the drum driving device of the present embodiment will be described.

  FIG. 17 is an operation waveform diagram from the activation of the drum driving device to the switching operation by the switching unit 137 in the present embodiment, and FIG. 18 shows the state of rotation of the drum 51 including the laundry 109.

  Waveforms in the present embodiment are shown in FIGS. 17A to 17C, and the rotation angle of the drum 51 is shown in FIG.

  In the present embodiment, regarding the rotation from the start-up (t = 0), as shown in (c), the angular velocity ω of the drum 51 is negative and the rotation is in the negative direction.

  At time t = 0.7 seconds, ω = 0 is returned, and at this time point, as shown in (D), the drum 51 is stopped by rotating 30 degrees to the negative side, and the state shown in FIG. Thus, the period up to here is the preliminary drive.

  Thereafter, the rotation reverse to the preliminary drive period, that is, ω becomes positive, the rotation direction becomes positive (the same direction as in the first embodiment), and the drum 51 starts at t = 1.2 seconds. The position reaches the previous position and continues to rotate forward, and the state shown in FIG.

  Further, at time t = 1.5 seconds, the F signal changes from low to high, and the switching means 137 switches from S1 to S2, and the operation by the second operating means 142 is performed. The rotation angle is in the state shown in FIG. 18C, which is rotated 25 degrees in the positive direction.

  Thereafter, a steady operation by the second operating means 142, that is, an operation of rotating the drum 51 of 360 degrees or more is entered.

  In the present embodiment, by using the preliminary drive, the laundry 109 can once be in a state having potential energy as shown in FIG. Along with the supply of energy, a large angular velocity in FIG. 18 (a) can be easily obtained.

  This makes it possible to switch to the second driving means 142 in a state sufficiently exceeding the lower limit value of ω required for stable operation of the second driving means 142, and the operation of the second driving means 142 is It can be very stable.

  Further, since the rotational kinetic energy of the drum 51 is sufficiently large, the drum 51 has a rotation angle of 90 degrees as shown in FIG. The supply torque from the motor 60 can be reduced, the insufficient torque can be supplied from kinetic energy, and the supply current to the drum motor 60 can be minimized.

  FIG. 19 shows a vector diagram when the switching means 137 is switched in the present embodiment.

  In FIG. 19, the set value Iqr1 is 6A. However, since the first operating means 135 has θ delayed as described in the first embodiment, the true q-axis current component has a cosine of substantially Δθ. A small value multiplied by, and after switching, Idr2 that satisfies Iqr2 and βr is set by the operation of the cosine ratio amplifier 146 and the current distributor 144 so that the true q-axis current immediately before switching is maintained. Will be.

  As described above, when the output Iar of the speed error amplifying unit 143 is once calculated and then separated into the d-axis component Idr2 and the q-axis component Iqr2 by βr, a configuration in which Idr2 is set to 0 or a constant value is set. Compared to a configuration that is set independently, there is an effect that the stability of operation without a sensor is improved. In particular, permanent magnets 55, 56, 57, and 58 are embedded in a rotor 59, and the characteristics of Lq> Ld are obtained. With respect to the drum motor 60, an excellent characteristic that it is difficult for out-of-step (out-of-synchronization) to occur by setting appropriate βr> 0.

  Further, the second operating means 142 is operated in a state in which the phase of the current is advanced with respect to the induced electromotive force E caused by the magnetic flux of the permanent magnets 55, 56, 57, and 58 by setting βr, so that the reluctance torque is increased. There is also an effect that can be effectively acted on, and the current can be reduced accordingly.

  In addition, regarding the two current vectors before and after switching, the true q-axis current component is both equal to 3A, the torque difference is small, and there is an effect of reducing the speed overshoot. As a configuration for minimizing the change in torque at this point, the Iqr2 value after switching may be slightly lower than that of the present embodiment. For example, although the calculation is somewhat complicated, a hyperbolic equal torque curve passing through Iqr1 Assuming that the point is on the upper side, it is possible to satisfy the desired βr while eliminating the torque change before and after the switching.

  Regarding the βr value, after the switching by the switching unit 137 is finished, for example, an ω function may be used, and by setting an optimal current phase with respect to the speed, stable sensorless operation is ensured and efficiency is improved. Will be able to.

  In this embodiment, the pre-driving drum rotation angle is set to 30 degrees. However, the pre-driving rotation angle may be larger. The maximum pre-driving is the maximum potential energy when the laundry 109 is not collapsed. The effect can be obtained in the range up to the position of 180 degrees shown in FIG.

