JPH0728546B2 - Vacuum cleaner - Google Patents
Vacuum cleanerInfo
- Publication number
- JPH0728546B2 JPH0728546B2 JP62080951A JP8095187A JPH0728546B2 JP H0728546 B2 JPH0728546 B2 JP H0728546B2 JP 62080951 A JP62080951 A JP 62080951A JP 8095187 A JP8095187 A JP 8095187A JP H0728546 B2 JPH0728546 B2 JP H0728546B2
- Authority
- JP
- Japan
- Prior art keywords
- current
- motor
- vacuum cleaner
- speed
- command
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- Y02B40/82—
Landscapes
- Electric Vacuum Cleaner (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は電気掃除機に係り、特にその駆動源となる電動
機の速度制御装置に関する。Description: TECHNICAL FIELD The present invention relates to an electric vacuum cleaner, and more particularly to a speed control device for an electric motor as a drive source thereof.
電気掃除機の駆動源にはフアンと交流整流子機からなる
電動送風機が用いられている。しかし、ブラシと整流子
からなる機械的摺動を伴い、また、最近の高速化による
小形軽量化指向で整流条件が厳しくなつてブラシから火
花を発生し、ブラシ寿命が短いという問題がある。An electric blower including a fan and an AC commutator is used as a drive source of the electric vacuum cleaner. However, there is a problem in that sparks are generated from the brush due to mechanical sliding made up of a brush and a commutator, and the rectification condition becomes severe due to the recent trend toward smaller size and lighter weight, resulting in a short brush life.
この対策として、特開昭60−242827号に記載のように、
ブラシレス直流電動機を用いた電動送風機が提案されて
いる。しかし、電気掃除機に適したブラシレス直流電動
機の速度制御方法については配慮されていない。As a countermeasure against this, as described in JP-A-60-242827,
An electric blower using a brushless DC motor has been proposed. However, no consideration is given to the speed control method of the brushless DC motor suitable for the electric vacuum cleaner.
上記従来技術は電気掃除機に適したブラシレス直流電動
機の速度制御方法について配慮されておらず、電気掃除
機の負荷状態変化に対応できない問題があつた。The above-mentioned prior art does not consider the speed control method of the brushless DC motor suitable for the electric vacuum cleaner, and there is a problem that it cannot cope with the change in the load state of the electric vacuum cleaner.
本発明の目的は電気掃除機の負荷状態に応じてブラシレ
ス直流電動機の速度制御を行うことにある。An object of the present invention is to control the speed of a brushless DC motor according to the load state of the vacuum cleaner.
上記目的を達成するために本発明の特徴とするところ
は、電動機の速度指令に基づいて演算された電流指令
と、前記電動機の負荷電流とで閉ループ電流制御を行う
とともに、前記電流指令を前記電動機の回転数に基づく
電流補正値で補正することにある。In order to achieve the above object, a feature of the present invention is that a closed loop current control is performed by a current command calculated based on a speed command of an electric motor and a load current of the electric motor, and the current command is the electric motor. The correction value is based on the current correction value based on the number of rotations.
ブラシレス直流電動機は界磁に永久磁石を用いた同期電
動機であるが、インバータ制御装置で前記電動機を速度
指令に基づいた閉ループ電流制御を行うので、その回転
数が電気掃除機の負荷変化に対して２乗的に変化して直
巻特性が得られる。さらに、速度指令を回転数に応じて
補正することにより、回転数の変化範囲が大きくなり、
電気掃除機の負荷変化を応じた最適な電動機制御がで
き、吸込性能を向上して電気掃除機が得られる。The brushless DC motor is a synchronous motor using a permanent magnet in the field, but since the inverter controller performs closed-loop current control on the electric motor based on the speed command, its rotation speed is against the load change of the vacuum cleaner. It changes squarely to obtain the series winding characteristic. Furthermore, by correcting the speed command according to the number of revolutions, the change range of the number of revolutions increases,
The electric motor can be optimally controlled according to the load change of the electric vacuum cleaner, and the suction performance is improved to obtain the electric vacuum cleaner.
以下、本発明の一実施例を第１図〜第３図により説明す
る。An embodiment of the present invention will be described below with reference to FIGS.
第２図は本発明に係わるブラシレス直流電動機とインバ
ータ制御装置からなる速度制御装置の全体構成を示した
ものである。FIG. 2 shows the overall structure of a speed control device including a brushless DC motor and an inverter control device according to the present invention.
