JPH07264890A - Motor controller and washing machine - Google Patents

Abstract

PURPOSE:To reduce the vibration and noise of a brushless motor when the motor is driven. CONSTITUTION:A motor driving current controlling and processing section 8 and PWM processing section 9 control a motor driving circuit 1 by preparing the energizing and deenergizing pattern of a motor driving signal. In addition, a pattern learning and processing section 12 learns the energizing and pattern of the motor driving signal immediately before stopping a brushless motor and a pattern computing and processing section 13 prepares the first energizing and deenergizing pattern based on the pattern learnt by the section 12 at the time of restarting the motor. Therefore, the vibration and noise of the motor can be reduced, because the driving current of the motor can be made coincident with a commanded value in an early stage.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor controller for controlling the operation of a brushless motor and a washing machine using the brushless motor controlled by the motor controller.

[0002]

2. Description of the Related Art As shown in FIG. 12, a conventional current control device for controlling a waveform of a drive current flowing through a brushless motor to reduce torque pulsation during commutation is a motor having an electrical angle of 60 degrees when the motor is started. Motor drive current I in the flow section
The patterns of the energization time T1 and the power interruption time T2 are constant. The figure shows an electrical angle of 120 degrees (electrical angle)
The patterns of the energization time and the power interruption time within the frequency section, and the motor drive current I and the motor drive current command value I * at that time are shown. As shown in the figure, the waveform of the motor drive current I when the brushless motor is started is different from the motor drive current command value I *. The waveform shaping of the motor drive current I is based on the deviation (I * -I) between the motor drive current command value I * and the motor drive current I by controlling the pattern of the energization time and the disconnection time in the 60 ° electrical angle section of the brushless motor. The gain is learned to gradually change the relationship between the energization time and the disconnection time from the start of the brushless motor. As shown in FIG. 12, when the rotation of the brushless motor reaches a steady rotation speed, This is done by creating a pattern of the energization time and disconnection time in the optimum 60 ° electrical angle section of the brushless motor such that the drive current I matches the motor drive current command value I *, and reduces torque pulsation during commutation. Thus, the vibration of the brushless motor and the load is reduced, and the vibration and noise generated from the brushless motor and the load are reduced.

[0003]

DISCLOSURE OF THE INVENTION Like a brushless motor for driving an agitator in a washing tub of an electric washing machine,
In a device that performs control of repeating rotation and stop in a short period, for example, when a pattern of rotation for 1.2 seconds and stop for 0.6 seconds is repeated as shown in FIG. When the waveform of the drive current I is gradually shaped from the start of the motor to reduce the torque pulsation at the time of commutation, as shown in FIG. The pattern of the power supply time cannot be completely learned, and the time has come to stop the operation before the waveform of the motor drive current I becomes the optimum waveform that matches the motor drive current command value I *. Torque pulsation cannot be reduced, and vibration and noise cannot be reduced.

An object of the present invention is to effectively reduce the torque pulsation generated during commutation by matching the motor drive current with the motor drive current command value at an early stage.

Another object of the present invention is to control the brushless motor, which is repeatedly operated and stopped in a short period of time, by effectively shaping the waveform of the motor drive current and reducing the torque pulsation during commutation. It is to reduce the generation of noise.

Still another object is to control the waveform of the motor drive current effectively in the control of the brushless motor for driving the agitator, which repeats the normal operation, the stop operation, the reverse operation and the stop operation in a short period. The purpose is to reduce the occurrence of vibration and noise by reducing the torque pulsation when flowing.

[0007]

According to the present invention, there is provided a motor current detecting device for detecting a drive current flowing through a brushless motor, a drive current command value generating means for generating a command value of a drive current flowing through the brushless motor, and a current. In a motor control device comprising an energization pattern control unit that creates a pattern of energization time and disconnection time of the brushless motor based on a deviation amount of the detected value by comparing with a command value, in the energization pattern control unit, Pattern learning means for learning the pattern of the energization time and the disconnection time during the previous or previous motor operation, and the next time based on the learned pattern of the energization time and the disconnection time during the previous or previous motor operation It is characterized in that a pattern creating means for creating a pattern of the first energization time and the disconnection time during motor operation is provided.

Further, the motor control device is provided with an operation stop control means for repeating the operation and stop of the brushless motor in a short cycle, and the pattern learning means learns the last energization time and power interruption time patterns. It is characterized by having done.

