JP6361018B2 - Inverter device and washing machine equipped with the same - Google Patents

Description

  The present invention relates to an inverter device that operates a brake that absorbs kinetic energy of a load by an electric motor, and a washing machine including the inverter device.

Conventionally, this type of device detects the rotation of the motor by means of the rotor position detection means of the motor, and also detects the rotation of the motor by means of the motor rotation detection means or the counter electromotive force detection means. When the rotation of the motor is detected by the power detection means, short circuit braking is performed. (For example, refer to Patent Document 1).
Further, when the output signal of the position detection means using the Hall IC falls within a predetermined range, a two-line short circuit period or a three-line short circuit period is started, and the process proceeds to a short circuit brake while preventing a transient overcurrent. (For example, refer to Patent Document 2).

  In addition, there is also provided a stop determination means for determining the motor rotation stop when the winding of the motor is short-circuited for three phases or more and the winding current detected by the current detection means in that state coincides with three or more phases. Yes (see, for example, Patent Document 3).

FIG. 17 shows a conventional washing machine described in Patent Document 1. In FIG.
As shown in FIG. 17, the rotor position detection means 5, 6, 7, and the motor 4, which are constituted by an AC power source 1, a rectifier circuit 2, an inverter circuit 3, a motor 4, a Hall IC, etc. The back electromotive force detecting means 8 for detecting the back electromotive force of the rotor, the rotor position detecting means 5, 6, 7 or the back electromotive force detecting means 8 is used as a motor rotation detecting means for detecting rotation, and the control means 10 is When the motor rotation detecting means detects that the motor is rotating other than when the motor 4 is driven, all the lower arm transistors of the inverter circuit 3 are turned on through the inverter driving circuit 11, and the motor 4 performs short-circuit braking. The stop of the motor 4 is determined from the output of the motor rotation detection means by both the rotor position detection means 5, 6, 7 and the back electromotive force detection means 8.

  FIG. 18 shows a block diagram of a conventional electric machine control device described in Patent Document 2. As shown in FIG.

  As shown in FIG. 18, the full-wave rectifier circuit 22 connected to the 220V AC power supply 21, the inverter circuit 23 receiving the 280V DC voltage Vdc from the rectifier circuit 22, and the DC voltage input to the inverter circuit 23 are stabilized. For example, an electric machine 25 that receives an alternating current output from the inverter circuit 23, and the like.

The electric machine 25 includes a rotor 28 having permanent magnets 26 and 27 as constituent elements thereof.
It has a stator 33 composed of three-phase windings 30, 31, and 32 of U, V, and W, and is further provided with a position detection means 34 using a Hall IC.

  The position detection means 34 detects an electrical angle θ corresponding to the phase of the magnetic flux of the permanent magnets 26, 27 interlinked with the windings 30, 31, 32.

The inverter circuit 23 is provided with six stone switching elements 41, 42, 43, 44, 45, 46 and a vector control means 50 using IGBT, and further, a first short-circuit control means 51 and a second short-circuit control means. 52, the braking signal generating means 53 is provided, and in the present embodiment, the short circuit 54 is configured using the inverter circuit 23 as it is.

  The first short-circuit control means 51 includes a first short-circuit signal generating means 60, AND circuits 61 and 62, OR circuits 63 and 64, and a NOT circuit 65. A phase signal θ from the detection means 34 is input, and a first short-circuit signal S1 that is high during normal power running and low during a two-wire short-circuit period and a three-wire short-circuit period during braking is output.

  The second short-circuit control means 52 includes second short-circuit signal generating means 70, AND circuits 61 and 62, OR circuits 63 and 64, and NOT circuit 65. The first short-circuit signal generating means 60 is A phase signal θ from the detection means 34 is input, and a second short-circuit signal S2 that is high during normal power running and low during a three-wire short-circuit period during braking is output.

  The short circuit 54 has a three-wire short-circuit period in which the three terminals are short-circuited after a two-wire short-circuit period in which the two terminals of the three terminals UVW are short-circuited when the electric machine 25 is braked. Suppresses the peak current value.

FIG. 19 shows a circuit diagram of a conventional device described in Patent Document 3. In FIG.
The inverter circuit 74 that supplies a current to the winding of the motor 73 includes switching elements 75 to 80, and on / off is controlled by the control unit 81.

  In order to detect the current flowing through the winding of the motor 73, amplifying / biasing circuits 85 and 86 including shunt resistors 83 and 84 and operational amplifiers are provided, and the output signals are input to the control unit 81, and the U phase and V phase Current value is detected, and the W phase is also calculated from the U phase and V phase currents, and all three phase currents are detected.

  Further, an overcurrent detection signal from the overcurrent detection unit 89 is also input to the control unit 81 via the diodes 87 and 88 at the time of overcurrent.

FIG. 20 shows a flowchart at the time of start-up. From the start start 90 to the short circuit 91, the winding of the motor 73 is short-circuited for all three phases.
In the subsequent rotor stop 92, it is determined whether or not the winding currents detected by the current detection means match three or more phases. If they match, it is determined that the motor 73 has stopped.
After that, the process proceeds to positioning 93, forced commutation 94, and steady operation 95, and shifts from startup to steady operation.

FIG. 21 shows a winding current waveform diagram during short-circuit braking when the motor is rotating.
During rotation, the instantaneous value of the current for two phases of the current of three phases may match, but the value for three phases does not match, and stops when the current values for three phases match It will be judged.

  Although not shown, there is also described a configuration in which a single-phase current detection value is referred to twice or more at intervals shorter than one cycle of the current waveform and is determined to be stopped when they match.

JP 2003-275494 A JP2012-130111A Japanese Patent Laid-Open No. 2005-6453

  However, in the first conventional configuration, a transient current jump may occur considerably depending on the speed of the motor immediately after the start of the short circuit period between the three wires. If used, the peak value of the transient current jump will be higher than in normal driving, ensuring reliability against motor demagnetization, and the current rating of the inverter circuit that supplies current to the motor. In addition, a motor rotation detecting means and, in some cases, a back electromotive force detecting means are required, resulting in high costs.

  Further, in the second conventional configuration, since the position detection means constituted by a Hall IC or the like suppresses a transient peak current during the short-circuit period between the three wires, the position detection means becomes indispensable and sensorless It has a problem that it cannot be configured with a configuration that does not use a position detection means called.