インバータ制御装置10は交流電源14から整流回路15及び
平滑コンデンサ16より、図示の直流電圧Edを得て、イン
バータ20に供給するものである。The inverter control device 10 obtains the illustrated DC voltage E d from the AC power supply 14 from the rectifier circuit 15 and the smoothing capacitor 16 and supplies it to the inverter 20.
このインバータ20は、トランジスタTR1〜TR6と環流ダイ
オードD1〜D6とから構成された120度通電形インバータ
であり、その交流出力電圧は、直流電圧Edの正電位側ト
ランジスタTR1〜TR3の通流期間（電気角120度）がパル
ス幅変調を受けてチヨツパ動作をすることにより制御さ
れるものとしている。The inverter 20 is a 120-degree conduction inverter comprising the transistors TR 1 to Tr 6 and reflux diode D 1 to D 6 Tokyo, the AC output voltage, the positive potential side transistors TR 1 ~ DC voltage E d It is assumed that the current flow period of TR 3 (electrical angle of 120 degrees) is controlled by pulse width modulation and the chipper operation.
また、トランジスタTR4〜TR6の共通エミツタ端子と環流
ダイオードD4〜D6との共通アノード端子間に低抵抗R1が
接続されているものである。Moreover, in which low resistance R 1 is connected between the common anode terminal of the common emitter terminal and reflux diode D 4 to D 6 of the transistors TR 4 ~TR 6.
ブラシレス直流電動機９は２極の永久磁石を界磁とした
回転子９−２と電機子巻線９−１を挿入した固定子から
なり、電機子巻線９−１に流れる巻線電流は、前記低抵
抗R1にも流れるので、この低抵抗R1の電圧降下によつて
前記電動機９の負荷電流IOを検出できることになる。The brushless DC motor 9 is composed of a rotor 9-2 having a two-pole permanent magnet as a field, and a stator into which an armature winding 9-1 is inserted. The winding current flowing through the armature winding 9-1 is since also flows to the low-resistance R 1, it becomes possible to detect the load current I O of O connexion the motor 9 to the voltage drop of the low-resistance R 1.
ブラシレス直流電動機９の速度を制御する制御回路は、
マイクロコンピユータ13,回転子９−２の磁極位置をホ
ール素子11からの出力を受けて検出する磁極位置検出回
路12,低抵抗R1の電圧降下から負荷電流IDの値を検出す
る電流検出回路17,トランジスタTR1〜TR6を駆動するベ
ースドライバ19,マイクロコンピユータ13に基準となる
速度を伝える速度指令回路18から構成されている。The control circuit for controlling the speed of the brushless DC electric motor 9 is
Microcomputer 13, magnetic pole position detection circuit 12 for detecting the magnetic pole position of rotor 9-2 by receiving the output from Hall element 11, current detection circuit for detecting the value of load current I D from the voltage drop of low resistance R 1. 17, a base driver 19 for driving the transistors TR 1 to TR 6 , and a speed command circuit 18 for transmitting a reference speed to the microcomputer 13.
磁極位置検出回路12は、ホール素子11からの出力を受け
て、回転子位置に対応した位置検出信号12Sを形成する
回路である。そして、この位置検出信号12Sを用いて、
ブラシレス直流電動機９の回転速度を、マイクロコンピ
ユータ13において演算して求めるものである。The magnetic pole position detection circuit 12 is a circuit that receives an output from the Hall element 11 and forms a position detection signal 12S corresponding to the rotor position. Then, using this position detection signal 12S,
The rotational speed of the brushless DC electric motor 9 is calculated by the microcomputer 13 and obtained.
電流検出回路17は、低抵抗R1の電圧降下を受けて負荷電
流IDを検出して、A/D変換器（図示せず）等により電流
検出信号17Sを形成する回路である。The current detection circuit 17 is a circuit that receives the voltage drop of the low resistance R 1 to detect the load current ID , and forms a current detection signal 17S by an A / D converter (not shown) or the like.
また、前記のマイクロコンピユータ13は、CPU,ROM及びR
AM等から構成され、それぞれ、アドレスバス，データバ
ス及びコントロールバス（図示せず）によつて接続され
ているものである。Further, the above-mentioned microcomputer 13 includes a CPU, a ROM and an R
It is composed of AM and the like, and is connected to each by an address bus, a data bus, and a control bus (not shown).