Further, the motor control device is provided with an operation stop control means for repeating the forward rotation operation, the stop operation, the reverse rotation operation and the stop operation of the brushless motor in a short cycle, and the pattern learning means is provided with a final operation during the forward rotation operation. First pattern learning means for learning a pattern of energization time and disconnection time and second pattern learning means for learning a pattern of the last energization time and disconnection time in reverse operation are provided, and the pattern creating means is provided. It is characterized in that the pattern of the first energization time and the power interruption time at the next motor operation is created based on the learned same-direction operation pattern.

Alternatively, it is provided with an agitator installed in the washing tub, a brushless motor for driving the agitator, and a motor control device for controlling the brushless motor, and the motor control device flows to the brushless motor. A motor current detecting device for detecting a drive current, a drive current command value generating means for generating a command value of a drive current to flow in the brushless motor, a current detection value is compared with a command value, and the brushless is based on the deviation amount. In a washing machine equipped with an energization pattern control means for creating a pattern of a motor energization time and a power interruption time, the energization pattern control means is provided with a pattern of the energization time and the power interruption time during the previous or previous motor operation. Based on the pattern learning means to learn and the learned patterns of the energization time and the power interruption time during the previous or previous motor operation. Characterized in that a pattern generating means for generating a first energization time and deenergized time pattern for the next motor operated with.

Further, the motor control device is provided with operation stop control means for repeating the operation and stop of the brushless motor in a short cycle, and the pattern learning means learns the pattern of the last energization time and the power interruption time. In addition, the motor control device is further provided with an operation stop control means for repeating the forward rotation operation, the stop operation, the reverse operation operation and the stop operation of the brushless motor in a short cycle and the pattern learning means at the time of the forward operation operation. The first pattern learning means for learning the pattern of the last energization time and the disconnection time and the second pattern learning means for learning the pattern of the last energization time and the disconnection time during the reverse operation are provided. Based on the learned pattern of same-direction operation, the creation means creates a pattern of the first energization time and power interruption time at the next motor operation. Characterized in that was.

[0012]

The energization pattern control means learns the patterns of the energization time and the interruption time in the previous operation, and refers to the patterns of the energization time and the interruption time for shaping the motor drive current waveform in the next operation. Therefore, during the next operation, the motor drive current waveform can be shaped so as to match the command value at an early stage, and therefore, the torque pulsation at the time of commutation from the initial start of the brushless motor can be effectively reduced. In particular, even when the brushless motor is repeatedly operated and stopped in a short cycle, torque pulsation during commutation can be reduced, and vibration and noise can be effectively reduced.

[0013]

Embodiments of the present invention will be described with reference to the drawings. FIG. 2 is a block diagram of a controller for a brushless motor that drives a stirring body of an electric washing machine according to the present invention. The motor drive circuit 1 is a three-phase inverter that uses switching elements such as transistors, and supplies a motor drive current to the brushless motor 2. This brushless motor 2
Is connected to the agitator 22 installed in the washing tub 21 and rotationally drives it.

The position detection circuit 5 is the brushless motor 2
A rotor position detection signal is generated from an electric signal corresponding to the position of the rotor of the motor and applied to the microcomputer 6, and the current detection circuit 4 detects the motor drive current I based on the voltage drop generated in the current detection resistor 3. , The detected current value is A / D converted and given to the microcomputer 6. The microcomputer 6 processes the motor rotation speed internal command value generated based on the input from the condition input means 23 such as an operation panel or various sensors, the rotor position detection signal and the current detection value to process the brushless motor 2 Is generated and given to the motor drive circuit 1.

A DC voltage E is applied to the input end of the motor drive circuit 1.
Is applied to the brushless motor 2, and the motor drive current I supplied to the brushless motor 2 is controlled by repeating the switching operation by the motor drive signal supplied from the microcomputer 6 and repeating the energization and disconnection of the brushless motor 2.

