KR101687556B1

KR101687556B1 - Motor driving apparatus and home appliance including the same

Info

Publication number: KR101687556B1
Application number: KR1020150122848A
Authority: KR
Inventors: 박천수
Original assignee: 엘지전자 주식회사
Priority date: 2015-08-31
Filing date: 2015-08-31
Publication date: 2016-12-19

Abstract

The present invention relates to a motor driving apparatus and a home appliance having the motor driving apparatus. The motor driving apparatus according to the embodiment of the present invention includes an inverter that includes a plurality of switching elements and converts an AC power source to an AC power source by switching of a switching element to supply AC power to the first motor and the second motor And a control unit for controlling the inverter, wherein the control unit sets the flux current command value in accordance with the phase difference or the speed difference between the first motor and the second motor, and based on the switching control signal based on the set flux current command value , And controls the inverter. This makes it possible to reduce the speed error at the time of simultaneous control of a plurality of motors connected in parallel with each other.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a motor driving apparatus and a home appliance having the same,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a motor driving apparatus and a home appliance having the same, and more particularly to a motor driving apparatus capable of reducing a speed error when a plurality of motors connected in parallel to each other are simultaneously controlled, .

The motor driving apparatus is an apparatus for driving a motor having a rotor for rotating and a stator for winding a coil.

On the other hand, the motor drive apparatus can be classified into a sensor-driven motor drive apparatus using sensors and a sensorless motor drive apparatus without sensor.

2. Description of the Related Art In recent years, sensorless motor drive devices have been widely used due to a reduction in manufacturing cost and the like. Accordingly, a sensorless motor drive device has been studied for efficient motor drive.
On the other hand, Korean Patent Laid-Open Publication No. 2010-0077231 discloses that only the first motor M1 is operated when a plurality of motors are controlled by one inverter and the output current of the inverter exceeds the upper limit value. However, There is a disadvantage that pulsation due to the speed difference between the two motors may occur when two motors are simultaneously driven.

SUMMARY OF THE INVENTION An object of the present invention is to provide a motor drive apparatus capable of reducing a speed error when a plurality of motors connected in parallel to each other are simultaneously controlled and a home appliance having the motor drive apparatus.

According to an aspect of the present invention, there is provided a motor drive apparatus including a plurality of switching elements, the method comprising the steps of: switching a DC power source to an AC power source by switching a switching element, And a control unit for controlling the inverter, wherein the control unit sets the flux current command value in accordance with the phase difference or the speed difference between the first motor and the second motor, And controls the inverter based on the switching control signal.

According to another aspect of the present invention, there is provided a motor drive apparatus including a plurality of switching elements, the method comprising the steps of: switching a DC power source to an AC power source by switching a switching element, A second output current detection section for detecting an output current flowing to the second motor, and a control section for controlling the inverter, wherein the first output current detection section detects the output current flowing to the second motor, And the control unit calculates a phase difference or a speed difference between the first motor and the second motor based on the first output current and the second output current and generates a switching control signal so that the phase difference or the speed difference is reduced And outputs it to the inverter.

According to another aspect of the present invention, there is provided a home appliance including a motor and a plurality of switching elements, the DC power source being converted into an AC power source by switching the switching elements, And a control unit for controlling the inverter. The control unit sets a flux current command value in accordance with a phase difference or a speed difference between the first motor and the second motor, And controls the inverter based on the switching control signal based on the current command value.

According to another aspect of the present invention, there is provided a home appliance comprising: a motor; and a plurality of switching elements, the DC power being converted into an AC power by the switching of the switching elements, A second output current detection section for detecting an output current flowing to the second motor, and a second output current detection section for controlling the inverter. The first output current detection section detects an output current flowing to the second motor, Wherein the control unit calculates a phase difference or a speed difference between the first motor and the second motor based on the first output current and the second output current and outputs a switching control signal And outputs it to the inverter.

A motor driving apparatus and a home appliance having the motor driving apparatus according to an embodiment of the present invention are provided with a plurality of switching elements and convert an AC power source to an AC power source by switching of a switching element, And a control unit for controlling the inverter. The control unit sets the flux current command value in accordance with the phase difference or the speed difference between the first motor and the second motor, The speed error can be reduced when the plurality of motors connected in parallel to each other are simultaneously controlled by controlling the inverter based on the switching control signal based on the switching control signal.

In particular, as the phase difference or speed difference between the first motor and the second motor increases, the speed error between the first and second motors can be reduced by controlling the magnitude of the negative polarity flux current command value to become larger .

On the other hand, as the speed of the first motor and the second motor increases, the speed error between the first and second motors can be reduced by controlling the magnitude of the negative magnetic flux component.

According to another aspect of the present invention, there is provided a motor driving apparatus and a home appliance having the motor driving apparatus. The motor driving apparatus includes a plurality of switching elements, converts the DC power to an AC power by switching the switching elements, A second output current detection section for detecting an output current flowing in the second motor; and a control section for controlling the inverter, And the control unit calculates a phase difference or a speed difference between the first motor and the second motor based on the first output current and the second output current and outputs a switching control signal And outputting them to the inverter, it is possible to reduce the speed error at the time of simultaneous control of a plurality of motors connected in parallel with each other.

1 illustrates an example of an internal block diagram of a motor driving apparatus according to an embodiment of the present invention.
2 is an example of an internal circuit diagram of the motor driving apparatus of FIG.
3 is an internal block diagram of the inverter control unit of FIG.
4 is a diagram illustrating the rotation of the first motor and the second motor.
5A is a view showing an example of a speed error between the first motor and the second motor.
Figures 5B-5F illustrate various examples of output currents corresponding to the velocity error of Figure 5A.
6A is a diagram showing an example of a speed error between the first motor and the second motor by the motor driving apparatus according to the embodiment of the present invention.
6B-6F illustrate various examples of output currents corresponding to the velocity error of FIG. 6A.
7 is a perspective view illustrating a laundry processing apparatus, which is an example of a home appliance according to an embodiment of the present invention.
8 is an internal block diagram of the laundry processing apparatus of FIG.
FIG. 9 is a diagram illustrating a configuration of an air conditioner, which is another example of a home appliance according to an embodiment of the present invention.
10 is a schematic view of the outdoor unit and the indoor unit of FIG.
11 is a perspective view illustrating a refrigerator that is another example of a home appliance according to an embodiment of the present invention.
12 is a view schematically showing the configuration of the refrigerator of Fig.