In the third conventional configuration, the purpose of determining the stop is to start stably from the stop state at the time of the next start-up, and is not a safety measure for the user immediately after the power is turned on.
In addition, when a fixed signal voltage such as 0 V or 5 V is input to the control unit due to a failure of the amplification / bias circuit, a condition for determining whether to stop is satisfied, and in this state, the drum cover If it becomes a state where can be opened, unsafety will occur.

  The present invention solves the above-mentioned first to third conventional problems, and has a simple configuration, but is effective for transient overcurrent when entering a short-circuit period between three wires regardless of the speed of the motor. It is an object of the present invention to provide a washing machine that can be used without a sensor and that does not require an operation synchronized with the output signal of the position detection means.

In order to solve the above-described conventional problems, an inverter device of the present invention has a permanent magnet and a three-phase winding, and is supplied with electric power from a motor connected to a load and a DC power source, and has a high potential of three stones. An inverter circuit having a side switching element and three stone low potential side switching elements for supplying an alternating current to the electric motor, and a control means for controlling on / off of at least the low potential side switching element. Short-circuit time ratio expansion speed command means, and the control means short-circuits the input terminals of the three-phase windings by on-off control of the three-phase common on-time ratio of the low potential side switching element of the inverter circuit. After the short circuit time ratio expansion period in which the short circuit time ratio is expanded according to the output value of the short circuit time ratio expansion speed command means, the short circuit time ratio is kept at a maximum and the negative It has a short braking time to absorb the kinetic energy, according to the time from the start of the short time ratio expansion period, thereby changing the expansion rate of the short-circuit time ratio.

Thereby, the electric motor can be appropriately shifted to the short-circuit brake state under various operating conditions.
In addition, even when the motor is rotating immediately after the power is turned on, the load and the motor stop rotating without any overcurrent or overvoltage, and the drum lid can be opened by the user in a safe state at all times. It is possible to realize a highly safe inverter device in which erroneous stop determination is not performed even when the current detection unit is fixed to a constant value regardless of the actual current value due to a failure of the current detection means. It becomes.

  Even with a relatively simple configuration, it is possible to enter a short-circuit brake state while preventing problems and failures such as overcurrent and overvoltage.

  In addition, it is possible to ensure the safety of the user immediately after the power is turned on.

Block diagram of the inverter device of the first embodiment FIG. 3 is a detailed configuration diagram in a central control unit 135 according to the first embodiment. The block diagram in a short circuit brake control means in Embodiment 1. FIG. Graph showing function generator 181 and function generator 182 input / output characteristics of Embodiment 1 Waveform diagram in case of short-circuit braking from relatively low speed operation in the first embodiment Waveform diagram when capacitance of capacitor 143 in the first embodiment is small and a short-circuit brake is performed from a relatively high speed operation Operation waveform diagram before and after stopping in the first embodiment Internal block diagram of short circuit brake control means 190 in the second embodiment The graph which shows the characteristic of the short circuit time ratio expansion speed setting means 192 in Embodiment 2 Internal block diagram of short-circuit brake control means 205 in the third embodiment The graph which shows the characteristic of the short circuit time ratio expansion speed setting means 210 in Embodiment 3 Operation waveform of a portion entering the short-circuit braking period of the third embodiment Internal block diagram of short circuit brake control means 212 in the fourth embodiment The graph which shows the characteristic of the short circuit time ratio expansion speed command means 213 in Embodiment 4. Sectional drawing of the inverter apparatus generally called a drum-type washing machine in Embodiment 5 The flowchart figure immediately after the power supply of the inverter apparatus in Embodiment 5 was turned on. Block diagram of a conventional washing machine described in Patent Document 1 Block diagram of a conventional electromechanical control device described in Patent Document 2 Circuit diagram of a conventional device described in Patent Document 3 Flow chart at the time of starting the conventional apparatus described in Patent Document 3 Current waveform diagram of conventional device described in Patent Document 3

The first invention has a permanent magnet and a three-phase winding, an electric motor connected to a load, and electric power supplied from a DC power source. An inverter circuit having an element for supplying an alternating current to the electric motor, and a control means for controlling on / off of at least the low-potential side switching element, wherein the control means is configured to control the low-potential side switching element of the inverter circuit. A short-circuit braking period that maximizes the short-circuit time ratio after a short-circuit time ratio expansion period that expands a short-circuit time ratio that short-circuits the input terminals of the three-phase windings by on / off control of an on-time ratio common to three phases have a, according to the time from the start of the short time ratio expansion period, by changing the expansion rate of the short time ratio while suppressing the bounce transient current, The state can be shifted to 絡制 dynamic period.
In addition, by adopting a configuration in which the expansion speed of the short circuit time ratio is changed according to the time from the start of the short circuit time ratio expansion period, it is possible to make a transient with respect to a wide range of speeds of the electric motor with a simple configuration. While suppressing the jump of an electric current, the voltage rise of the said DC power supply can also be suppressed to the range which does not have a problem.

  In particular, in addition to the configuration of the first invention, the second invention includes at least a voltage detection means for detecting the voltage of the DC power supply, a current detection means for detecting the AC current, and a speed detection means for detecting the speed of the motor. Any one of the detection means, and the control means is configured to change the expansion speed of the short circuit time ratio in the short circuit time ratio expansion period by the output of at least one of the detection means. According to the output, it is possible to shift to a short-circuit braking period while suppressing an overvoltage due to regeneration to the DC power supply, corresponding to a change in how the current jumps transiently due to a difference in the speed condition of the motor.

Further, the output of the current detection means detects the regenerative current to the DC power source caused by the difference in the speed condition of the electric motor by the change in the output of the current detection means, and the expansion speed of the short-circuit time ratio is Since the jumping can be sufficiently suppressed, a highly reliable inverter device can be realized with a rational configuration.

  Further, the output of the speed detection means can suppress a transient current jump corresponding to a wide speed range of the electric motor, and can also suppress a voltage increase due to a regenerative current to the DC power supply to a minimum. .

According to a third aspect of the invention, in particular, the load of the first or second aspect is a drum for storing clothes, and the short-circuiting time ratio expansion period and the short-circuiting are performed during a deceleration period in which the absolute value of the rotational speed of the drum is reduced. By adopting a structure having a braking period, it corresponds to various conditions such as the speed of the drum and the amount of clothes, as well as conditions such as washing and dehydration, transient current jumps, and excessive voltage of the DC power supply due to regeneration. A washing machine including a highly reliable inverter device that suppresses the rise can be realized.