Now, the motor drive current control processing by the microcomputer 6 will be described with reference to FIG. Each processing unit and comparison calculation process described below are realized by a control program of the microcomputer 6. The rotation speed calculation processing unit 10 calculates and outputs the rotation speed N of the brushless motor 2 from the rotor position detection signal. The speed control processing unit 7 inputs the rotation speed deviation value εN generated by comparing the rotation speed N and the motor rotation speed internal command value ΔN * output from the acceleration processing unit 11, and the motor rotation speed N is the motor rotation speed. A motor drive current command value I * is calculated so as to match the speed internal command value ΔN *. That is, when the motor rotation speed N is smaller than the motor rotation speed internal command value ΔN *, the motor drive current command value I * is increased, and conversely, the motor rotation speed N is the motor rotation speed internal command value ΔN *.
If larger than the above, the motor drive current command value I * is reduced. At this time, the motor rotation speed internal command value ΔN *
Is generated by the acceleration processing unit 11 according to the motor rotation speed command value N * input from the outside of the microcomputer 6 in accordance with the motor rotation acceleration time.

Then, the motor drive current command value I * is compared with the motor drive current value I detected by the motor drive current detection circuit 4 to obtain the motor drive current deviation value εI. The motor drive current control processing unit 8 obtains a voltage command value V * for matching the motor drive current value I with the motor drive current command value I * based on the motor drive current deviation εI.
The PWM processing unit 9 performs PWM based on this voltage command V *
The motor drive signal is output.

The motor drive circuit 1 is controlled by the motor drive signal output from the microcomputer 6 to perform a switching operation, and the brushless motor 2 is repeatedly energized and disconnected (PWM control) to obtain a motor drive current command value. The brushless motor 2 is rotationally driven by supplying a motor drive current I matching I *.

The pattern learning processing unit 13 also learns and stores the last drive signal during the operation of the brushless motor 2, that is, the pattern of the energization time and the disconnection time in the last 60-degree electrical angle section. The arithmetic processing unit 12 creates a pattern of energization time and disconnection time in the 60-degree electrical angle section used as a pattern of energization time and disconnection time in the 60-degree electrical angle section at the next operation. This created electrical angle 60
The pattern of the energization time in the degree section is output as the pattern of the energization time and the disconnection time in the section of the electrical angle of 60 degrees when the brushless motor 2 is started.

Here, FIG. 3 shows the relationship between the motor drive current and the motor drive current command value I * detected by the motor current detection resistor 3 corresponding to the motor drive signal and the motor drive current I. As shown in the figure, the motor drive signals are three-phase, and the U-phase, V-phase, and W-phase upper and lower arm signals (U +, V +, W +, U-, V-, W-) of the motor drive circuit 1 are used. Electrical angle 12
It switches every 0 degrees. In the illustrated example, the motor drive current I is controlled by repeating energization and disconnection of each phase of the upper arm signals (U +, V +, W +). At this time, the motor drive current I flowing to the motor current detection resistor 3 and detected and the motor drive current command I * at that time are the electrical angle 6
The commutation is repeated every 0 degree.

Here, when the motor drive current I is learned by the conventional method, the brushless motor 2 is started and stopped in a short period, for example, 1.2 as shown in FIG.
When the second operation and the 0.6 second stop are repeated, as shown in FIG. 11, the pattern of the energization time and the disconnection time of the brushless motor 2 at the electrical angle 60 degree section at the time of starting the brushless motor 2 and immediately before the stop Are substantially uniform, the motor drive current I has a different shape with respect to the motor drive current command I *, and it is difficult to reduce the torque pulsation during commutation.

According to the motor drive current control by the above-described motor control device according to the present invention, as shown in FIG. 4, when the brushless motor 2 is in operation, the energization time and the disconnection time of the first 60-degree electrical angle section are changed. The pattern is f (x1), and the pattern immediately before the stop is f (xn). Here, the pattern of the energization time and the power interruption time in the first 60-degree electrical angle section when the brushless motor 2 is operated next time is given by f (x1) = αf (xn). α is a coefficient and is set according to load characteristics and the like. As described above, the pattern of the energization time and the disconnection time in the first 60-degree electrical angle section during the operation of the brushless motor 2 is used as the pattern of the energization time and the interruption time in the last 60-degree electrical angle section during the previous operation. As shown in FIG. 6, the pattern of the energization time and the disconnection time in the section of the electrical angle of 60 degrees from the start of the brushless motor 2 becomes an optimum pattern by creating the motor, and the motor drive current command I * Drive current I
Coincide with each other, torque pulsation during commutation is reduced, and vibration and noise are reduced. In addition, the brushless motor 2 at that time is shown in FIG.
The pattern of the energization time and the power interruption time in the 60-degree electrical angle section is shown.