Hereinafter, the present invention will be described in detail with reference to the drawings.

The suffix "module" and " part "for components used in the following description are given merely for convenience of description, and do not give special significance or role in themselves. Accordingly, the terms "module" and "part" may be used interchangeably.

The motor driving apparatus described in this specification can estimate the rotor position of the motor by a sensorless method in which a position sensing unit such as a hall sensor for sensing the rotor position of the motor is not provided Which is a motor-driven device. Hereinafter, a sensorless motor drive apparatus will be described.

Further, the motor drive apparatus described in this specification is a drive apparatus capable of driving a plurality of motors connected in parallel with each other. Hereinafter, a description will be given of a motor driving apparatus in which two motors are connected in parallel to each other and one inverter is used to drive two motors.

Meanwhile, the motor driving apparatus 220 according to the embodiment of the present invention may be referred to as a motor driving unit.

FIG. 1 illustrates an example of an internal block diagram of a motor driving apparatus according to an embodiment of the present invention, and FIG. 2 illustrates an example of an internal circuit diagram of the motor driving apparatus of FIG.

The motor driving apparatus 220 according to the embodiment of the present invention drives a motor in a sensorless manner and is connected to the inverter 420 and the inverter 420 in parallel with each other And may include a first motor 230a, a second motor 230b, and an inverter control unit 430. [

The motor driving apparatus 220 according to the embodiment of the present invention includes a converter 410, a DC voltage detection unit B, a smoothing capacitor C, a first output current detection unit E1, (E2). The driving unit 220 may further include an input current detection unit A, a reactor L, and the like.

The inverter control unit 430 according to the embodiment of the present invention controls the inverter 420 to apply the same switching control signal to simultaneously control the first motor 230a and the second motor 230b.

Meanwhile, when the first motor 230a and the second motor 230b are simultaneously controlled, a phase difference or a speed difference occurs between the first motor 230a and the second motor 230b, and the phase difference or the speed difference becomes large The greater the occurrence of vibration in at least one of the first motor 230a and the second motor 230b.

Particularly, when the first motor 230a and the second motor 230b are simultaneously controlled, a phase difference or a speed difference occurs between the first motor 230a and the second motor 230b, (D-axis current) among the output currents flowing through the first and second motors 230a and 230b becomes large.

According to the present invention, in order to solve this problem, it is necessary to set the magnetic flux partial current command value in accordance with the phase difference or the speed difference between the first motor 230a and the second motor 230b, And controls the inverter 420 based on the signal. This makes it possible to reduce the speed error at the time of simultaneous control of a plurality of motors connected in parallel with each other.

In particular, the inverter control unit 430 controls the magnitude of the negative magnetic flux minute current command value to become larger as the phase difference or speed difference between the first motor 230a and the second motor 230b increases.

On the other hand, the inverter control unit 430 controls the negative polarity flux current command value to become larger as the speed of the first motor 230a and the second motor 230b increases.

On the other hand, the inverter control unit 430 sets the magnetic flux component current command value corresponding to the phase difference of the first motor 230a and the second motor 230b or twice the frequency difference between the speeds of the first motor 230a and the second motor 230b, The inverter 420 can be controlled based on the switching control signal based on the switching control signal.

Hereinafter, the operation of each of the constituent units in the motor driving apparatus 220 of Fig. 1 and Fig. 2 will be described.

The reactor L is disposed between the commercial AC power source 405 (v _s ) and the converter 410, and performs a power factor correcting or boosting operation. The reactor L may also function to limit the harmonic current due to the fast switching of the converter 410.

The input current detection section A can detect the input current i _s input from the commercial AC power source 405. To this end, a current transformer (CT), a shunt resistor, or the like may be used as the input current detector A. The detected input current i _s can be input to the inverter control unit 430 as a discrete signal in the form of a pulse.

The converter 410 converts the commercial AC power source 405, which has passed through the reactor L, into DC power and outputs the DC power. Although the commercial AC power source 405 is shown as a single-phase AC power source in the figure, it may be a three-phase AC power source. The internal structure of the converter 410 also changes depending on the type of the commercial AC power source 405.

Meanwhile, the converter 410 may include a diode without a switching element, and may perform a rectifying operation without a separate switching operation.

For example, in the case of a single-phase AC power source, four diodes may be used in the form of a bridge, and in the case of a three-phase AC power source, six diodes may be used in the form of a bridge.

On the other hand, the converter 410 may be, for example, a half-bridge type converter in which two switching elements and four diodes are connected, and in the case of a three-phase AC power source, six switching elements and six diodes may be used .

When the converter 410 includes a switching element, the boosting operation, the power factor correction, and the DC power conversion can be performed by the switching operation of the switching element.

The smoothing capacitor C smoothes the input power supply and stores it. In the drawing, one element is exemplified by the smoothing capacitor C, but a plurality of elements are provided so that the element stability can be ensured.

For example, when a direct current power from the solar cell is supplied to the smoothing capacitor C (not shown), the direct current power is supplied to the smoothing capacitor C It may be input directly or may be DC / DC converted and input. Hereinafter, the portions illustrated in the drawings are mainly described.

On the other hand, both ends of the smoothing capacitor C are referred to as a dc stage or a dc stage because the dc power source is stored.

The dc voltage detection unit B can detect the dc voltage Vdc at both ends of the smoothing capacitor C. [ For this purpose, the dc voltage detection unit B may include a resistance element, an amplifier, and the like. The detected dc voltage source Vdc can be input to the inverter control unit 430 as a discrete signal in the form of a pulse.