According to a fourth aspect of the present invention, in particular, the load of any one of the first to third aspects is a drum for storing clothing, a lid for opening and closing the opening of the drum, and a lid locking means for locking the lid, The control means, after the power is turned on, after the short-circuit braking period, allows the user to open the lid in a state in which the user can open the lid, so that the user erroneously puts the hand during drum rotation. Thus, a washing machine equipped with a highly safe inverter device can be realized.

According to the fifth aspect of the invention, in particular, the electric motor according to any one of the first to fourth aspects has a sensorless system that does not have a position detection sensor, so that the electric motor can be appropriately short-circuited and braked under various operating conditions. In addition, a low-cost inverter device and washing machine 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 an inverter device according to the first embodiment of the present invention.

  In FIG. 1, an electric motor 109 having permanent magnets 100 and 101 and three-phase windings 102, 103, and 104 that rotationally drives a load (drum) 106 that houses clothing 105 via a pulley 107 and a belt 108. , 6 switching elements 111, 112, 113, 114, 115, 116, an inverter circuit 117 for supplying AC currents Iu, Iv, Iw to the electric motor 109, and switching elements 111, 112, 113, 114, 115 , 116 has a control means 118 for controlling on / off, and the control means 118 has a current detection means 119 for detecting alternating currents Iu, Iv, Iw. In this embodiment, the current detection means 119 is Shunt resistors 121, 122, 123 for converting the current of each of the three phases into voltage, and switching on the low potential side During the ON period of the child 114, 115, 116 are constituted by A / D converter 124 for performing A / D conversion.

Further, the control unit 118 has a central control unit 135, and performs digital signal generation for signal generation for controlling the inverter circuit 117 and reception of output signals Iua, Iva, and Iwa signals from the current detection unit 119. ing.

  The PWM circuit 136 receives the Duty signal from the central control unit 135 and outputs a signal B obtained by performing pulse width modulation (PWM) with a triangular wave having a period of 64 microseconds on the Duty signal. 135 signals S1 to S6 give the gate signals of the switching elements 111, 112, 113, 114, 115, 116 via the switching means 137 and the drive circuit 138 provided between the inverter circuit 117 and the inverter circuit 117. However, when the K signal of the central control unit 135 is high, the switching unit 137 is in the state shown in FIG. 1 and S1 to S6 are adopted, whereas the K signal is low. If it is, each switch in the switching means 137 is connected to the lower side.

  The inverter circuit 117 is supplied with a DC voltage VDC from a DC power supply 144 constituted by an AC power supply 141 of AC 230 V 50 Hz, a full-wave rectifier 142 and a capacitor 143, and an output of a DC voltage detection circuit 148 constituted by resistors 146 and 147. A is input to the central control unit 135 as an analog voltage signal, and is also processed as a digital value subjected to A / D conversion inside the central control unit 135.

  FIG. 2 is a block diagram showing a detailed configuration in the central control unit 135 of the inverter device according to the first embodiment of the present invention.

  As an actual part for realizing the central control unit 135, a one-chip type microcomputer or the like is used. However, one microcomputer including the part outside the central control unit 135 in FIG. May be realized by processing the software, or conversely, the configuration in the central control unit 135 may be realized by hardware, or may be realized as a single chip or a multi-chip part, or a DSP. It is also possible to use various processors called as components.

  In FIG. 2, using the signals Iua, Iva, Iwa corresponding to the three-phase currents Iu, Iv, Iw and the estimated phase θ signal, conversion to Id and Iq using Formula 1, that is, from stationary coordinates to rotating coordinates. The first coordinate conversion means 150 that performs conversion and outputs, the subtraction means 151 that calculates the error between the set values Idr and Id, the subtraction means 152 that calculates the error between the set values Iqr and Iq, and the outputs of the subtraction means 151 and 152 On the other hand, error amplifying means 153 and 154 for applying a gain of PI (proportional and integral) are provided, and their outputs Vd1 and Vq1 are obtained from the dq coordinates together with the θ signal which is the output of the integrator 155, using Equation 2. The second coordinate conversion means 158 for converting the voltage command values Vu, Vv, Vw into three-phase voltage command values is provided. In the PWM means 159, the ratio of the three-phase voltage command values to the A signal is provided. , By the action of carrier wave of the triangular wave of 64us period, the instantaneous value comparison between the carrier wave, and are denoted by the dead time, and configured to generate a vertical drive signal S1 to S6.

  In the present embodiment, the current detection means 119 is configured to detect all three phases of current, but the current of two or more phases in the three-phase windings 102, 103, 104 of the electric motor 109 is detected. If detected, the remaining one phase can be calculated according to Kirchhoff's law, so only two phases may be detected.

  This embodiment further includes a subtracting means 160 for calculating the difference between the speed setting values ωr and ω, an error amplifying means 161 for applying a gain of PI (proportional, integral) to the output of the subtracting means 160, an estimated speed. An Idr setting means 162 for determining Idr from ω, a short-circuit brake control means 163, an abnormality detection means 165, a set speed ωr at the time of driving the electric motor 109, and a sequence generation means 167 are provided.

  The abnormality detection unit 165 outputs a B99RQ signal when there is some abnormality in the inverter device, for example, overcurrent or overvoltage of each part, or excessive vibration. The sequence generation unit 167 includes washing, dehydration, etc. When the electric motor 109 is stopped in the brake state at the time of the break of the operation as the electric washing machine, the brake request signal B4RQ is generated.

  In this embodiment, when B99RQ is received and when B4RQ is received, the same short-circuit braking state is entered. In either case, the input of motor 109 is gradually short-circuited, that is, 3 The low potential side switching elements 114, 115, 116 in the inverter circuit 117 are gate-controlled with a common duty of three stones so that the voltage between the phase input terminals becomes substantially zero, and the high potential side switching is performed. The elements 111, 112, and 113 are kept off.

  The short-circuit current determination unit 170 sets the Cs signal to high when all the absolute values of the instantaneous values of the current signals Iua, Iva, and Iwa for three phases in the short-circuit state are less than 0.6A. .

  The Idr setting means 162 outputs 0 A as Idr when the ω value is 400 r / min or less in terms of the speed of the load (drum) 106, and when it exceeds 400 r / min in terms of the speed of the load (drum) As Idr <0A, the absolute value is gradually increased as ω increases, so that Idr = −5A at 1200 r / min in terms of load (drum) speed conversion. Weak field control is required.