そして、前記のROMは、ブラシレス直流電動機９を駆動
するのに必要な各種処理プログラム、例えば速度演算処
理，指令取り込み処理及び速度制御処理などに係るもの
が記憶されている。The ROM stores various processing programs necessary for driving the brushless DC electric motor 9, for example, speed calculation processing, command fetch processing, speed control processing, and the like.
一方、前記のRAMは、前記の各種処理プログラムを実行
するに際して必要となる各種データを読み書きするため
の記憶部からなるものである。On the other hand, the RAM comprises a storage unit for reading and writing various data necessary for executing the various processing programs.
トランジスタTR1〜TR6はマイクロコンピユータ13から点
弧信号13Sを受けてベースドライバ19により駆動され
る。なお、電圧指令回路21は後述するようにチヨツパ信
号を形成するものである。すなわち、ブラシレス直流電
動機では、電機子巻線に流れる巻線電流は、その電動機
の出力トルクに対応し、巻線電流を磁極位置毎に制御す
ることにより、出力トルクの連続制御が可能となるもの
である。The transistors TR 1 to TR 6 receive the firing signal 13S from the microcomputer 13 and are driven by the base driver 19. The voltage command circuit 21 is for forming a checker signal as described later. That is, in the brushless DC motor, the winding current flowing through the armature winding corresponds to the output torque of the motor, and continuous control of the output torque becomes possible by controlling the winding current for each magnetic pole position. Is.
第１図は本発明の制御回路をブロツク的に表した概略構
成図である。図において、速度指令回路18より指令がマ
イクロコンピユータ13に入力されると、マイクロコンピ
ユータ13は指令取込処理を行つて速度指令Ｎ＊を決定
し、ゲインK1で電流指令ID＊を出力する。この電流指令
ID＊を電流指令回路21のD/A変換器に入力し、この出力
と三角波発生回路の出力とをコンパレータで比較し、そ
の出力がベースドライバ19に入力され、ブラシレス直流
電動機９に印加される電圧が決定される。そして、電流
検出回路17の出力をマイクロコンピユータ13に入力し、
マイクロコンピユータ13で負荷電流IDを演算し、指令値
ID＊とつき合わせる構成としている。この結果、ブラシ
レス直流電動機９は常に電流指令ID＊どうりになるよう
に制御される。FIG. 1 is a block diagram of the control circuit of the present invention. In the figure, a command from the speed command circuit 18 is inputted to the microcomputer 13, the microcomputer 13 determines the means pursuant speed command N * command acquisition process, and outputs a current command I D * with a gain K 1 . This current command
I D * is input to the D / A converter of the current command circuit 21, this output is compared with the output of the triangular wave generation circuit by the comparator, and the output is input to the base driver 19 and applied to the brushless DC motor 9. Voltage is determined. Then, the output of the current detection circuit 17 is input to the microcomputer 13,
The load current I D is calculated by the microcomputer 13 and the command value
It is designed to be associated with I D *. As a result, the brushless DC electric motor 9 is controlled so as to always have the current command ID *.
さらに、磁極位置検出回路12からの信号を受けてマイク
ロコンピユータ13で速度演算処理を行い、基準値N1との
差（Ｎ−N1）を求め、ゲインK2でΔIDを求め、電流指令
ID＊とつき合わせる構成としている。この結果、ブラシ
レス直流電動機９は負荷変化に対応した回転数Ｎの値に
よつて電流指令ID＊が補正され（言い換えれば速度指令
が補正される）、この新しい電流指令ID＊−ΔIDに基づ
いて閉ループ電流制御（この制御を直巻化制御と称す）
で運転されるので、回転数の可変範囲が大きくなる。Further, receiving the signal from the magnetic pole position detection circuit 12, the microcomputer 13 performs speed calculation processing to obtain the difference (N−N 1 ) from the reference value N 1 and ΔI D with the gain K 2 to obtain the current command.
It is designed to be associated with I D *. As a result, in the brushless DC motor 9, the current command I D * is corrected (in other words, the speed command is corrected) according to the value of the rotation speed N corresponding to the load change, and this new current command I D * −ΔI D Closed loop current control based on (this control is called series winding control)
Since it is operated at, the variable range of the rotational speed becomes large.