The inverter 420 includes a plurality of inverter switching elements and converts the smoothed DC power supply Vdc into a three-phase AC power supply (va, vb, vc) having a predetermined frequency by on / off operation of the switching element, 1 motor 230a, and the second motor 230b.

The inverter 420 includes a pair of upper arm switching elements Sa, Sb and Sc and lower arm switching elements S'a, S'b and S'c serially connected to each other, The switching elements are connected to each other in parallel (Sa & S a, Sb & S'b, Sc & S'c). Diodes are connected in anti-parallel to each switching element Sa, S'a, Sb, S'b, Sc, S'c.

The switching elements in the inverter 420 perform ON / OFF operations of the respective switching elements based on the inverter switching control signal Sic from the inverter controller 430. [ Thereby, the three-phase AC power source having the predetermined frequency is outputted to the first motor 230a and the second motor 230b, respectively.

The inverter control unit 430 can control the switching operation of the inverter 420 based on the sensorless method. Particularly, in order to control the first motor 230a and the second motor 230b which are connected in parallel with each other, the inverter control unit 430 controls the first output current detecting unit E1 and the second output current detecting unit E2 And the detected output currents (i _o1 , i _o2 ) can be input.

The inverter control unit 430 outputs the inverter switching control signal Sic to the inverter 420 to control the switching operation of the inverter 420. [ The inverter switching control signal Sic is a switching control signal of the pulse width modulation method PWM and is a switching control signal of the output currents i _o1 and i _o2 detected by the first output current detection unit E1 and the second output current detection unit E2, And outputs it. Detailed operation of the output of the inverter switching control signal Sic in the inverter control unit 430 will be described later with reference to Fig.

The first output current detection unit E1 and the second output current detection unit E2 detect the output currents i _o1 and i _o2 flowing through the first motor 230a and the second motor 230b, respectively. That is, the current flowing in the first motor 230a and the second motor 230b is detected. The first output current detection unit E1 and the second output current detection unit E2 can detect all the output currents ia1, ib1, ic1 and ia2, ib2 and ic2 of each phase, So that the output currents of the two phases can be detected.

The first output current detection unit E1 and the second output current detection unit E2 may be located between the inverter 420 and the first motor 230a and between the inverter 420 and the second motor 230b , A current trnasformer (CT), a shunt resistor, or the like may be used for current detection.

When a shunt resistor is used, three shunt resistors may be located between the inverter 420 and the first motor 230a and between the inverter 420 and the second motor 230b.

The detected output currents io1 and io2 can be applied to the inverter control unit 430 as discrete signals in a pulse form and can be switched based on the detected output currents io1 and io2, The control signal Sic is generated. Hereinafter, the detected output currents io1 and io2 may be described as being three-phase output currents ia1, ib1, ic1 and ia2, ib2 and ic2.

On the other hand, the first motor 230a and the second motor 230b are three-phase motors having a stator and a rotor, and the coils of the stator of each phase (a, b, c) The alternating current power source of the predetermined frequency is applied, and the rotor rotates.

The first and second motors 230a and 230b may be a permanent magnet synchronous motor such as a Surface Mounted Permanent Magnet Synchronous Motor (SMPMSM), an Interior Permanent Magnet A synchronous motor (IPMSM), and a synchronous reluctance motor (Synrm). Among them, SMPMSM and IPMSM are permanent magnet applied Permanent Magnet Synchronous Motor (PMSM), and Synrm is characterized by having no permanent magnet.

On the other hand, in the following description, the first motor 230a and the second motor 230b are mainly described as a surface mount type permanent magnet synchronous motor (SPMSM) in which permanent magnets are formed symmetrically.

On the other hand, when the first motor 230a and the second motor 230b are a surface mount type permanent magnet synchronous motor (SPMSM) in which permanent magnets are formed symmetrically, the magnetic flux minute current command value (d-axis current command value) Lt; / RTI >

3 is an internal block diagram of the inverter control unit of FIG.

3, the inverter control unit 430 includes an axis conversion unit 310, a speed calculation unit 320, a selection unit 322, a current command generation unit 330, a voltage command generation unit 340, A switching unit 350, and a switching control signal output unit 360.

The axial conversion unit 310 receives the three phase output currents ia1, ib1 and ic1 detected by the first output current detection unit E1 and converts the two phase currents iα1 and iβ1 into the stationary coordinate system, Phase output currents ia2, ib2, and ic2 detected by the output current detecting unit E2 and converts the three-phase output currents ia2, ib2, and ic2 into two-phase currents i alpha 2 and i beta 2 in the stationary coordinate system.

On the other hand, the axis converting unit 310 converts the two-phase currents i? 1 and i? 1 in the stationary coordinate system into the two-phase currents id1 and iq1 in the rotating coordinate system, Phase currents (id2, iq2) of the coordinate system.

Based on the two-phase current (i? 1, i? 1) and the two-phase current (i? 2, i? 2) of the stationary coordinate system changed by the axis conversion unit 310 in the axis converting unit 310, the speed calculating unit 320 For computation position (

¹ ) and the calculated speed (

¹ ), and outputs an arithmetic operation position (i.e., an arithmetic operation position) to the rotor of the second motor 230b

² ) and the calculated speed (

² ).

The selection unit 322 can select the control target motor among the first motor 230a and the second motor 230b based on the rotational speeds of the first motor 230a and the second motor 230b.

On the other hand, the selection unit 322 selects the calculation position (i.e.,

¹ ) and the calculated speed (

¹ ) for the rotor of the second motor 230b,

² ) and the calculated speed (

² from the speed calculator 320 and output the calculation speed corresponding to the control target motor.