  The speed estimation means 156 stores parameters (resistance value, maximum inductance, minimum inductance) of the electric motor 109, and estimates the speed of the electric motor 109 using the voltage equation of the electric motor 109 without a speed sensor. The outputs Id and Iq of the first coordinate conversion means 150 and the inputs Vd and Vq of the second coordinate conversion means 158 are received, and the estimated speed ω and ω2 serving as the integrator 155 input are output.

  Inside the speed estimation means 156, ε corresponding to the phase error is calculated from the voltage value and current value of the electric motor 109, and error amplification having an integral or proportional integral element is performed so that it converges to zero. A feedback system is configured.

  FIG. 3 is a block diagram in the short-circuit brake control means 163 in the present embodiment.

In FIG. 3, the short-circuit brake control means 163 is provided with an OR circuit 174 for obtaining the logical sum of the B4RQ signal and the B99RQ signal, a comparator 175 for receiving the A signal, a voltage increase generation means 176, an adder 177, and a holder 178. A value obtained by adding a voltage increase equivalent to 50 V to the VDC value at the time when B4RQ or B99RQ becomes high is supplied from the holder 178 to the negative input of the comparator 175 as a threshold value.

  The short circuit time ratio expansion speed command means 180 includes a function generator 181, a function generator 182, a switching means 183, and a holder 185, and a short circuit time ratio expansion speed signal to be output is input to the integrator 186. The delay means 187 connected to the output BRQ of the OR circuit 174 emits a signal with a delay time of delay time Td1 = 5 ms, and becomes an INTEG signal to the integrator 186.

  In the integrator 186, when the INTEG is low, the integral value Duty is zero, which is an initial value. The time integration operation starts when the INTEG signal rises to high, whereby the Duty signal is output. It is supposed to be.

  In particular, in the present embodiment, the function generators 181 and 182 function by using the Duty signal that is the output of the integrator 186 as an input of the short circuit time ratio expansion speed command means 180, so that the time from the start of integration. However, the speed of expansion of the short circuit time ratio can be changed in accordance with the time from the start of the short circuit time ratio expansion period.

  The condition that the output of the comparator 175 becomes high is that the threshold value is exceeded due to the rise of the signal A. When the VDC rises by 50 V or more, the holder 185 holds the Duty value and the function generator 182 Since the input is fixed and the switching means 183 is switched from a to b, thereafter, a constant output value from the function generator 182 becomes the short circuit time ratio expansion speed.

  Therefore, the duty in that case rises at a constant speed with time.

  Here, the integrator 186 has a built-in function for limiting the duty value by an upper limiter that is limited at 100%. By this limiting operation, the duty is finally set at 100%, which is the upper limit value. At this stage, the PWM shifts from the PWM state to the beta-on state.

  When the duty becomes 100%, the voltage drop of the IGBT and the diode in the low potential side switching elements 114, 115, 116 and the voltage drop due to the wiring from the inverter circuit 117 to the motor 109 are For example, about 2 to 3 V remains as the input voltage, but such a voltage is in the range of substantially zero.

  FIG. 4 is a graph showing input / output characteristics of the function generator 181 and the function generator 182 of the present embodiment, with the horizontal axis representing the input and the vertical axis representing the output, and A (solid line) represents the function. The generator 181 and B (broken line) indicate that of the function generator 182.

  The input of the function generator 181 on the horizontal axis is connected to the Duty signal as it is, while the function generator 182 is connected to the input terminal with a holder 185 in the middle. In the range where D is lower and Duty <90%, B is located above A, and the same value is obtained when Duty> = 90%.

  The output value on the vertical axis is a value having the meaning of the short-circuiting time ratio expansion rate dDuty / dt because it will be input to the integrator 186 later.

  In particular, in the present embodiment, in the expansion period of the short-circuit time ratio Duty, a function of the increasing speed dDuty / dt with respect to the Duty is provided instead of counting the time from the start.

  As a result, the number of variables used for the calculation can be reduced, and there is an effect that it can be used even with an inexpensive and small microcomputer.

  However, it is not particularly necessary to use such a configuration, and it is also possible to use one that counts the time from the start and outputs as a function of that time.

  If sufficient characteristics can be obtained, a straight line or a stepped value may be used instead of the curve shown in FIG. 4 to reduce the calculation burden on the microcomputer. It is also possible.

    FIG. 5 is a waveform diagram when the inverter device according to the first embodiment of the present invention becomes a short-circuit brake by B99RQ from a relatively low speed operation, where (A) is a B99RQ signal, (A) is a K signal, (C) is a duty signal.

  From the power running period, the internal signal BRQ of the central control unit 135 becomes high at time t1 and at the same time the K signal changes from high to low, but since the duty value is zero at this time, the switching elements 111, 112, 113, 114 , 115 and 116 are all off and have an all-off period of 5 ms due to the action of the delay means 187.

  During the all-off period, when the electric motor 109 is at a low speed, the current is almost zero.

  The on-time ratio (Duty) of the low potential side switching elements 114, 115, and 116 shown in (c) is the short-circuit time ratio, and following the all-off period, the short-circuit time ratio increases from T2 to T5 in which the duty increases. On the other hand, the high-potential side switching elements 111, 112, and 113 are kept off by the action of the switching unit 137.

  Regarding the time change of the short-circuiting time ratio Duty, in this embodiment, since it has a smooth curve characteristic as shown in FIG. 4A, as shown by the solid line curve in FIG. The temporal gradient (short circuit time ratio expansion rate) continuously decreases with time.

A broken line is an example when the characteristic of the function generator 181 is stepped, and is a broken line passing through (T3, D3) and (T4, D4).
In any case, the expansion rate of the short circuit time ratio (Duty) decreases with time, and decreases as the short circuit time ratio approaches 100%.
From the viewpoint of the input voltage of the electric motor 109, the induced electromotive force generated by the rotation repeats positive / negative as an instantaneous value, but it is forced to be zero during the short circuit time, and the absolute value is suppressed. Become.

  Therefore, in the present embodiment, the short-circuiting time ratio expansion period from T2 to T5 is a voltage reduction period in which the switching elements 114, 115, and 116 are controlled so that the absolute value of the voltage decreases as the short-circuiting time increases.

  At T5, when the duty reaches 100%, the electric motor 109 is in a solid-on state by the control means 118 by the on / off control of the low potential side switching elements 114, 115, 116 in the inverter circuit 117.