  In this case, switching to the second operating means 142 may be performed once in order to suppress the current value to the drum motor 60 during the preliminary drive period.

  In addition, as in the present embodiment, after one preliminary drive, steady rotation (main operation that continues for 360 degrees or more) may be entered, but preliminary drive may be repeated, for example, gradually after startup. Alternatively, the left and right rotations may be alternately provided so that the rotation angle of the drum 51 is enlarged, and then the main rotation may be started.

  As described above, in the present embodiment, after the preliminary driving in which the rotation angle of the drum 51 is within 180 degrees is performed at least once, the drum rotation is 360 degrees or more in the rotation direction opposite to the preliminary driving. By driving, the current value supplied from the inverter circuit 71 to the drum motor 60 can be effectively suppressed.

  In each embodiment, the rotation axis of the drum has an angle of 90 degrees with respect to the vertical, that is, shows a drum drive device in which the rotation axis is horizontal. However, the drum moment caused by the earth's gravity, that is, the torque is generated in proportion to the sine of the angle of the rotation axis of the drum with respect to the vertical, and therefore has an angle of about 10 degrees with respect to the vertical. Even when a washing machine such as a vertical type is configured, the tendency to require torque due to the action of gravity is sufficiently generated, and the effect of the present invention can be expected.

  As described above, the drum driving apparatus according to the present invention generates a current that needs to be supplied from the inverter circuit to the drum motor in a state where the rotation angle of the drum that requires a large torque is approximately 90 degrees after the start. Since it can be effectively reduced, a vertical drum driving device having a drum rotation shaft having an angle with respect to the vertical used in general households, a drum type drum driving device, a drum type washing and drying machine, Further, it may be a shape called a vertical washing machine and may be improved in usability by using a rotary shaft having an angle from the vertical.

  Furthermore, it can also be applied to applications such as a rotary cooker that handles food, a rotating drum that treats waste, and a concrete mixer that stirs concrete powder and earth and sand.

51 Drum 55, 56, 57, 58 Permanent magnet 59 Rotor 60 Drum motor 71 Inverter circuit 72, 110, 135 First operating means 73, 120, 142 Second operating means 74, 111, 137 Switching means 93, 128 Speed estimation means 89 Speed setting means 90, 122, 143 Speed error amplification means

Claims (7)

A drum having a rotation axis having an angle with respect to the vertical;
A drum motor having a permanent magnet in the rotor and driving the drum;
An inverter circuit for supplying current to the drum motor;
The inverter circuit has first operating means, second operating means, and switching means,
The first operating means generates a signal independent of the phase of the permanent magnet,
The second operating means generates a signal corresponding to the phase of the permanent magnet,
The switching means starts the drum motor with a signal from the first operating means, and from the second operating means before the time when the rotation angle of the drum from the start is 90 degrees for the first time. A drum drive that switches to a signal. The drum driving device according to claim 1, wherein the permanent magnet is embedded in the rotor. The current supplied to the drum motor by the inverter circuit at the time when the rotation angle of the drum from start-up is initially 90 degrees is a leading phase with respect to the induced electromotive force due to the magnetic flux of the permanent magnet. The drum driving device according to 1 or 2. The second operating means receives a signal of an input voltage and an input current of the drum motor, and a phase at which a current value with respect to a torque is substantially minimum when the rotation angle of the drum from the start becomes 90 degrees first The drum drive device according to claim 1, wherein the current is supplied to the drum motor for driving. The second operating means includes speed estimating means for estimating the speed of the permanent magnet, speed setting means, and speed error amplifying means, and the output current vector of the inverter circuit is parallel to the magnetic flux of the permanent magnet. The first current component and the second current component that are substantially orthogonal to the first current component are controlled separately, and the ratio between the first current component and the second current component is substantially constant, The drum driving device according to any one of claims 1 to 4, wherein an absolute value of the current vector is changed according to an output of the speed error amplifying unit. The drum according to any one of claims 1 to 5, wherein the inverter circuit is operated so that the angular acceleration of the drum at the time when the rotation angle of the drum from the start becomes 90 degrees first becomes negative. Drive device. The inverter circuit performs a drive of a drum rotation of 360 degrees or more in a rotation direction opposite to the preliminary drive after performing a preliminary drive with a rotation angle within 180 degrees from the start-up. The drum drive device of any one of 1-6.