第３図は本発明の速度制御装置でブラシレス直流電動機
を駆動した電気掃除機の性能曲線を示し、横軸に電気掃
除機内を通る風の風量Ｑをとり、縦軸に電気掃除機の吸
込性能を表す吸込仕事率Pout，電動機の回転数Ｎ及び負
荷電流IDを表したもので、最大動作点から最小動作点の
範囲が電気掃除機の動作範囲である。鎖線は電動機が通
常の閉ループ速度制御で連続された場合を示し、回転数
Ｎが風量Ｑの変化に対して一定であるので、吸込仕事率
Poutが小さく、電気掃除機としての所要性能が得られな
い。これに対し、実線は電動機を本発明の閉ループ速度
制御で運転した場合を示し、風量Ｑが減少すると負荷ト
ルクも小さくなるので、閉ループ電流制御を行うと回転
数Ｎが風量Ｑの減少と共に２乗的に増加するため、吸込
仕事率Poutが大きく、電気掃除機としての所要性能が得
られる。さらに、一点鎖線は電動機を本発明の直巻化制
御で運転した場合を示し、回転数N1を基準に回転数Ｎが
風量Ｑの変化に対して増加した分（Ｎ−N1）から電流補
正分ΔIDを求め、電流指令ID＊とつき合わせているの
で、風量Ｑの変化に対する回転数Ｎの上昇を抑えること
ができ、直巻特性化が図れる。この電流補正分ΔIDを任
意に設定すると、回転数Ｎの変化範囲を拡大できる。こ
の結果、回転数の変化範囲を拡大して吸込仕事率Poutを
任意に調整でき、かつ吸込性能を向上した電気掃除機が
得られる効果がある。〔発明の効果〕 本発明によれば、電気掃除機の駆動源にインバータ制御
ブラシレス直流電動機を用い、電流指令に基づいた閉ル
ープ電流制御を行い、さらに電流指令を回転数に応じて
補正することにより、電気掃除機の負荷変化に応じた最
適な電動機制御が行う、任意の吸込性能で、かつ吸込性
能を向上した電気掃除機が得られる効果がある。FIG. 3 shows a performance curve of an electric vacuum cleaner in which a brushless DC motor is driven by the speed control device of the present invention. The horizontal axis represents the air volume Q of the air passing through the electric vacuum cleaner, and the vertical axis represents the suction performance of the electric vacuum cleaner. Represents the suction power P out , the rotation speed N of the electric motor, and the load current ID, and the range from the maximum operating point to the minimum operating point is the operating range of the electric vacuum cleaner. The chain line shows the case where the electric motor is continuously operated by the normal closed-loop speed control. Since the rotation speed N is constant with respect to the change in the air volume Q, the suction power is
P out is small and the required performance as an electric vacuum cleaner cannot be obtained. On the other hand, the solid line shows the case where the electric motor is operated by the closed loop speed control of the present invention, and the load torque decreases as the air volume Q decreases. Therefore, when the closed loop current control is performed, the rotational speed N decreases with the square of the air volume Q. Therefore, the suction work rate P out is large, and the required performance as an electric vacuum cleaner can be obtained. Further, one-dot chain line shows the case of driving the electric motor in a straight wound control of the present invention, the current from the frequency of the rotational speed N based on the rotational speed N 1 is increased to changes in the air volume Q (N-N 1) Since the correction amount ΔI D is obtained and is associated with the current command I D *, it is possible to suppress the increase of the rotation speed N with respect to the change of the air volume Q, and to realize the series winding characteristic. Setting this current correction amount [Delta] I D optionally can expand the range of variation of the rotation speed N. As a result, there is an effect that the range of change in the number of revolutions can be expanded to arbitrarily adjust the suction power P out , and an electric vacuum cleaner with improved suction performance can be obtained. According to the present invention, an inverter-controlled brushless DC motor is used as a drive source of an electric vacuum cleaner, closed-loop current control is performed based on a current command, and the current command is corrected according to the rotation speed. There is an effect that an electric vacuum cleaner having an arbitrary suction performance and improved suction performance, which is controlled by an optimum electric motor according to a load change of the electric vacuum cleaner, can be obtained.
第１図は本発明の一実施例に係る速度制御装置の制御回
路をブロツク的に示した概略構成図、第２図はブラシレ
ス直流電動機とインバータ制御装置からなる速度制御装
置の全体構成図、第３図は本発明による電気掃除機の性
能曲線図である。 ９……ブラシレス直流電動機、10……インバータ制御装
置、11……ホーレ素子、12……磁極位置検出回路、13…
…マイクロコンピユータ、17……電流検出回路、18……
速度指令回路、19……ベースドライバ、20……インバー
タ、21……電流指令回路。FIG. 1 is a schematic block diagram of a control circuit of a speed control device according to an embodiment of the present invention, and FIG. 2 is an overall configuration diagram of a speed control device including a brushless DC motor and an inverter control device. FIG. 3 is a performance curve diagram of the vacuum cleaner according to the present invention. 9 ... Brushless DC motor, 10 ... Inverter control device, 11 ... Hole element, 12 ... Magnetic pole position detection circuit, 13 ...