Therefore, after the short-circuiting time ratio (duty) for expanding the short-circuiting time ratio (Duty) for short-circuiting the input terminals UVW of the three-phase windings, the short-circuiting time ratio (Duty) is kept at the maximum, that is, 100% and absorbs the kinetic energy of the load It has a short-circuit braking period.

  In this way, by gradually increasing the duty, which is the short-circuit time ratio, it is possible to prevent a transient current jump in the process of moving to the short-circuit braking period, and to prevent overcurrent. The breakdown of each component and the overcurrent failure of the electric motor 109 can be prevented.

  In a configuration in which a speed reduction mechanism using a belt or the like is provided, the motor 109 can be reduced in size and cost compared to a configuration in which the motor is directly connected to a load called direct drive, but the inductance is small. Therefore, the transient current jump increases and the maximum current during the operation of the inverter device may be exceeded. Therefore, the necessity of suppressing the current jump increases.

  In particular, in the present embodiment, since the expansion speed of the short circuit time ratio is gradually reduced, even if the speed condition of the electric motor 109 at the time of entering the short circuit braking period is varied over a wide range, Design of an enlargement speed of Duty near T2 to T3 under high speed conditions, and an enlargement speed of Duty near T4 to T5 under low speed conditions It becomes possible to cope with.

  In terms of voltage, during the period from T2 to T5, part of the kinetic energy of the electric motor 109 and the load (drum) 106 is regenerated to the DC power supply 144, and the capacitor 143 is charged. The VDC voltage of the DC power supply 144 increases, but when the capacitance of the capacitor 143 is large, the increase in the VDC voltage from the time T1 does not exceed 50 V, and the signal A is output from the comparator 175. Since the output HV is not high, the maximum value of the VDC voltage is within a range that does not cause a problem in terms of the breakdown voltage of each component. Will not occur.

  At that time, particularly from the aspect of suppressing overvoltage due to regeneration to the DC power supply 144 at high speed, the short-circuit time ratio (Duty) expansion speed at T3 to T5, which is the latter half of the short-circuit time ratio expansion period, is set at medium to low speed conditions. By designing it so as to increase the transient current jump in an allowable range, it can be minimized.

  In that case, the output HV of the comparator 175 does not become high, and the operation shown in FIG. 5 is performed at the time of short circuit braking under any speed condition, and the switching means 183 is always connected only to the a terminal. Therefore, the switching unit 183, the function generator 182, the holder 185, the comparator 175, the voltage increase generation unit 176, the adder 177, and the holder 178 are not necessary and can be omitted from the constituent elements.

  FIG. 6 is a waveform diagram in the case where the capacitance of the capacitor 143 is small in this embodiment, and a short circuit brake is caused by B99RQ from a relatively high speed operation, and the increase in VDC is large. B99RQ signal, (A) is the Duty signal, (C) is the output voltage VDC of the DC power supply 144, and (D) is the output HV signal of the comparator 175.

  At t0, R99RQ becomes high, and in the 5 ms all-off period until t1, when the speed of the motor 109 is high, VDC starts to increase due to regeneration to the DC power supply 144 by induced electromotive force, and after t1, the duty increases. As a result, the increase in VDC further proceeds.

  The value obtained by adding the voltage increase generation means 176 by the adder 177 to the VDC0 at the time t0 is held in the holder 178, and at the stage t2 when the VDC reaches VDC0 + 50V by charging the capacitor 143, The output HV of the comparator 175 changes to high, and the high voltage region is recognized.

  At t2, the state corresponding to the duty value 83% at that time is output from the function generator 182 by the action of the holder 185, and the contact b of the switching means 183 is connected and input to the integrator 186. Therefore, since it functions as the short circuit time ratio enlargement rate dDuty / dt and is held by the holder 185, the duty is increased at a constant short circuit time ratio enlargement rate until the duty reaches 100% at t3. Increases linearly.

  Here, since the function generator 182 has a larger output with respect to the input duty value than the function generator 181, the function generator 181 indicated by the broken line continues to function (at t4, Duty = 100%). Reach 100% at time t3, which is earlier than (reach).

  With this operation, in the present embodiment, when the capacitance of the capacitor 143 is small and the speed of the electric motor 109 is large, the time until the Duty value reaches 100%. As the VDC peak shown in (c) falls within about 10 V with respect to Vth, excessive charge on the capacitor 143 due to regeneration can be suppressed. Therefore, it is possible to prevent the occurrence of overvoltage that causes a decrease in reliability.

  Here, regarding the jump due to the transient imbalance between the three phases that can occur for each line current value of the electric motor 109, the occurrence is suppressed at a stage where the duty ratio is about 50% in the short-circuit time ratio expansion period. Therefore, it does not affect the rapid increase in duty at t2 to t3 corresponding to the subsequent period. As a result, the configuration of the present embodiment allows overvoltage at any motor 109 speed. And design that satisfies both aspects of overcurrent becomes possible.

  In the present embodiment, since the HV signal has a configuration in which the output is a threshold obtained by adding 50 V to VDC0, it is possible to easily suppress the occurrence of an overcurrent with respect to a change in the voltage of the AC power supply 141. However, the present invention is not particularly limited to this configuration, and a constant value may always be used as Vth, or an upper limit or a lower limit for Vth may be used. There is no malfunction in the voltage change range of the AC power supply 141, and a design that reliably prevents overcurrent and overvoltage becomes possible.

  Therefore, even if the capacitor 143 has a small capacitance and a low-cost configuration, it is possible to prevent overcurrent of the line current when the electric motor 109 enters the short-circuit braking period under a wide range of speed conditions, and The generation of overvoltage due to the regeneration of 144 can also be suppressed, and speed information is unnecessary. Therefore, a low-cost configuration that does not have a sensor for position detection and a sensor for speed detection in the electric motor 109 that is called sensorless. Correspondence can also be performed.

  Furthermore, even in the case of an inverter device in which the rotation direction of the electric motor 109 is not one direction but is rotated to the right or to the left as in the case of an electric washing machine, the operation shifts to the short-circuit brake (short-circuit brake) period regardless of the phase order. Since control is possible, it becomes effective.

FIG. 7 shows an operation waveform before and after the electric motor 109 and the load (drum) 106 are stopped after the time shown in FIG. 5 and FIG. The figure is shown.

  7, (a) shows the speed of the load (drum), (b) shows the current waveforms of Iu, Iv, and Iw, and (c) shows the Cs output signal of the short-circuit current determination means 170.