Here, FIG. 8 shows an example of the operation and stop patterns of the brushless motor 2 during the washing operation of the fully automatic electric washing machine in which the stirring body 22 is repeatedly rotated normally, stopped, reversely rotated and stopped. As shown in the figure, during the washing operation of the fully automatic electric washing machine, the brushless motor 2 is operated for 1.2 seconds in the forward direction (MF), stopped for 0.6 seconds, and operated for 1.2 seconds in the reverse direction (MF). MR), the pattern of stopping for 0.6 seconds is repeated. With such an operation pattern, as shown in FIG. 9, a pattern f of energization time and disconnection time in the first 60-degree electrical angle section in the next operation without considering the operation (rotation) direction of the brushless motor 2 If (x1) is created using the last energization time and disconnection time pattern f (xn) in the 60-degree electrical angle section during the previous reverse operation (rotation), that is, f (x1) = αf (x
In the case of n), due to the influence of the variation of the load torque which varies depending on the rotation direction, for example, the motor drive current I is not in the form matching the motor drive current command value I * as shown in FIG. The effect may not be obtained. In such a case, as shown in FIG. 5, the brushless motor 2
In consideration of the driving direction of, the energization time of the electrical angle 60 degree section in the previous forward direction operation and the energization time of the electrical angle 60 degree section in the next forward direction operation using the pattern f (xn) of the disconnection time And a pattern f (x1) of disconnection time is created,
Similarly in the reverse operation, the next pattern f (x1) is created using the last pattern f (xn) in the previous reverse operation, that is, the forward operation f (x1) = αf (xn), Reverse operation f (x1) ＝
By setting βf (xn), it is possible to eliminate the influence of the fluctuation of the load torque depending on the rotation direction of the brushless motor 2. As a result, as shown in FIG. 6, it becomes possible to match the motor drive current I and the motor drive current command I *, reduce the torque pulsation during commutation, and reduce the generation of vibration and noise.

[0024]

INDUSTRIAL APPLICABILITY The present invention learns the patterns of the energization time and the interruption time during the previous operation and refers to the creation of the patterns of the energization time and the interruption time for shaping the motor drive current waveform during the next operation. Since the motor drive current waveform can be shaped so as to match the command value at an early stage during the next operation, the torque pulsation during commutation can be effectively reduced from the initial start of the brushless motor. it can. In particular, when the brushless motor repeats operation and stop in a short cycle, or when it repeats forward rotation, stop, reverse rotation and stop in a short cycle, it is possible to reduce torque pulsation during commutation, vibration and noise. The effect of being able to effectively reduce the occurrence of is obtained.

[Brief description of drawings]

FIG. 1 is a block diagram of a motor drive current control processing function in a brushless motor control device according to the present invention.

FIG. 2 is a block diagram of a controller for a brushless motor that drives an agitator of an electric washing machine according to the present invention.

FIG. 3 is a time chart showing a relationship among a motor drive signal, a motor drive current, and a motor drive current command value in the brushless motor control device according to the present invention.

FIG. 4 is a learning time chart of energization time and disconnection time in a 60 ° electrical angle section in control in which the brushless motor control device according to the present invention repeats operation and stop.

FIG. 5 is a learning time chart of energization time and disconnection time in a 60-degree electrical angle section in control in which a forward direction operation, a stop, and a reverse direction operation are repeated by the brushless motor control device according to the present invention.

FIG. 6 is a time chart showing the relationship among the energization time, the power interruption time pattern, the motor drive current, and the motor drive current command value in the 60-degree electrical angle section in the brushless motor control device according to the present invention.

FIG. 7 is a repeating pattern of operation and stop of a brushless motor in an electric washing machine.

FIG. 8 is a repeating pattern of forward direction operation, stop, reverse direction operation, and stop of the brushless motor in the electric washing machine.

FIG. 9 is a learning time chart of energization time and disconnection time in a 60-degree electrical angle section in the control by the brushless motor control device that does not take the rotation direction of the motor into consideration.

FIG. 10 is a pattern of energization time and disconnection time, a motor drive current, and a motor drive current command in a 60-degree electrical angle section at the time of starting and stopping the motor in control that does not consider the rotation direction of the motor by the brushless motor control device. It is a time chart which shows the relationship with a value.

FIG. 11 is a time chart showing a pattern of energization time and disconnection time in an electric angle section of 60 degrees at the time of starting and stopping the motor in the conventional brushless motor control device and a relationship between the motor drive current and the motor drive current command value. .

FIG. 12 is a time chart showing a pattern of energization time and disconnection time in an electric angle section of 60 degrees and a relationship between a motor drive current and a motor drive current command value at the time of motor startup and steady operation in a conventional brushless motor control device. is there.

[Explanation of symbols]

 1 Motor Drive Circuit 2 Brushless Motor 3 Current Detection Resistor 4 Current Detection Circuit 5 Position Detection Circuit 6 Microcomputer 7 Speed Control Processing Section 8 Motor Drive Current Control Processing Section 9 PWM Processing Section 10 Rotation Speed Calculation Processing Section 11 Acceleration Processing Section 12 Patterns Arithmetic processing unit 13 Pattern learning processing unit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshiyuki Yasushima 7-1-1 Omika-cho, Hitachi City, Ibaraki Hitachi Ltd. Hitachi Research Laboratory (72) Inventor Motoo Futami 7-chome, Omika-cho, Hitachi City, Ibaraki Prefecture No. 1 in Hitachi, Ltd. Hitachi Research Laboratory

Claims (6)

[Claims] 1. A motor current detection device for detecting a drive current flowing through a brushless motor, a drive current command value generating means for generating a command value of a drive current flowing through the brushless motor, and a current detection value for comparison with a command value. In a motor control device including an energization pattern control means for creating a pattern of energization time and disconnection time of the brushless motor based on the deviation amount thereof, the energization pattern control means is provided when the motor is operated last time or before. Pattern learning means for learning the pattern of the energization time and the disconnection time of the first and the first energization time at the next motor operation based on the learned pattern of the energization time and the disconnection time at the previous or previous motor operation And a pattern creating means for creating a pattern of power interruption time. 2. The motor control device according to claim 1, further comprising operation stop control means for repeating operation and stop of the brushless motor in a short cycle, and the pattern learning means includes a pattern of a final energization time and an interruption time. A motor control device characterized by learning. 3. The motor control device according to claim 1, further comprising operation stop control means for repeating the forward rotation operation, the stop operation, the reverse rotation operation, and the stop operation of the brushless motor in a short cycle, and the pattern learning means is provided for the forward rotation operation. A first pattern learning means for learning a pattern of the last energization time and a disconnection time, and a second pattern learning means for learning a pattern of the last energization time and a disconnection time during reverse operation, The motor control device, wherein the pattern creating means creates a pattern of the first energization time and the power interruption time at the next motor operation based on the learned same-direction operation pattern. 4. A stirrer installed in the washing tub, a brushless motor for driving the stirrer, and a motor current detection device for detecting a drive current flowing through the brushless motor,
A drive current command value generating means for generating a command value of a drive current flowing through the brushless motor, and a pattern of current-carrying time and power-off time of the brushless motor based on a deviation amount by comparing a current detection value with a command value. In a washing machine having a motor control device for controlling the brushless motor, which includes an energization pattern control means to be created, the energization pattern control means displays a pattern of an energization time and an interruption time during a previous or previous motor operation. Pattern for learning Learning pattern and pattern for creating the first energization time and interruption time pattern for the next motor operation based on the learned energization time and interruption time pattern for the previous or previous motor operation A washing machine comprising: a creating unit. 5. The motor control device according to claim 4, further comprising operation stop control means for repeating operation and stop of the brushless motor in a short cycle, and the pattern learning means includes a pattern of a final energization time and an interruption time. A washing machine characterized by learning. 6. The motor control device according to claim 4, further comprising operation stop control means for repeating the forward rotation operation and the stop operation, and the reverse rotation operation and the stop operation of the brushless motor in a short cycle, and the pattern learning means operates in the normal rotation operation. First pattern learning means for learning a pattern of the last energization time and disconnection time during operation, and second pattern learning means for learning a pattern of the last energization time and disconnection time during reverse operation, The washing machine characterized in that the pattern creating means creates a pattern of the first energization time and the power interruption time at the next motor operation based on the learned same-direction operation pattern.