In the figure, the first motor 230a is selected as the control target motor, and the calculated speed of the first motor 230a (

¹ ) is output from the selection unit 322. [

That is, the first motor 230a may generate more vibration as a slave motor than the second motor 230b, which is the master motor, despite the drive by the same switching control signal Sic. In this case, the selection unit 322 can select the first motor 230a as the control target motor.

That is, the selection unit 322 can select the first motor 230a as the control target motor based on the phase difference or speed difference between the first motor 230a and the second motor 230b.

On the other hand, the selecting unit 322 receives from the axis converting unit 310 the two-phase currents id1 and iq1 of the rotational coordinate system for the first motor 230a and the two-phase currents id1 and iq2 for the second motor 230b, Phase currents id2 and iq2.

The selection unit 322 selects one of the two phases of the rotational coordinate system for the first motor 230a selected as the control target motor based on the phase difference or the speed difference between the first motor 230a and the second motor 230b And outputs the currents id1 and iq1 to the voltage command generation unit 340. [

On the other hand, the current command generation section 330 generates the current command (first command)

¹ ) and the speed command value? ^* _R2 , the current command value (i ^* _q ) can be generated.

In particular, it is preferable that the speed command value? ^* _R2 is a speed command value of the second motor 230a which is not a control target.

Accordingly, the current command generation section 330 generates the current command (the current command)

¹ ) and the speed command value? ^* _R2 of the second motor 230a, the PI controller 335 can perform the PI control and generate the current command value (i ^* _q ).

In the figure, the current command value (i ^* _q) may include a torque current command value of the q-axis current command value (i ^* _q) and the magnetic flux current command value in minutes, d-axis current command value (i ^* _d).

Based on the speed command value for the motor other than the control target motor among the first motor 230a and the second motor 230b and the rotation speed of the control target motor among the first motor 230a and the second motor 230b, ) Corresponding to the phase difference or the speed difference between the first motor 230a and the second motor 230b.

In particular, as the phase difference or the speed difference between the first motor 230a and the second motor 230b becomes larger, the current command generator 330 generates the negative magnetic flux minute current command value (the negative d axis current command value) Can be controlled to be larger.

On the other hand, as the speed of the first motor 230a and the second motor 230b increases, the magnitude of the negative magnetic flux minute current command value (the d axis current command value of the - component) becomes large .

On the other hand, the current command generation section 330 can set the magnetic flux minute current command value corresponding to the phase difference of the first motor 230a and the second motor 230b or the frequency twice the speed difference.

On the other hand, the current command generation section 330 may further include a limiter (not shown) for limiting the current command value (i ^* _q ) so that the current command value (i ^* _q ) does not exceed the allowable range.

Next, the voltage command generating unit 340 generates the voltage command generating unit 340 with the d-axis and q-axis currents (i _d , i _q ) axially transformed into the two-phase rotational coordinate system in the axial converting unit and the current command value based on ^{_{^{_{i * d, i * q)}}}} , and generates a d-axis, q-axis voltage command value ^{_{^{_{(v * d, v * q}}}} ). For example, the voltage command generation unit 340 performs PI control in the PI controller 344 based on the difference between the q-axis current (i _q ) and the q-axis current command value (i ^* _q ) It is possible to generate the axial voltage command value v ^* _q . The voltage command generation unit 340 performs PI control in the PI controller 348 based on the difference between the d-axis current i _d and the d-axis current command value i ^* _d , It is possible to generate the command value v ^* _d . The voltage command generator 340 may further include a limiter (not shown) for limiting the level of the d-axis and q-axis voltage command values v ^* _d and v ^* _q so as not to exceed the permissible range .

On the other hand, the generated d-axis and q-axis voltage command values (v ^* _d and v ^* _q ) are input to the axial conversion unit 350.

The axis transforming unit 350 transforms the position calculated by the velocity calculating unit 320

) And the d-axis and q-axis voltage command values (v ^* _d , v ^* _q ).

First, the axis converting unit 350 performs conversion from a two-phase rotating coordinate system to a two-phase stationary coordinate system. At this time, the position calculated by the speed calculator 320 (

) Can be used.

Then, the axial conversion unit 350 performs conversion from the two-phase stationary coordinate system to the three-phase stationary coordinate system. Through this conversion, the axial conversion unit 1050 outputs the three-phase output voltage instruction values v ^* a, v ^* b, v ^* c.

The switching control signal output section 360 generates the switching control signal Sic for inverter according to the pulse width modulation (PWM) method based on the three-phase output voltage instruction values v ^* a, v ^* b and v ^* And outputs it.

The output inverter switching control signal Sic may be converted into a gate driving signal in a gate driving unit (not shown) and input to the gate of each switching element in the inverter 420. As a result, the switching elements Sa, S'a, Sb, S'b, Sc, and S'c in the inverter 420 perform the switching operation.

In this manner, the inverter control unit 430 sets the flux current command value in accordance with the phase difference or the speed difference between the first motor 230a and the second motor 230b, and based on the set magnetic flux current command value, A control signal can be output. Thereby, the inverter 420 is controlled.

4 is a diagram illustrating the rotation of the first motor and the second motor.

Referring to the drawing, the inverter 420 is operated by the same switching control signal Sic, thereby rotating the first motor 230a and the second motor 230b, respectively.

In the drawing, it is exemplified that the first motor 230a and the second motor 230b rotate at the speeds of wr1 and wr2, respectively, despite the same control.

When the inverter control unit 430 selects one of the first motor 230a and the second motor 230b as the control target motor and then outputs a switching control signal based on the motor , A phase difference or a speed difference occurs in a motor that is not a control target. If this phenomenon continues, motor control becomes impossible.

5A is a view showing an example of a speed error between the first motor and the second motor.

Referring to the drawing, the speed difference between the speed Wm1 of the master motor and the speed ws1 of the slave motor becomes the greatest in the section ta1 where the speed of the motor is the highest, and as the speed becomes lower, The speed difference between the two is reduced.

On the other hand, as described above, the master motor may be the first motor 230a, and the slave motor may be the second motor 230b.

5B illustrates the output current ioa1 flowing through the first motor 230a in the section Ta1 of FIG. 5A and the flux current (d-axis current) ida1 based on the output current ioa1.

The Ta1 section may be a section where the first motor 230a rotates at approximately 600 rpm.

5C illustrates the output current iob1 flowing through the first motor 230a in the period Tb1 of FIG. 5A and the flux current (d-axis current) idb1 based on the output current ioa2.

The Tb1 section may be a section in which the first motor 230a rotates at about 500 rpm.

5D illustrates the output current ioc1 flowing through the first motor 230a in the section Tc1 of FIG. 5A and the flux current (d-axis current) idc1 based on the output current ioc1.

The Tc1 period may be a period in which the first motor 230a rotates at about 400 rpm.

5E illustrates the output current iod1 flowing through the first motor 230a in the section Td1 of FIG. 5A and the flux current (d-axis current) idd1 based on the output current iod1.

The Td1 period may be a period in which the first motor 230a rotates at about 300 rpm.

Fig. 5F illustrates the output current ioe1 flowing through the first motor 230a in the Te1 section of Fig. 5A and the flux current (d-axis current) ide1 based on the output current ioe1.

The Te1 section may be a section in which the first motor 230a rotates at approximately 200 rpm.

5A to 5F, when the speeds of the first motor 230a and the second motor 230b increase, it is known that the phase difference or speed difference between the first motor 230a and the second motor 230b increases. . It is also seen that the ripple component of the flux current is also large.

Accordingly, the inverter control unit 430 according to an embodiment of the present invention sets the flux current command value in accordance with the phase difference or speed difference between the first motor 230a and the second motor 230b, And controls the inverter 420 based on the switching control signal based on the minute current command value.

In particular, as the phase difference or speed difference between the first motor 230a and the second motor 230b increases, the inverter control unit 430 can control the negative polarity flux current command value to become larger.

On the other hand, the inverter control unit 430 can control the magnitude of the negative magnetic flux minute current command value to become larger as the speeds of the first motor 230a and the second motor 230b increase.

Meanwhile, the inverter control unit 430 according to another embodiment of the present invention controls the first motor 230a and the second motor 230b based on the first output current io1 and the second output current io2, It is possible to generate the switching control signal and output it to the inverter 420 so as to calculate the phase difference or the speed difference and reduce the phase difference or the speed difference.

6A is a diagram showing an example of a speed error between the first motor and the second motor by the motor driving apparatus according to the embodiment of the present invention.

Referring to the drawings, the control target motor can be changed to the first motor 230a and the second motor 230b by the control according to the embodiment of the present invention. That is, the control target motor can be changed from time to time.

As a result, the speed difference between the speed Wm2 of the master motor and the speed ws2 of the slave motor hardly occurs even in the section ta2 where the speed of the motor is highest. Therefore, it is possible to stably drive two motors at the same time.

On the other hand, as described above, the master motor and the slave motor can be changed between the first motor 230a and the second motor 230b.

Hereinafter, it is assumed that the master motor is the first motor 230a and the slave motor is the second motor 230b.

6B-6F illustrate various examples of output currents corresponding to the velocity error of FIG. 6A.

6B illustrates the output current ioa2 flowing through the first motor 230a in the Ta2 section of Fig. 6A and the flux current (d-axis current) ida2 based on the output current ioa2.

The Ta2 section may be a section in which the first motor 230a rotates at approximately 600 rpm.

6C illustrates the output current iob2 flowing through the first motor 230a in the period Tb2 in FIG. 6A and the flux current (d-axis current) idb2 based on the output current ioa2.

The Tb2 section may be a section where the first motor 230a rotates at about 500 rpm.

Fig. 6D illustrates the output current ioc2 flowing through the first motor 230a in the section Tc2 in Fig. 6A and the flux current (d-axis current) idc2 based on the output current ioc2.

The Tc2 period may be a period in which the first motor 230a rotates at about 400 rpm.

6E illustrates the output current iod2 flowing through the first motor 230a in the period Td2 in FIG. 6A and the flux current (d-axis current) idd2 based on the output current iod2.

The Td2 section may be a section in which the first motor 230a rotates at approximately 300 rpm.

6F illustrates the output current ioe2 flowing through the first motor 230a in the Te2 section of FIG. 6A and the flux current (d-axis current) ide2 based on the output current ioe2.

The Te2 section may be a section in which the first motor 230a rotates at about 200 rpm.

6A to 6F, by applying the negative magnetic flux component command value to the first motor 230a and the second motor 230b so that the phase difference or the speed difference between the first motor 230a and the second motor 230b is reduced, There is almost no phase difference or speed difference between the motor 230a and the second motor 230b regardless of the speed of the second motor 230b. Thus, it is possible to stably control two motors at the same time.

On the other hand, the above-described motor driving apparatus can be used in various devices. For example, it can be used in a laundry appliance, an air conditioner, a refrigerator, a water purifier, a vacuum cleaner, and the like in a home appliance. Further, it can be applied to a vehicle, a robot, a drone, etc., which can be operated by a motor.

7 is a perspective view illustrating a laundry processing apparatus according to an embodiment of the present invention.

Referring to the drawings, a laundry processing apparatus 100a according to an embodiment of the present invention is a front load type laundry processing apparatus in which a bag is inserted into a washing tub in a front direction. Such a front type laundry processing apparatus is a concept including a washing machine in which a bag is inserted and performing washing, rinsing and dewatering, or a dryer in which a wet cloth is inserted to perform drying, and the following description will mainly focus on a washing machine.

The laundry processing apparatus 100a of FIG. 7 is a laundry laundry processing apparatus which includes a cabinet 110 for forming an outer appearance of the laundry processing apparatus 100a, a cabinet 110 disposed inside the cabinet 110, A motor 130 for driving the washing tub 122 and a cabinet 110 disposed outside the cabinet main body 111. The washing tub 122 is disposed inside the cabinet 110, (Not shown) for supplying washing water to the inside of the tub 120 and a drain (not shown) for discharging washing water to the outside.

A plurality of through holes 122A are formed in the washing tub 122 so as to allow washing water to pass therethrough. The washing tub 122 is lifted up to a predetermined height during the rotation of the washing tub 122, (124) may be disposed.

The cabinet 110 includes a cabinet body 111 and a cabinet cover 112 disposed on the front surface of the cabinet body 111 and coupled to the cabinet body 111. The cabinet 110 is disposed above the cabinet cover 112, And a top plate 116 disposed on the control panel 115 and coupled to the cabinet main body 111. The cabinet main body 111 includes a top plate 116,

The cabinet cover 112 includes a catch and release hole 114 formed so as to be able to move in and out of the can and a door 113 arranged to be rotatable in the left and right direction so that the catch and release hole 114 can be opened and closed.

The control panel 115 is provided with operation keys 117 for operating the laundry processing apparatus 100a and a display device (not shown) disposed at one side of the operation keys 117 and for displaying the operation state of the laundry processing apparatus 100a 118).

The operation keys 117 and the display device 118 in the control panel 115 are electrically connected to a control unit (not shown), and a control unit (not shown) electrically controls each component, etc. of the laundry processing apparatus 100a do. The operation of the control unit (not shown) will be described later.

On the other hand, the washing tub 122 may be provided with autobalance (not shown). The autobalance (not shown) is for reducing vibrations caused by the amount of eccentricity of the laundry contained in the washing tub 122, and can be realized by liquid balance, ball balance, or the like.

The laundry processing apparatus 100a may further include a vibration sensor for measuring the vibration amount of the washing tub 122 or the vibration amount of the cabinet 110 although not shown in the drawing.

8 is an internal block diagram of the laundry processing apparatus of FIG.

Referring to the drawings, the laundry processing apparatus 100a is configured such that the driving unit 220 is controlled by a control operation of the control unit 210, and the driving unit 220 includes a first motor 230a and a second motor 230b.

The washing tub 122 is connected to the first motor 230a and rotated by the first motor 230a and the second washing tub 122b is connected to the second motor 230b to rotate the second motor 230b, As shown in Fig.

Meanwhile, the first motor 230a and the second motor 230b may be connected in parallel with each other.

That is, the laundry processing apparatus 100a includes two washing tanks, and each of them can be driven by the first motor 230a and the second motor 230b.

The control unit 210 receives an operation signal from the operation key 1017 and performs an operation. Thus, washing, rinsing and dewatering can be performed.

Also, the control unit 210 can control the display 18 to display the washing course, the washing time, the dehydration time, the rinsing time, or the current operation state.

The control unit 210 controls the driving unit 220 so that the driving unit 220 controls the first motor 230a and the second motor 230b to operate. At this time, a position sensing unit for sensing the rotor position of the motor is not provided inside or outside the first motor 230a and the second motor 230b. That is, the driving unit 220 controls the first motor 230a and the second motor 230b by a sensorless method.

The driving unit 220 drives the first motor 230a and the second motor 230b and includes an inverter (not shown), an inverter control unit (not shown), a first motor 230a and a second motor The first and second output current detection sections (E1 and E2 in FIG. 2) for detecting the output currents flowing through the first and second motors 230a and 230b and the output voltages vo1 and vo2 applied to the first and second motors 230a and 230b, (Not shown) for detecting an output voltage. Further, the driving unit 220 may be a concept further including a converter or the like that supplies DC power input to an inverter (not shown).

For example, the inverter control unit (430 in FIG. 2) in the driving unit 220 estimates the rotor position of the first motor 230a and the second motor 230b based on the output currents io1 and io2 . Then, based on the estimated rotor position, the first motor 230a and the second motor 230b are controlled to rotate.

Specifically, the inverter control unit 430 of FIG. 2 generates a switching control signal (Sic of FIG. 2) of a pulse width modulation (PWM) method based on the output currents io1 and io2, The inverter (not shown) performs a high-speed switching operation, and supplies AC power of a predetermined frequency to the first motor 230a and the second motor 230b. The first motor 230a and the second motor 230b are rotated by AC power of a predetermined frequency.

On the other hand, the driving unit 220 may correspond to the motor driving device 220 of FIG.

On the other hand, the control unit 210 can sense the amount of discharged fluid based on the output current (i _o1 ) flowing through the first motor 230a. For example, during the rotation of the washing tub 122, the laundry amount can be sensed based on the current value i _o1 of the first motor 230a.

In particular, the control unit 210 can accurately detect the amount of the battery pack using the stator resistance and the inductance value of the motor measured in the motor alignment interval when the battery pack is detected.

Meanwhile, the controller 210 may sense the amount of eccentricity of the washing tub 122, that is, the unbalance (UB) of the washing tub 122. Such eccentricity detection can be performed based on the ripple component of the output current (i _o1 ) flowing to the first motor 230a or the rotational speed change amount of the washing tub 122. [

In particular, the controller 210 can accurately detect the amount of eccentricity by using the stator resistance and the inductance value of the motor measured in the motor alignment interval at the time of detecting the amount of discharged fluid.

FIG. 9 is a diagram illustrating a configuration of an air conditioner, which is another example of a home appliance according to an embodiment of the present invention.

The air conditioner 100b according to the present invention may include an indoor unit 31b and an outdoor unit 21b connected to the indoor unit 31b as shown in FIG.

The indoor unit 31b of the air conditioner may be any of a stand-type air conditioner, a wall-mounted type air conditioner, and a ceiling type air conditioner, but the stand type indoor unit 31b is exemplified in the figure.

Meanwhile, the air conditioner 100b may further include at least one of a ventilator, an air purifier, a humidifier, and a heater, and may operate in conjunction with the operation of the indoor unit and the outdoor unit.

The outdoor unit 21b includes a compressor (not shown) for receiving and compressing refrigerant, an outdoor heat exchanger (not shown) for exchanging heat between the refrigerant and outdoor air, an accumulator for extracting the gas refrigerant from the supplied refrigerant and supplying it to the compressor And a four-way valve (not shown) for selecting the flow path of the refrigerant according to the heating operation. In addition, a number of sensors, valves, oil recovery devices, and the like are further included, but a description thereof will be omitted below.

The outdoor unit 21b operates the compressor and the outdoor heat exchanger to compress or heat-exchange the refrigerant according to the setting to supply the refrigerant to the indoor unit 31b. The outdoor unit 21b can be driven by a demand of a remote controller (not shown) or the indoor unit 31b. At this time, as the cooling / heating capacity is changed corresponding to the indoor unit to be driven, the number of operation of the outdoor unit and the number of operation of the compressor installed in the outdoor unit can be varied.

At this time, the outdoor unit 21b supplies compressed refrigerant to the connected indoor unit 310b.

The indoor unit 31b receives the refrigerant from the outdoor unit 21b and discharges the cold air to the room. The indoor unit 31b includes an indoor heat exchanger (not shown), an indoor fan (not shown), an expansion valve (not shown) to which refrigerant is supplied, and a plurality of sensors (not shown).

At this time, the outdoor unit 21b and the indoor unit 31b are connected to each other via a communication line to exchange data. The outdoor unit and the indoor unit are connected to a remote controller (not shown) by wire or wireless, can do.

The remote controller (not shown) is connected to the indoor unit 31b, and inputs a control command of the user to the indoor unit, and receives and displays the status information of the indoor unit. At this time, the remote controller can communicate by wire or wireless according to the connection form with the indoor unit.

10 is a schematic view of the outdoor unit and the indoor unit of FIG.

Referring to the drawings, the air conditioner 100b is roughly divided into an indoor unit 31b and an outdoor unit 21b.

The outdoor unit 21b includes a compressor 102b that compresses the refrigerant, an electric motor 102bb that drives the compressor, an outdoor heat exchanger 104b that dissipates the compressed refrigerant, An outdoor fan 105b which is disposed at one side of the heat exchanger 104b and includes an outdoor fan 105ab for accelerating the heat radiation of the refrigerant and an electric motor 105bb for rotating the outdoor fan 105ab and an outdoor fan 105b for expanding the condensed refrigerant An accumulator 103b for temporarily storing the gasified refrigerant to remove water and foreign matter and supplying a refrigerant of a predetermined pressure to the compressor, a compressor 106b for compressing the refrigerant, a cooling / heating switching valve 110b for changing the flow path of the compressed refrigerant, And the like.

The indoor unit 31b includes an indoor heat exchanger 109b disposed inside the room and performing a cooling / heating function, an indoor fan 109ab disposed at one side of the indoor heat exchanger 109b for promoting heat radiation of the refrigerant, And an indoor fan 109b composed of an electric motor 109bb for rotating the fan 109ab.

At least one indoor heat exchanger 109b may be installed. At least one of an inverter compressor and a constant speed compressor can be used as the compressor 102b.

Further, the air conditioner 100b may be constituted by a cooler for cooling the room, or a heat pump for cooling or heating the room.

On the other hand, the outdoor unit 21b of Fig. 9 may include a plurality of outdoor fans. In particular, two outdoor fans may be provided.

In this case, the two outdoor fans can be driven by the motor driving device 220, as in Fig.

11 is a perspective view illustrating a refrigerator that is another example of a home appliance according to an embodiment of the present invention.

The refrigerator 100c according to the present invention includes a case 110c having an inner space divided into a freezing chamber and a refrigerating chamber, a freezing chamber door 120c for shielding the freezing chamber, A refrigerating compartment door 140c is formed on the outer surface of the refrigerating compartment.

A door handle 121c protruded frontward is further provided on a front surface of the freezing compartment door 120c and the refrigerating compartment door 140c so that the user can easily grip the freezing compartment door 120c and the refrigerator compartment door 140c .

Meanwhile, a home bar 180c may be provided on the front of the refrigerator compartment door 140c, which is a means for allowing a user to take out a stored beverage such as a beverage stored in the refrigerator compartment door 140c without opening the refrigerator compartment door 140c.

The dispenser 160c may be provided on the front surface of the freezing chamber door 120c as a convenience means for allowing the user to easily remove ice or drinking water without opening the freezing chamber door 120c. A control panel 210c for controlling the driving operation of the refrigerator 100c and showing the state of the refrigerator 100c in operation can be further provided on the upper side.

In the drawing, the dispenser 160c is disposed on the front surface of the freezing chamber door 120c. However, the dispenser 160c may be disposed on the front surface of the refrigerator chamber door 140c.

On the other hand, an ice-maker 190c for ice-cooling the water supplied from the ice maker using the cool air in the freezing room is provided in the upper portion of the freezing chamber (not shown), and an ice bank (Not shown). Further, although not shown in the drawings, an ice chute (not shown) may be further provided to guide the ice contained in the ice bank 195c to be dropped by the dispenser 160c.

The control panel 210c may include an input unit 220c including a plurality of buttons, and a display unit 230c for displaying a control screen and an operation state.

The display unit 230c displays information such as a control screen, an operating state, and a room temperature. For example, the display unit 230c can display the service type (ice, water, sculptured ice) of the dispenser, the set temperature of the freezer, and the set temperature of the freezer.

The display unit 230c may be implemented as a liquid crystal display (LCD), a light emitting diode (LED), an organic light emitting diode (OLED), or the like. Also, the display unit 230c may be implemented as a touch screen capable of performing the function of the input unit 220c.

The input unit 220c may include a plurality of operation buttons. For example, the input unit 220c includes a dispenser setting button (not shown) for setting the service type (each ice, water, sculpted ice, etc.) of the dispenser, a freezer room temperature setting button (not shown) And a refrigerator compartment temperature setting button (not shown) for setting the freezer compartment temperature. The input unit 220c may be implemented as a touch screen capable of performing a function of the display unit 230c.

Meanwhile, the refrigerator according to the embodiment of the present invention is not limited to the double door type shown in the drawing, but may be a one door type, a sliding door type, a curtain door type (Curtain Door Type).

12 is a view schematically showing the configuration of the refrigerator of Fig.

The refrigerator 100c includes a compressor 112c, a condenser 116c for condensing the refrigerant compressed by the compressor 112c, and a condenser 116c for condensing the refrigerant condensed in the condenser 116c, A freezer compartment evaporator 124c disposed in a freezer compartment (not shown), and a freezer compartment expansion valve 134c for expanding the refrigerant supplied to the freezer compartment evaporator 124c.

In the figure, one evaporator is used, but it is also possible to use the evaporator in each of the refrigerating chamber and the freezing chamber.

That is, the refrigerator 100c includes a refrigerating compartment evaporator (not shown) disposed in a refrigerating compartment (not shown), a three-way valve (not shown) for supplying the refrigerant condensed in the condenser 116c to a refrigerating compartment evaporator (Not shown), and a refrigerating compartment expansion valve (not shown) for expanding the refrigerant supplied to the refrigerating compartment evaporator (not shown).

The refrigerator 100c may further include a gas-liquid separator (not shown) in which the refrigerant having passed through the evaporator 124c is separated into a liquid and a gas.

The refrigerator 100c further includes a refrigerator compartment fan (not shown) and a freezer compartment fan 144c that suck the refrigerant that has passed through the freezer compartment evaporator 124c and blow it into a refrigerator compartment (not shown) and a freezer compartment can do.

The refrigerator can further include a compressor driving unit 113c for driving the compressor 112c and a refrigerating compartment fan driving unit (not shown) and a freezing compartment fan driving unit 145c for driving the refrigerating compartment fan (not shown) and the freezing compartment fan 144c have.

In this case, a damper (not shown) may be installed between the refrigerator compartment and the freezer compartment, and a fan (not shown) may be installed between the refrigerator compartment and the freezer compartment, Can be forcedly blown to be supplied to the freezer compartment and the refrigerating compartment.

Meanwhile, the refrigerator 100c may be driven by using one inverter 420 when the refrigerator compartment fan (not shown) and the freezer compartment fan 144c are driven.

In such a case, the refrigerator compartment fan (not shown) and the freezer compartment fan 144c may be driven by the motor driving device 220 as shown in Fig.

The motor driving apparatus and the home appliance having the motor driving apparatus according to the embodiment of the present invention can be applied to the configuration and method of the embodiments described above in a limited manner, All or some of the embodiments may be selectively combined.

Meanwhile, the motor driving method or the method of operating the home appliance of the present invention can be implemented as a processor-readable code on a recording medium readable by a processor included in a motor driving apparatus or a home appliance. The processor-readable recording medium includes all kinds of recording apparatuses in which data that can be read by the processor is stored.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the present invention.

Claims

An inverter that has a plurality of switching elements and converts the DC power to an AC power by switching of the switching element to supply the AC power to the first motor and the second motor;
And a controller for controlling the inverter,
Wherein,
And sets a magnetic flux partial current command value in accordance with a phase difference or a speed difference between the first motor and the second motor and controls the inverter based on a switching control signal based on the set magnetic flux minute current command value,
Wherein,
And controls the magnitude of the negative magnetic flux component command value to become larger as the phase difference or speed difference between the first motor and the second motor becomes larger.

delete

The method according to claim 1,
Wherein,
And controls the magnitude of the negative magnetic flux component command value to become larger as the speed of the first motor and the second motor increases.

The method according to claim 1,
Wherein,
Wherein the control means sets a flux magnetic flux command value corresponding to twice the phase difference or speed difference between the first motor and the second motor and controls the inverter based on the switching control signal based on the set magnetic flux minute current command value And the motor drive device.

The method according to claim 1,
Wherein the first motor and the second motor comprise:
Wherein the permanent magnet is a surface mount type permanent magnet synchronous motor (SPMSM) formed in a symmetrical manner.

The method according to claim 1,
A first output current detector for detecting an output current flowing to the first motor;
And a second output current detector for detecting an output current flowing to the second motor,
Wherein,
And calculates a phase difference or a speed difference between the first motor and the second motor based on the first output current and the second output current.

The method according to claim 6,
Wherein,
A speed calculator for calculating a rotational speed of the first motor and the second motor based on the first output current and the second output current;
A selection unit for selecting a control target motor among the first motor and the second motor based on the rotation speeds of the first motor and the second motor and outputting the rotation speed of the selected control target motor;
A current command generator for generating a current command value based on the rotation speed of the control target motor and a speed command value;
A voltage command generator for generating a voltage command value based on the current command value from the current command generator;
And a switching control signal output unit for outputting an inverter switching control signal based on the voltage command value.

8. The method of claim 7,
Wherein the current command generator comprises:
A speed difference between the first motor and the second motor corresponding to a phase difference or a speed difference between the first motor and the second motor based on a speed command value for the motor other than the control target motor among the first motor and the second motor, , And generates the current command value.

An inverter that has a plurality of switching elements and converts the DC power to an AC power by switching of the switching element to supply the AC power to the first motor and the second motor;
A first output current detector for detecting an output current flowing to the first motor;
A second output current detector for detecting an output current flowing to the second motor;
And a controller for controlling the inverter,
Wherein,
Calculates a phase difference or a speed difference between the first motor and the second motor based on the first output current and the second output current and generates a switching control signal so that the phase difference or the speed difference is reduced And outputs it to the inverter,
Wherein,
And controls the magnitude of the negative magnetic flux component command value to become larger as the phase difference or speed difference between the first motor and the second motor becomes larger.

10. A home appliance comprising a motor drive device according to any one of claims 1 to 9.