  The speed of the motor 109 that has entered the short-circuit braking state gradually decreases, and at the same time, the frequency of the line current decreases approximately in proportion to the speed, the amplitude of the line current also eventually decreases, and the speed becomes zero. Will converge to zero.

  Regarding the time from when the short-circuit brake is entered to when the motor is stopped, the speed of the motor 109, the moment of inertia of the load, the inductance and resistance value of the motor 109, and the switching elements 114, 115, 116 being turned on when the short-circuit brake is entered. Since it depends on the voltage (VCE (SAT)) in the state and is not a fixed time, the current value, which is a physical phenomenon that appears due to a decrease in speed, is used in this embodiment, so that the speed is sufficiently low. It is assumed that the state where the speed has decreased is detected.

Specifically, in the present embodiment, the Cs signal becomes high at the time Tja when all of the absolute values of the instantaneous values of the three line currents Iu, Iv, and Iw are less than 0.6 A, and the load ( Drum) speed is reduced to about 7 r / min.
When the sequence generation means 167 receives the Cs signal that has become high, the sequence generation means 167 proceeds to the next step as an electric washing machine when a delay time of 0.3 seconds has elapsed.

  Since the state of the short-circuit brake is continued for another 0.3 seconds from 7 r / min, it is possible to proceed to the next step with almost no wasted time after the load (drum) is completely stopped. It becomes.

  As described above, at the time of braking the load (drum), a low-cost and simple sensorless method and configuration that does not use a position sensor or speed sensor, but using a short-circuit brake and appropriately determining stoppage from the current during that period It will be something that can be done.

(Embodiment 2)
FIG. 8 is an internal block diagram of the short-circuit brake control means 190 in the second embodiment of the present invention.

  Also in the present embodiment, parts other than the short-circuit brake control means 190 have the same configuration as that of the first embodiment shown in FIG.

  In FIG. 8, the OR circuit 174, the integrator 186, and the delay means 187 are the same as those in the first embodiment, the short circuit time ratio expansion speed setting means 192, and the holders 195 and 196 that receive the A signal corresponding to the VDC. , A subtracter 197, a constant generator 199 that outputs a value corresponding to Duty = 70%, and a comparator 200.

  FIG. 9 is a graph showing the characteristics of the short-circuiting time ratio expansion speed setting means 192. The output (vertical axis) with respect to the horizontal axis Duty is a single straight line descending to the right when Duty <= 70%. When Duty> 70%, the level is switched to four levels according to the ΔA value input from the holder 196.

In the above configuration, as an operation when the short-circuit brake of the inverter device of the present embodiment is entered, the value of A corresponding to VDC at the time when the output of the OR circuit 174 becomes high is held by the holder 195. , After 5 ms all-off time by delay means 187,
When the G signal becomes high and the integrator 186 starts time integration from the initial value zero, the duty value gradually increases from the left end condition in FIG. 9, and the short-circuiting time ratio Duty is a predetermined value of 70%. When the output of the comparator 200 switches from low to high at that time, the difference between the VDC at that time and the holder 195 that is the initial VDC value, that is, the ΔA value corresponding to the VDC increase is held in the holder 196. Then, according to the size, the short-circuiting time ratio expansion speed setting means 192 selects the four-stage characteristics shown in FIG.

  As a result, a characteristic in which ΔA is large at high speed and a characteristic in which ΔA is small at low speed is selected.

  In the case of high speed, there is no possibility of overcurrent even if the short-circuiting time ratio enlargement speed with Duty> 70% is increased, and in order to suppress an excessive increase in VDC due to charging of the capacitor 143 due to regeneration, It is effective to increase the duty to 100%.

  On the other hand, when the speed is low, transient overcurrent occurs when Duty> 70%. Therefore, it is necessary to suppress the short-circuit time ratio enlargement speed when Duty> 70%. There is no problem with excessive rise.

  Therefore, the present embodiment operates reasonably, and can suppress the occurrence of overvoltage and overcurrent when entering the short-circuit braking period under a wide speed range condition with a relatively simple configuration. It will be a thing.

(Embodiment 3)
FIG. 10 is an internal block diagram of the short-circuit brake control means 205 in the third embodiment of the present invention.

  Also in the present embodiment, parts other than the short-circuit brake control means 205 have the same configuration as that of the first embodiment shown in FIG.

  In FIG. 10, only elements different from the first and second embodiments will be described.

  Using the delay means 206 that outputs a signal obtained by delaying the BRQ signal by 3 ms and the outputs Iua, Iva, and Iwa of the current detection means 119, the line current that is output by calculating the maximum value among the three phases of the absolute value of the instantaneous value A detection unit 207, a holder 208 that holds the signal when the BRQ signal becomes high, and a short circuit time ratio expansion rate setting unit 210 are provided.

  FIG. 11 is a graph showing the characteristics of the short-circuiting time ratio expansion speed setting means 210. The output (vertical axis) with respect to the horizontal axis Duty depends on the magnitude of the current in the free run period, which is the output of the holder 208, in several stages. When the output signal of the holder 208 is high, the output is set to be large.

  FIG. 12 shows an operation waveform of a portion entering the short-circuit braking period of the present embodiment. (A) is a short-circuit time ratio Duty, and (A) is a relatively high load (drum) 106 of 300 revolutions per minute. Line currents Iu, Iv, Iw, (c) at low speed are waveforms of line currents Iu, Iv, Iw when the load (drum) is at a relatively high speed of 1000 revolutions per minute.

At t0 to t2, which is a free run period of 5 ms, the induced electromotive force by the permanent magnets 100 and 101 in the electric motor 109 is low at the low speed shown in FIG. On the other hand, since the induced electromotive force by the permanent magnets 100 and 101 in the electric motor 109 is high at the high speed shown in FIG.
A regenerative current to 44 is generated, and there is a clear difference.

  In the present embodiment, at t1 = 3 ms corresponding to the free run period, absolute values are all taken for the detected values Iua, Iva, and Iwa of the three line currents, and the maximum of the three is detected. Is output, the difference between (a) and (c) is recognized, and an expansion speed pattern of the short-circuiting time ratio Duty suitable for each is selected.

  As a result, even if the speed at the time of entering the short circuit braking period becomes a wide range, it becomes an expansion speed of the corresponding short circuit time ratio Duty, so that any problem due to overcurrent and overvoltage does not occur at any speed. It will be something that can be.

  In the present embodiment, a curve is used for the characteristics shown in FIG. 11, but a step function may be used instead of the curve, and switching is performed only by the current value regardless of the duty. Also good.

  In the present embodiment, the short-circuit time ratio expansion rate is changed according to the magnitude of the line current at t1 within the free-run period. However, as the timing for detecting the current, particularly during the free-run period. The present invention is not limited, and may be a point in time after the duty increase starts after the free run period ends, or a plurality of timings may be combined.

  As a result, for a wider range of speeds, the optimum short circuit time ratio expansion speed for each speed is obtained, and as a result, the overcurrent and overvoltage can be more effectively suppressed.

  In the present embodiment, the line current detection unit 207 that receives the output of the current detection unit 119 detects the magnitude of the current. However, in addition to the magnitude, a frequency element can also be a detection target. Frequency detection can be used effectively during the free-run period at high speed, and frequency can be detected during the short-circuit time ratio expansion period even at low speed.

  Since the generation of transient overcurrent at low speed occurs at the stage when the duty becomes relatively high, the rate of increase in duty up to about 50% can be set at the same level as high speed and frequency detection is possible. At this stage, by expanding the short-circuit time ratio corresponding to the frequency detection values, it is possible to shift to the short-circuit braking period while suppressing overcurrent and overvoltage.

(Embodiment 4)
FIG. 13 is an internal block diagram of the short-circuit brake control means 212 in the fourth embodiment of the present invention.

  Also in the present embodiment, portions other than the short-circuit brake control means 212 are the same as those in the first embodiment.

  Also in FIG. 13, only the parts different from the first embodiment will be described.

  The short circuit time ratio expansion speed command means 213 receives the speed signal ω from the speed detection means 215 for detecting the speed of the electric motor 109. The speed detection means 215 is provided in the electric motor 109 and is opposed to the permanent magnet 100. , 101 has a Hall IC 217 that outputs high and low according to the polarity of the magnetic pole, and a speed calculator 218 that calculates the speed from the output.

FIG. 14 is a graph showing the characteristics of the short circuit time ratio expansion speed command means 213 according to the present embodiment. The horizontal axis represents the speed signal input from the speed detection means 215, and the vertical axis represents the output short circuit time ratio. The enlargement speed dDuty / dt is taken.

  In this embodiment, regardless of the duty, the higher the speed, the higher the output, so the short-circuiting time ratio increases linearly up to 100% with the passage of time, and the slope is increased. It depends on the speed.

  In the present embodiment, since a holder or the like is not provided at the output of the speed detection means 215, the command value of the short circuit time ratio expansion speed decreases even during the short circuit time ratio expansion period, and braking is performed. Depending on the relationship, the speed change that occurs during the short-circuit time ratio expansion period can be accommodated, and even if the load (drum) 106 has a small moment of inertia, even if the speed decreases rapidly, a transient overcurrent is generated. The effect that it can be prevented may be obtained.

  However, if the short-circuiting time ratio expansion period is as short as about 100 ms, for example, and the speed change that occurs during that period is small, the difference from the case where a holder or the like is provided is small, and any configuration is possible. is there.

  In this embodiment, the speed detection means 215 using the Hall IC 217 is used. However, in the motor drive system generally called sensorless, the Hall IC is not used, and the input of the motor 109 is used instead. The estimation is performed from the voltage and the input current. For example, by using a speed estimation signal immediately before the free-run period, the position detection or speed detection of the Hall IC or the like can be omitted.

(Embodiment 5)
FIG. 15 is a cross-sectional view of an inverter device generally called a drum type washing machine in the present embodiment.

  In FIG. 15, a load (drum) 221 for storing clothes 220, a motor 224 that is rotationally driven via a pulley 222 and a belt 223 are provided, and an inverter circuit 226 that supplies a three-phase alternating current to the motor 224 is provided. Yes.

  The inverter circuit 226 is operated by a control signal Sd for six stones from the control means 228, and corresponds to the B99RQ signal and B4RQ described in the first embodiment, and has passed through a voltage reduction period. Thereafter, the process moves to the short-circuit braking period, and as described in the first embodiment, the stop determination during the short-circuit braking period is performed.

  In the present embodiment, the load (drum) rotates within the resin receiving tube 230, and the opening and closing of the water supply valve 233 and the drain valve 234 is performed by the Skb signal and the Shb signal from the control means 228. By opening and closing, water is supplied and drained into the receiving tube 230, and washing and dehydration are performed together with a separately supplied detergent.

  Here, a lid 236 that can be opened and closed is provided in front of the load (drum) 221, and a lid handle 237 for a user to open and close the lid 236 is provided. ) When the cover 221 rotates, the cover 236 is closed to ensure the safety of the user and prevent the water from scattering.

  A state in which the lid 236 is opened by operating the handle 237 is indicated by a broken line.

The lid lock means 240 holds the lid 236 in a closed state, and includes a solenoid 241, a plunger 242, a spring 243 and a lock control circuit 244, and the solenoid 241 is not energized. In this state, since the lid 236 is in a locked state, the lid 236 cannot be stubbornly opened by the lid locking means 240 regardless of whether the user pulls the handle 237 or performs any other operation. .

  The lock control circuit 244 energizes the solenoid 241 based on the Srk signal from the control means 228, and the user can open the lid 236 by releasing the lock.

  The lid detection switch 246 detects the open / closed state of the lid 236. The lid detection switch 246 transmits an open / close detection signal Scl to the control means 228. When the lid 236 is opened, the Scl becomes low and the safety is ensured. Therefore, as the Sd signal to the inverter circuit 226, the alternating current is not supplied to the electric motor 224, and the operation of rotating the load (drum) 221 is not performed.

  In this state, a direct current may be supplied to the electric motor 224, and sufficient safety can be ensured by making the load (drum) 221 more securely fixed in the rotational direction.

  Then, when the dehydration operation or the like is finished, the control means 228 makes a stop determination, and then the Srk signal is sent, and the lid lock means 240 energizes the solenoid 241.

  In order to stop the dehydration operation, in addition to when the predetermined dehydration time has been reached, when the user operates the stop button 248 and a stop signal is generated, or an abnormality such as an overload has occurred in the inverter circuit 226. In some cases, an abnormal signal Sab is generated and both are input to the control means 228. When the motor 226 is braked and the load (drum) 221 is stopped, the stop determination by the control means 228 is performed. After being done, the lid locking means 240 is in a state where the lid 236 can be opened if the user pulls the handle 237.

  FIG. 16 shows a flowchart immediately after the inverter device is turned on in the present embodiment.

  In FIG. 16, when the microcomputer program is started when the control means 228 is activated, such as when the power switch of the inverter device is turned on, the program moves from the start 250 to the short-circuit brake 251 and the first embodiment. The operation when the B99RQ signal or the B4RQ signal shown in FIG. 3 is generated in the description of FIG. 3 is performed, and the short-circuit braking period starts after the voltage reduction period.

  When the stop determination signal Cs shown in FIG. 4 becomes high, the process proceeds to the lock release 253, where the solenoid 241 is energized and the user can open the lid 236.

  When the power is turned on, for example, when the braking of the previous operation has not been completed, the lid 236 can be used due to the remaining rotation if the lock state can be released by the lid lock means 240. Risk to the person.

  The lid lock means 240 is controlled so that the user cannot open the lid 236 during operation, and when the operation such as washing and dehydration is finished, The lid 236 is opened, and a hand can be put in the drum 221. The lid 236 can be freely opened and closed by the user even when the power is turned off.

  However, when a power failure occurs during operation, the lid locking means 240 may be in a state where the user cannot open the lid 236 (locked state) when the power is turned off. 236 may be closed, but the drum 221 may remain rotating.

  In this state, when the power is turned on next time, the user can immediately open the lid 236 with respect to the lid locking means 240. If the drum 221 remains rotated, it is dangerous for the user. In this embodiment, after the power is turned on, there is a short-circuit braking period following the voltage reduction period, and the user can open the lid 236 when braking of the drum 236 is completed. By controlling the lid locking means 240, high safety is maintained.

  In the present embodiment, the lid locking means 240 at the time when the power is turned on is provided with the voltage reduction period and the short-circuit braking period immediately after the power is turned on regardless of the locked state or the unlocked state. However, providing a short-circuit braking period at least in the locked state is effective from the viewpoint of ensuring safety, and is in an unlocked state or when the lid 236 is opened when the power is turned on. Therefore, there is no difference in ensuring safety even if there is no voltage reduction period or short-circuit braking period. Therefore, the voltage reduction period and short-circuit braking period immediately after turning on the power can be omitted.

  In the present embodiment, after the power is turned on, a short-circuit braking period is passed, and after the stop determination signal Cs becomes high, the lid lock unit 240 can be opened by the user. By doing so, the danger can be eliminated, and a highly safe inverter device can be realized.

  As described above, in the present embodiment, after appropriately determining the stop of the electric motor, the lock release 253 is performed so that the lid lock unit 240 can be opened by the user. It is possible to realize a high inverter device.

  In particular, since braking with the B99RQ signal or the B4RQ signal is performed by the short-circuit brake 251, the rotation of the load (drum) 221 remains immediately after the power is turned on even in a configuration called sensorless without using a speed sensor or a position sensor Even in such a case, the occurrence of the overcurrent and overvoltage of the inverter circuit 226 can be suppressed regardless of the speed and position (phase), which is extremely effective.

  In the present embodiment, the rotation axis of the load (drum) 221 is shown as being horizontal, but it is not particularly sticking to horizontal, but has a vertical or oblique rotation axis. It is also good.

  The power transmission path for rotationally driving the load (drum) 221 is also shown using the pulley 222 and the belt 223, but this is not limited to this configuration, and a gear (gear) is used. It may also be one that is equipped with an electric motor directly on the shaft of the load (drum) 221 and is rotated at the same speed as called direct drive.

Further, the configuration of the lid locking means 240 is not limited to the configuration described in the present embodiment. For example, a lid lock that is provided with a plurality of lid locking means and can be unlocked at any time by a user's handle operation. The configuration in which the lock state is released by a signal from the control means and the signal from the control means, or the lock state is always in the closed state when the lid is closed, but the lock release is blocked / permitted by the signal from the control means A variety of configurations can be used, such as those that cannot be manipulated by a signal from the control means, and in any case, whether the user can open the lid is changed by a signal from the control means Any specific configuration can be freely designed.

  As described above, the inverter device according to the present invention has a short-circuit braking period after a short-circuit time ratio expansion period that expands a short-circuit time ratio at the time of braking even in a sensor-less configuration that does not use a speed sensor or a position sensor. By having it, it becomes possible to shift to the braking state without causing problems of overcurrent and overvoltage.

100, 101 Permanent magnets 102, 103, 104 Winding 106, 221 Load (drum)
109, 224 Motor 144 DC power supply 111, 112, 113, 114, 115, 116 Switching element 117, 226 Inverter circuit 118, 228 Control means 148 Voltage detection means 119 Current detection means 215 Speed detection means 220 Clothing 236 Lid 240 Lid lock means

Claims (5)

An electric motor having a permanent magnet and three-phase windings, connected to a load, and supplied with electric power from a DC power source, and having three stone high potential side switching elements and three stone low potential side switching elements An inverter circuit that supplies an alternating current to the inverter circuit, and a control unit that performs at least on-off control of the low-potential side switching element. The control unit includes an on-time that is common to the three phases of the low-potential side switching element of the inverter circuit. after short time ratio expansion period to increase the short-circuit time ratio for short-circuiting the input terminals of the 3-phase windings by on-off control ratio, have a short-circuit brake period to keep the short time ratio to maximize the short The inverter apparatus which changes the expansion speed of a short circuit time ratio according to the time from the start of the time ratio expansion period . It has at least one of voltage detection means for detecting the voltage of the DC power supply, current detection means for detecting the alternating current, and speed detection means for detecting the speed of the electric motor, and the control means is at least any one The inverter device according to claim 1, wherein an expansion speed of the short circuit time ratio in the short circuit time ratio expansion period is changed by an output of the detecting means. 3. The inverter device according to claim 1, wherein the load is a drum that stores clothes, and includes the short circuit time ratio expansion period and the short circuit braking period during a deceleration period in which the rotation speed of the drum is reduced. Washing machine. The load is a drum that stores clothes, and includes a lid that opens and closes an opening of the drum, and a lid lock unit that locks the lid. The washing machine provided with the inverter device according to any one of claims 1 to 3 , wherein the lid locking means is in a state in which a user can open the lid. The inverter device according to any one of claims 1 to 4 , wherein the electric motor has a sensorless system having no position detection sensor.