… Microcomputer, 17 …… Current detection circuit, 18 ……
Speed command circuit, 19 ... Base driver, 20 ... Inverter, 21 ... Current command circuit.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 宮下 邦夫 茨城県日立市久慈町4026番地 株式会社日 立製作所日立研究所内 (72)発明者 豊島 久則 茨城県日立市東多賀町１丁目１番１号 株 式会社日立製作所多賀工場内 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Kunio Miyashita, Kunio Miyashita, 4026 Kuji Town, Hitachi City, Ibaraki Prefecture, Hitachi Research Laboratory, Hitachi, Ltd. Ceremony company Hitachi factory Taga factory
Claims (1)
速度制御装置とを有する電気掃除機において、 前記電動機に与える任意の指令に基づいて前記電動機の
電流指令を演算する手段と、前記電動機の回転数Ｎを求
め、予め定められた基準値N1との偏差から電流補正値を
演算する手段と、前記電動機の負荷電流を演算する手段
とを有し、 前記電流指令及び前記負荷電流に基づく閉ループ電流制
御を行うとともに、前記電流指令を前記電流補正値で補
正することを特徴とする電気掃除機。1. An electric vacuum cleaner having a motor as a drive source and a speed controller for varying the speed of the motor, and means for calculating a current command of the motor based on an arbitrary command given to the motor, And a means for calculating a current correction value from a deviation from a predetermined reference value N 1 and a means for calculating a load current of the electric motor, wherein the current command and the load current An electric vacuum cleaner, which performs closed-loop current control based on, and corrects the current command with the current correction value.
Priority Applications (11)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62080951A JPH0728546B2 (en) | 1987-04-03 | 1987-04-03 | Vacuum cleaner |
| KR1019870011223A KR940002923B1 (en) | 1986-10-08 | 1987-10-06 | Method and apparatus for operating vacuum cleaner |
| US07/105,598 US4880474A (en) | 1986-10-08 | 1987-10-08 | Method and apparatus for operating vacuum cleaner |
| EP19910100654 EP0424364A3 (en) | 1986-10-08 | 1987-10-08 | Method and apparatus for operating vacuum cleaner |
| DE8787114688T DE3776069D1 (en) | 1986-10-08 | 1987-10-08 | METHOD AND DEVICE FOR OPERATING A VACUUM CLEANER. |
| EP87114688A EP0264728B1 (en) | 1986-10-08 | 1987-10-08 | Method and apparatus for operating vacuum cleaner |
| EP19910100653 EP0424363A3 (en) | 1986-10-08 | 1987-10-08 | Method and apparatus for operating vacuum cleaner |
| US07/365,491 US4983895A (en) | 1986-10-08 | 1989-06-13 | Method and apparatus for operating vacuum cleaner |
| US07/592,664 US5075607A (en) | 1986-10-08 | 1990-10-04 | Method and apparatus for operating vacuum cleaner |
| US07/592,662 US5294872A (en) | 1986-10-08 | 1990-10-04 | Method and apparatus for operating vacuum cleaner |
| US07/771,738 US5166585A (en) | 1986-10-08 | 1991-10-04 | Motor control apparatus for an electric vacuum cleaner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62080951A JPH0728546B2 (en) | 1987-04-03 | 1987-04-03 | Vacuum cleaner |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63249488A JPS63249488A (en) | 1988-10-17 |
| JPH0728546B2 true JPH0728546B2 (en) | 1995-03-29 |
Family
ID=13732809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62080951A Expired - Fee Related JPH0728546B2 (en) | 1986-10-08 | 1987-04-03 | Vacuum cleaner |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0728546B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3656901B2 (en) | 2000-08-29 | 2005-06-08 | 東芝テック株式会社 | Drive control circuit using inverter control circuit of electric blower for vacuum cleaner and electric vacuum cleaner using this drive control circuit |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61173690A (en) * | 1985-01-28 | 1986-08-05 | Hitachi Ltd | Speed controller of motor |
-
1987
- 1987-04-03 JP JP62080951A patent/JPH0728546B2/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61173690A (en) * | 1985-01-28 | 1986-08-05 | Hitachi Ltd | Speed controller of motor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS63249488A (en) | 1988-10-17 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |