KR102521483B1 - Washing machine and motor - Google Patents

Abstract

Suppresses occurrence of problems caused by switching of the number of magnetic poles of the rotor. By switching the number of magnetic poles of the outer rotor 20, it is possible to rotate the outer rotor 20 and the inner rotor 30 in a synchronous rotation mode or an upper half rotation mode. And, when the outer rotor 20 is set to the number of magnetic poles for performing the upper rotation mode and becomes inoperable, in the state where the outer rotor 20 is stopped, the number of magnetic poles for performing the synchronous rotation mode switch

Description

Washing machine and motor {WASHING MACHINE AND MOTOR}

The present invention relates to a washing machine and a motor.

Conventionally, a washing machine is known which includes a motor in which an inner rotor and an outer rotor are disposed inside and outside one stator, and allows the rotating tub and the stirring body to rotate independently (see, for example, Patent Document 1). .

In Patent Literature 1, by rotating the agitator in the normal/reverse direction in the washing process, water or laundry in the rotating tub flows in the forward/reverse direction to obtain a washing action, and in the spin-drying process, the rotating tub and the agitator move in the same direction. A configuration for rotating is disclosed.

Incidentally, the inventors of the present invention conceived of applying a plurality of switching magnets capable of inverting magnetic poles to the rotor by applying a magnetizing current. In addition, by switching the number of magnetic poles of the rotor, the motor can be rotated in a synchronous rotation mode in which the inner and outer rotors rotate in the same direction, and an upper rotation mode in which the inner and outer rotors rotate in different directions. .

However, in the middle of applying a magnetizing current to the switching magnet, there are cases where the magnetic pole of the switching magnet is in an unclear state, such as when the power supply is unintentionally turned off. If operation is restarted in such a state, problems such as motors becoming inoperable may occur.

The present invention has been made in view of these points, and its object is to suppress occurrence of problems caused by switching of the number of magnetic poles of the rotor.

A washing machine according to an embodiment for achieving the above object,

In a washing machine performing a water supply process and a washing process, a rotating tub accommodating laundry, a water tub having the rotating tub installed therein, a pulsator rotatably provided inside the rotating tub, a motor rotating the rotating tub and the pulsator, and and at least one processor controlling the motor, wherein the motor comprises at least one of a stator, a first rotor and a second rotor independently rotatable with respect to the stator, and the first rotor or the second rotor. A switching unit for switching the number of magnetic poles, wherein the at least one processor controls a switching operation of the switching unit to rotate the first rotor and the second rotor in the same direction, and the first rotation mode and the first rotor and driving the motor in a second rotation mode in which the second rotor rotates in an opposite direction, and the at least one processor controls the switching unit to drive the motor in the first rotation mode before starting the water supply process. .

In addition, the at least one processor may control the motor to be driven in the second rotation mode after the water supply operation ends.

In addition, the at least one processor may control a magnetizing current to be applied to any one of a U-phase coil, a V-phase coil, and a W-phase coil of the motor after the water supply step is finished.

In addition, the at least one processor controls so that a magnetizing current having a predetermined magnitude is applied to any one of a U-phase coil, a V-phase coil, and a W-phase coil of the motor after the water supply step is finished, and the predetermined magnitude When a magnetizing current of is applied, the amplitude of the d-axis current or the amplitude of the q-axis current on the motor control may be greater than or equal to a predetermined size.

In addition, the magnetic flux sensor for detecting the magnetic flux of at least one of the first magnet of the first rotor and the second magnet of the second rotor, the at least one processor, based on the detection result of the magnetic flux sensor It is possible to determine whether the first rotation mode is driven.

The processor may further include a speed sensor for detecting rotation speeds of the first rotor and the second rotor, and the at least one processor determines whether the first rotation mode is driven based on a detection result of the speed sensor. can

In addition, at least one of the first rotor and the second rotor includes a plurality of switching magnets whose magnetic poles are reversed based on a switching operation of the switching unit, and the at least one processor controls the position and magnetic poles of the switching magnets. and controls the switching unit to reverse a magnetic pole of opposite polarity to a magnetic pole for driving the motor in the first rotation mode among the plurality of switching magnets, based on the stored positions and magnetic poles of the switching magnets. can do.

In addition, the at least one processor may control the switching unit to repeatedly reverse the magnetic pole of the switching magnet until the magnetic pole having the opposite polarity to the magnetic pole for driving the motor in the first rotation mode disappears. there is.

In addition, the at least one processor rotates the second rotor in one direction, and while the second rotor rotates, the switching magnet increases the front side corresponding to the rotational direction of the second rotor. Wealth can be controlled.

In addition, the at least one processor rotates the second rotor in a direction opposite to the one direction, and increases the front side corresponding to the rotational direction of the second rotor in the switching magnet while the second rotor rotates. It is possible to control the conversion unit to do so.

In addition, the at least one processor rotates the second rotor in one direction, and reverses the magnetic pole of the rear side corresponding to the rotational direction of the second rotor in the switching magnet while the second rotor rotates. It is possible to control the conversion unit so as to.

In addition, the at least one processor rotates the second rotor in a direction opposite to the one direction, and while the second rotor rotates, the rear magnetic pole corresponding to the rotation direction of the second rotor in the switching magnet. It is possible to control the switching unit to invert.

In addition, the motor according to an embodiment for achieving the above object,

In a motor including a stator, and first and second rotors independently rotatable with respect to the stator, a switching unit for switching the number of magnetic poles of at least one of the first rotor and the second rotor and the switching unit By controlling the switching operation, the motor is driven in a first rotation mode in which the first rotor and the second rotor rotate in the same direction and in a second rotation mode in which the first rotor and the second rotor rotate in opposite directions. and at least one processor configured to, when the second rotor does not operate when the first rotor and the second rotor are driven in the second rotation mode, the first rotor and the second rotor. The switching unit is controlled so that the second rotor is driven in the first rotation mode.

In addition, at least one of the first rotor and the second rotor includes a plurality of switching magnets whose magnetic poles are reversed as a magnetizing current is applied from a coil, and the controller, when the second rotor does not operate, The magnetizing current for switching the magnetic pole of the switching magnet may be energized to the U-phase coil, the V-phase coil, and the W-phase coil of the motor at least once.

In addition, the at least one processor drives the first rotor and the second rotor in the first rotation mode after the magnetizing current is energized in the coil, and when the second rotor does not operate, the coil It is possible to control the energization operation to be repeated.

In addition, the width θ at which each of the plurality of conversion magnets are spaced apart may be an electrical angle of 30° < θ < 180°.

In addition, the width (θ) at which each of the plurality of conversion magnets are spaced apart may be an electrical angle of 60° < θ < 120°.

In addition, the magnetic poles of the plurality of switching magnets are reversed based on the switching operation of the switching unit, and the at least one processor rotates the second rotor in one direction, and while the second rotor rotates, the The switching unit may be controlled to increase the front side corresponding to the rotational direction of the second rotor in the switching magnet.

In addition, the at least one processor rotates the second rotor in a direction opposite to the one direction, and increases the front side corresponding to the rotational direction of the second rotor in the switching magnet while the second rotor rotates. It is possible to control the conversion unit to do so.

In addition, the at least one processor rotates the second rotor in one direction, and reverses the magnetic pole of the rear side corresponding to the rotational direction of the second rotor in the switching magnet while the second rotor rotates. Control the switching unit to rotate the second rotor in a direction opposite to the one direction, and reverse the magnetic pole of the rear side corresponding to the rotational direction of the second rotor in the switching magnet while the second rotor rotates. It is possible to control the conversion unit to do so.

In addition, a washing machine according to another embodiment for achieving the above object,

In a washing machine performing a water supply process and a washing process, a rotating tub accommodating laundry, a water tub having the rotating tub installed therein, a pulsator rotatably provided inside the rotating tub, a motor rotating the rotating tub and the pulsator, and and at least one processor controlling the motor, wherein the motor includes a stator, a first rotor and a second rotor independently rotatable with respect to the stator, and at least one magnetic pole of the first rotor or the second rotor. A first rotation mode and a first rotation mode for rotating the first rotor and the second rotor in the same direction by controlling a switching operation of the switching unit, and the first rotor and The motor is driven in a second rotation mode in which the second rotor is rotated in an opposite direction, and the at least one processor is configured to rotate the second rotor in the second rotation mode when the first rotor and the second rotor are driven in the second rotation mode. When the rotor does not operate, the switching unit may be controlled so that the first rotor and the second rotor are driven in the first rotation mode.

Also, when the second rotor does not operate, the at least one processor may control the switching unit so that the first rotor and the second rotor are driven in the first rotation mode.

According to the present invention, occurrence of problems caused by switching of the number of magnetic poles of the rotor is suppressed.

1 is a side sectional view showing the configuration of a washing machine according to this embodiment.
Fig. 2 is a plan view showing the overall configuration of the motor.
Fig. 3 is a plan view showing the main part of the motor, showing a state in which the number of magnetic poles of the outer rotor is 32 poles.
4 is a plan cross-sectional view showing a movement path of magnetic flux.
Fig. 5 is a plan view showing a main part of the motor, showing a state in which the number of magnetic poles of the outer rotor is 16 poles.
6 is a plan cross-sectional view showing a moving path of magnetic flux.
Fig. 7 is a diagram showing BH curves when magnets having different coercive forces are used as the stationary magnet and the switching magnet.
Fig. 8 is a flowchart showing the procedure of initialization control for switching to the number of magnetic poles for performing the synchronous rotation mode before the start of the water supply process.
Fig. 9 is a diagram showing a state in which a magnetizing current is applied to remove the polarity.
10 is a flowchart showing a recovery procedure when the motor becomes inoperable.
Fig. 11 is a diagram explaining the relationship between the width of the switching magnet and the electrical angle.
Fig. 12 is a diagram explaining the timing of increasing the S pole switching magnet.
Fig. 13 is a diagram explaining the timing of increasing the N-pole switching magnet.
Fig. 14 is a diagram explaining the timing of pole inversion of the S-pole switching magnet.
Fig. 15 is a diagram explaining the timing of pole inversion of the N-pole switching magnet.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of this invention is described based on drawing. In addition, the description of the following preferred embodiment is essentially only an example, and is not intended to limit the present invention, its application or its use.

<Overall composition of the washing machine>

1 shows the washing machine 1 of this embodiment. This washing machine 1 is a fully automatic washing machine capable of automatically controlling each process from washing to rinsing and spin-drying.

The washing machine 1 has a housing 2 in the shape of a rectangular box, and a circular inlet 4 opened and closed by a door 3 is formed on the front surface thereof. Laundry is put in and out through this inlet 4.

On the upper part of the front surface of the housing 2, an operation unit 5 in which switches and the like are disposed is provided, and a controller 6 (control unit) is incorporated in the rear thereof. This controller 6 can be implemented with at least one processor. Inside the housing 2, a water tank 10, a drum 11 (rotating tank), a motor 16, a pulsator 12, and the like are arranged.

The water tank 10 is a cylindrical container with a bottom having an opening 10a smaller in diameter than the inner diameter at one end, and the opening 10a is directed toward the input port 4, and its center line is in a substantially horizontal direction from front to back. It is installed inside the housing 2 in a state in which it is horizontally arranged so as to extend to . A water supply unit 7 is provided in the upper part of the water tank 10, and during washing or rinsing, washing water or rinsing water supplied from the water supply unit 7 is stored in the lower part of the water tank 10. A drain pipe 8 controlled by a valve is connected to the lower portion of the water tank 10, and unnecessary water is drained to the outside of the washing machine 1 through the drain pipe 8.

The drum 11 is a bottomed cylindrical container having an opening 11a at one end and a bottom at the other end, and is accommodated in the water tank 10 with the opening 11a facing forward. there is. The drum 11 is rotatable around a rotating shaft J extending in the front-rear direction, and each process such as washing, rinsing, and spin-drying is performed in a state where laundry is accommodated in the drum 11.

A large number of water passage holes 1lb penetrating inside and outside are formed in the peripheral wall of the drum 11, and the washing water accumulated in the water tank 10 passes through these water passage holes 1lb to the inside of the drum 11. is introduced into

The pulsator 12 is disposed at the bottom of the drum 11 . The pulsator 12 is rotatable about the rotation axis J independently of the drum 11 .

A double shaft 15 composed of an inner shaft 13 and an outer shaft 14 is installed in a state of penetrating the bottom face of the water tank 10 centering on the rotation axis J. The outer shaft 14 is a cylindrical shaft having a shorter axial length than the inner shaft 13 .

The inner shaft 13 is rotatably pivotally supported inside the outer shaft 14, and the pulsator 12 is connected to and supported at its tip. The outer shaft 14 is rotatably pivotally supported by the water tank 10, and a drum 11 is connected to and supported at its front end. Base ends of the outer shaft 14 and the inner shaft 13 are connected to a motor 16 arranged on the rear side of the water tank 10 .

The motor 16 has a flat cylindrical outer appearance with a diameter smaller than that of the water tank 10, and is attached to the rear side of the water tank 10. The motor 16 drives each of the outer shaft 14 and the inner shaft 13 independently.

The controller 6 is comprised of hardware, such as a CPU and memory, and software, such as a control program. The controller 6 includes an algorithm for controlling the operation of the components in the washing machine 1, a memory for storing data in the form of a program, and at least one processor for performing the above-described operation using the data stored in the memory. can be implemented In this case, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip.

The controller 6 comprehensively controls the washing machine 1, and automatically operates each process such as water supply, washing, rinsing, and spin-drying according to instructions input through the operation unit 5. The controller 6 is provided with a storage unit 6a and a determination unit 6b. Note that the storage unit 6a and the determination unit 6b will be described later.

<motor>

The washing machine 1 according to an exemplary embodiment may include a motor unit for driving the washing machine 1 , and the motor unit may include a motor 12 and a controller 6 . Such a controller 6 is comprised of hardware, such as a CPU and memory, and software, such as a control program. The controller 6 will be implemented by including an algorithm for controlling the operation of components in the motor unit, a memory for storing data in the form of a program, and at least one processor for performing the above-described operation using the data stored in the memory. can In this case, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip. The controller 6 can comprehensively control the motor unit. As shown in FIG. 2 , the motor 16 is composed of an outer rotor 20 (second rotor), an inner rotor 30 (first rotor), a stator 40 and the like. That is, this motor 16 is a so-called dual-rotor motor in which an outer rotor 20 and an inner rotor 30 are provided on the outer and inner sides of one stator 40 in the radial direction.

And, the outer rotor 20 and the inner rotor 30 are connected to the pulsator 12 and the drum 11 without intervening a clutch or an acceleration/decelerator, etc., and are configured to directly drive them.

The outer rotor 20 and the inner rotor 30 share the coil 43 of the stator 40, and by supplying a current to the coil 43, the motor 16 operates with the outer rotor 20 and Each of the inner rotors 30 can be rotationally driven independently.

The outer rotor 20 is a cylindrical member with a flat bottom, and has a rotor yoke 22 erected on the periphery of the bottom portion and a plurality of outer magnets 24 composed of circular arc-shaped permanent magnets.

In this embodiment, the outer rotor 20 is a consequent type rotor, and 16 outer magnets 24 are arranged so that S poles are alternately arranged at intervals in the circumferential direction, and the inner surface of the rotor yoke 22 is fixed on Although described in detail later, the outer magnet 24 is composed of a switching magnet 25 capable of increasing magnetic force or inverting magnetic poles by controlling the energization operation to the coil 43 .

The inner rotor 30 is a cylindrical member with a flat bottom having a smaller outer diameter than the outer rotor 20, and consists of a plurality of inner peripheral wall portions 32 erected around the bottom and rectangular plate-shaped permanent magnets. It has an inner magnet 34.

In this embodiment, the inner rotor 30 is a spoke-type rotor, and 32 inner magnets 34 are arranged radially at intervals in the circumferential direction, and are installed and fixed to the inner peripheral wall portion 32 . A rotor core 33 is disposed between the inner magnets 34 in the circumferential direction.

The stator 40 is formed of an annular member having an outer diameter smaller than the inner diameter of the outer rotor 20 and a larger inner diameter than the outer diameter of the inner rotor 30 . The stator 40 is equipped with a plurality of teeth 41, coils 43, etc., embedded in resin. The stator 40 of this embodiment is provided with 24 I-shaped teeth 41 and a coil 43 .

The teeth 41 are thin plate-shaped iron members having an I-shaped longitudinal section, and are arranged around the entire circumference of the stator 40 so that they are radially arranged at regular intervals. The inner circumferential side and outer circumferential side end portions of the tooth 41 protrude in the circumferential direction from both corners thereof in a flange shape.

A coil 43 is formed on each tooth 41 by continuously winding three wires coated with an insulating material through an insulating material in a predetermined order and configuration on the tooth 41 . A group of teeth 41 on which coils 43 are formed are embedded with a thermosetting resin by molding in a state in which only the diameter-side end faces are exposed, and are fixed in a certain arrangement in an insulated state.

The end of the tooth 41 on the inner rotor 30 side faces the rotor core 33 with a slight gap, and the end of the tooth 41 on the outer rotor 20 side faces the outer magnet 24 with a slight gap. A stator 40, an inner rotor 30, and an outer rotor 20 are attached so as to face each other with a gap therebetween.

At a position near the inner rotor 30 between adjacent teeth 41, a digital magnetic flux sensor 44 and a speed sensor 46 are disposed. The magnetic flux sensor 44 is for grasping the position of the inner magnet 34 of the inner rotor 30 . In addition, the speed sensor 46 is for detecting the rotational speed of the inner rotor 30 .

Further, at a position near the outer rotor 20 between adjacent teeth 41, an analog magnetic flux sensor 45 and a speed sensor 47 are disposed. The magnetic flux sensor 45 is composed of, for example, a hall sensor, and is for grasping the position of the outer magnet 24 of the outer rotor 20 . In addition, the speed sensor 47 is for detecting the rotational speed of the outer rotor 20 .

In the motor 16 according to the present embodiment, when the coil 43 of the stator 40 is energized, different poles are simultaneously generated on the outer side and the inner side of the teeth 41, accompanying the rotating magnetic field. , The outer rotor 20 and the inner rotor 30 each rotate independently.

In this way, by sharing the stator 40 with the outer rotor 20 and the inner rotor 30, the outer rotor 20 and the inner rotor 30 can be rotationally driven in a plurality of rotation modes by one inverter. there is.

<Operation of switching the number of stimuli>

Fig. 3 is a plan view showing a main part of the motor, showing a state at a mechanical angle of 90 degrees. All of the outer magnets 24 are composed of switching magnets 25 . All of the inner magnets 34 are composed of stationary magnets 35 . Here, the switching magnet 25 is a magnet whose polarity is reversed when a magnetizing current is supplied to the coil 43 as a switching unit. Note that the stationary magnet 35 is a magnet whose polarity does not reverse even when a magnetizing current is supplied to the coil 43 . There is no need to depend on the size of the coercive force or the type of magnet, which will be described later.

Here, "reversing" or "non-reversing" indicates the polarity of the entire magnet, and even if a part has an opposite polarity, the total magnetic flux can be determined.

In this embodiment, the number of poles St of the stator 40 is 24 poles, the number of poles of the inner rotor 30 is 32 poles, and the maximum number of poles of the outer rotor 20 is 32 poles, and the ratio is St :m = 3:4. Here, the outer rotor 20 can be switched to 32 poles or 16 poles by switching the number of poles by magnetization.

In the state shown in Fig. 3, the outer magnets 24 are arranged at intervals in the circumferential direction so that the surface of the outer magnet 24 on the side of the teeth 41 becomes the S pole. By disposing the outer magnets 24 in this way, the rotor yoke 22 of the outer rotor 20 between the adjacent S-pole outer magnets 24 becomes N-pole, and the number of magnetic poles of the outer rotor 20 32 poles (see Fig. 4). Here, since the N-pole portion of the rotor yoke 22 does not have a salient pole structure, the magnetic resistance between the rotor yoke 22 and the teeth 41 becomes substantially the same. By using a resultant rotor without such a salient pole structure, it is possible to have a structure in which vibration and noise are suppressed.

As shown in FIG. 4, the magnetic flux from the N-pole portion of the rotor yoke 22 passes through the inner rotor 30 side through the teeth 41, and passes through the other teeth 41 to the outer magnet 24. It enters the S pole and returns to the N pole of the rotor yoke 22 through the rotor yoke 22.

Here, when the number of magnetic poles of the outer rotor 20 is 32, the induced voltage is reduced because the air gap between the rotor yoke 22 and the teeth 41 of the N pole of the outer rotor 20 is large. For this reason, it is preferable to set the number of magnetic poles of the outer rotor 20 to 32 at the time of spin-drying requiring high speed and low torque.

On the other hand, magnetizing current is supplied to the coil 43 to invert some magnetic poles of the outer magnet 24, and as shown in FIG. 5, when the N pole and the S pole are alternately arranged at intervals in the circumferential direction, , the number of magnetic poles of the outer rotor 20 is 16 poles.

As shown in FIG. 6, the magnetic flux from the N pole of the outer magnet 24 passes through the inner rotor 30 side through the teeth 41 and enters the S pole of the outer magnet through the other teeth 41, , returns to the N pole of the outer magnet 24 through the rotor yoke 22.

Here, when the number of magnetic poles of the outer rotor 20 is 16 poles, the air gap between the N-pole outer magnet 24 and the teeth 41 is smaller than in the case of 32 poles, so the induced voltage increases. Therefore, at the time of washing requiring low speed and high torque, it is preferable to set the number of magnetic poles of the outer rotor 20 to 16 poles.

Next, a method for switching the magnetic poles of the outer magnet 24 from 32 poles to 16 poles will be described using FIG. 3 . 3 shows 32 poles, but it can be made 16 poles by switching the magnetic pole of the second magnet from the bottom from the S pole to the N pole. A magnetizing current is passed through the coil 43 so that a magnetic field flows through the second tooth 41 from the bottom and the third tooth 41 from the bottom in the direction indicated by the arrow in FIG. 3 . As a result, the magnetic pole of the second outer magnet 24 from the bottom can be reversed from the S pole to the N pole.

Next, using Fig. 5, a method of switching the magnetic pole of the outer magnet 24 from 16 poles to 32 poles will be described. 5 shows 16 poles, it can be made 32 poles by switching the magnetic pole of the second magnet from the bottom from the N pole to the S pole. A magnetizing current is passed through the coil 43 so that a magnetic field flows through the second tooth 41 from the bottom and the third tooth 41 from the bottom in the direction indicated by the arrow in FIG. 5 . As a result, the magnetic pole of the second outer magnet 24 from the bottom can be reversed from the N pole to the S pole.

In addition, in the case of the arrangement of the outer magnet 24 shown in FIG. 5, the front pole may remain in a part of the second outer magnet 24 from the bottom, but if necessary, the angle of the outer rotor 20 , it is possible to completely reverse the magnetization by suitably matching the phases of the magnetizing currents passed through the coil 43 and performing magnetization a plurality of times.

Here, the magnetic resistance of the path of magnetic flux passing through the outer magnet 24 between teeth 41 to be magnetized is greater than the magnetic resistance of the path of magnetic flux passing through the vicinity of the air gap of the inner rotor 30 . That is, in the inner rotor 30, part of the magnetic flux passing through the inner magnet 34 is branched so as to pass near the air gap.

As a result, when a magnetizing current is supplied, more magnetic flux than that of the stationary magnet 35 flows through the switching magnet 25, and the magnetization force of the switching magnet 25 portion is greater than that of the stationary magnet 35 portion.

In this way, by appropriately setting the path of the magnetic flux for magnetization, even when the switching magnet 25 and the fixed magnet 35 are composed of ferrite magnets having the same coercive force, for example, magnetic pole switching of only the switching magnet 25 can be achieved. can be done stably.

Alternatively, the switching magnet 25 and the stationary magnet 35 may be composed of two or more types of magnets having different coercive forces. For example, by making the coercive force of the stationary magnet 35 larger than that of the switching magnet 25, more stable magnetization can be obtained. In addition, by using a rare earth magnet as the fixed magnet 35 of the inner rotor 30, the torque balance between the inner rotor 30 and the outer rotor 20 can be obtained more easily.

Fig. 7 is a diagram showing B-H curves (magnetic hysteresis curves) when magnets having different coercive forces are used as the stationary magnet 35 and the switching magnet 25. Here, when a magnetic field that does not exceed +A or more and -A or less and does not exceed the coercive force of the fixed magnet 35 is generated by flowing a magnetizing current through the coil 43, as can be seen from the figure, the switching magnet 25 It is possible to reverse the stimulation of The current to be magnetized may be a pulse current, and magnetization is possible in a time of about several tens of milliseconds.

By the way, in magnetizing the switching magnet 25, it is advantageous that the voltage applied to the coil 43 is as high as possible in order to increase the magnetizing current. Further, even when high-speed rotation is performed, such as during spin-drying, a higher voltage is more likely to be performed. However, in the case of low-speed rotation and high torque, such as during washing or rinsing, the efficiency of the inverter is generally good if it is not too high.

Therefore, in the present embodiment, the same voltage as the magnetization is supplied to the inverter during magnetization and spin-drying, while a voltage lower than the magnetization voltage is supplied to the inverter during washing. Thereby, power consumption can be reduced.

<About rotation mode>

Here, an operation of switching the number of magnetic poles for reversing the magnetic poles of the switching magnets 25 by supplying a magnetizing current to the coil 43 is controlled by the controller 6 . That is, based on the control command of the controller 6, the outer rotor 20 and the inner rotor 30 are rotationally driven in a plurality of rotation modes.

Specifically, as shown in FIG. 3, if the outer magnets 24 are arranged so that the S poles are arranged at intervals in the circumferential direction, the outer rotor 20 between the outer magnets 24 of adjacent S poles ) of the rotor yoke 22 becomes the N pole, and the number of magnetic poles of the outer rotor 20 becomes 32 poles. At this time, the outer rotor 20 and the inner rotor 30 rotate in the same direction (clockwise in FIG. 3). In this embodiment, this rotation mode is referred to as a synchronous rotation mode.

On the other hand, magnetizing current is supplied to the coil 43 to reverse some magnetic poles of the outer magnet 24, and as shown in FIG. 5, the outer magnet 24 has an N pole and an S pole at intervals in the circumferential direction. When switching to be arranged alternately, the number of magnetic poles of the outer rotor 20 becomes 16 poles. At this time, the outer rotor 20 rotates counterclockwise in FIG. 5 , while the inner rotor 30 rotates clockwise in FIG. 5 . That is, the outer rotor 20 and the inner rotor 30 rotate in different directions at different speeds. In this embodiment, this rotation mode is called an upper half rotation mode.

In addition, as the rotation mode, different rotation rates of the synchronous rotation mode and the upper half rotation mode or the same rotation rate can be configured by a combination of the number of magnetic poles other than the present embodiment. In this way, the synchronous rotation mode or the counter-rotation mode also includes a rotation mode in which the motor rotates in the same direction or in a different direction at the same speed or at a different speed, at an arbitrary rotation ratio or with different torque.

In addition, in this embodiment, although the position of the inner rotor 30 and the outer rotor 20 is grasped by the magnetic flux sensors 44 and 45 and three-phase current is passed, it is not limited to this form. For example, a so-called sensorless method such as using an induced voltage or using a detection current may be employed. Moreover, you may make a 3-phase current flow using other methods, such as an encoder.

<Regarding the control before the start of the water supply stroke>

By the way, before the start of the water supply process, the drum 11 is rotated in order to unwrap the laundry in the drum 11. However, if the number of magnetic poles of the outer rotor 20 becomes unclear, such as when the power supply is unintentionally turned off while the number of magnetic poles of the outer rotor 20 is being switched, for example, when driving is restarted, There is a possibility that the motor 16 rotates in the rotation mode. And, since the drum 11 and the pulsator 12 rotate in opposite directions in the counter-rotation mode, there is a possibility that the laundry may be twisted and the fabric may be damaged.

Therefore, in the present embodiment, before the start of the water supply stroke, the number of magnetic poles of the outer rotor 20 is switched to the number of magnetic poles for performing the synchronous rotation mode, while after the end of the water supply stroke, the magnetic poles for performing the reverse rotation mode are switched. I am converting it into a number.

Specifically, when a magnetizing current is passed through the U-phase coil 43, the qd-axis current of motor control greatly changes accordingly. The current amplitude during normal driving of the motor 16 is about 0.5 A to 10 A, but the current required for magnetization varies depending on the specifications of the magnet, but the current amplitude is about 15 A to 30 A.

Accordingly, since the work of unwrapping the laundry before starting the water supply process is always performed in the synchronous rotation mode, the possibility of damaging the laundry can be reduced.

Then, whether or not the motor 16 is operating in the synchronous rotation mode is determined based on the detection results of the magnetic flux sensor 45 and the speed sensors 46 and 47 . Specifically, in the magnetic flux sensor 45 disposed on the side of the outer rotor 20, the positions and magnetic poles of the plurality of switching magnets 25 are detected. The speed sensor 46 detects the rotational speed of the inner rotor 30 , and the speed sensor 47 detects the rotational speed of the outer rotor 20 .

The detection results of the magnetic flux sensor 45 and the speed sensors 46 and 47 are transmitted to the controller 6 and stored in the storage unit 6a. In the determination unit 6b of the controller 6, the number of magnetic poles of the outer rotor 20 is checked from the detection result of the magnetic flux sensor 45, and it is determined whether or not the number of magnetic poles for performing the synchronous rotation mode is switched.

In addition, in the determination part 6b, by detecting the speed difference between the outer rotor 20 and the inner rotor 30 from the detection result of the speed sensors 46 and 47, it can also determine whether or not the synchronous rotation mode is performed. .

And, what is necessary is just to control so that the motor 16 may be rotated in the upper rotation mode by switching the number of magnetic poles of the outer rotor 20 after completion|finish of the water supply process. Accordingly, in the washing step, the washing effect can be enhanced by rotating the drum 11 and the pulsator 12 in reverse.

<About initialization control>

Hereinafter, the procedure of initialization control for switching to the number of magnetic poles for performing the synchronous rotation mode before the start of the water supply process will be described using a flowchart in FIG. 8 .

As shown in Fig. 8, in step S101, the motor 16 is started, and the process proceeds to step S102.

In step S102, it is determined whether there is no switching magnet 25 having a polarity opposite to that of the magnetic pole for performing the synchronous rotation mode among the plurality of switching magnets 25, that is, the presence or absence of a polarity. As shown in FIG. 9 , the presence or absence of a polarity can be determined from the output of the magnetic flux sensor 45 . That is, among the output signals obtained periodically by the magnetic flux sensor 45, it can be determined that the magnetic pole of the switching magnet 25 is the N pole of the portion protruding in the positive direction. If the determination in step S102 is "Yes", the process branches to step S103. When the determination in step S102 is "No", the process ends.

In step S103, the position of the two poles is stored in the storage unit 6a, fed back to the next magnetization position, and the process proceeds to step S104.

In step S104, the polarity switching magnet 25 is magnetized, and the process returns to step S102. As shown in Fig. 9, by applying a magnetizing current to the N-pole switching magnet 25, the polarity is reversed.

And the polarity inversion of the switching magnet 25 is performed by repeating from step S102 to step S104 until the polarity opposite to the magnetic pole for performing the synchronous rotation mode disappears. Thereby, the synchronous rotation mode can be performed reliably.

<About control when the rotor cannot operate>

In this embodiment, by switching the number of magnetic poles of the outer rotor 20, the outer rotor 20 and the inner rotor 30 are rotated in the synchronous rotation mode or the counter rotation mode.

However, when the power supply is unintentionally turned off during the counter-counter rotation mode, even if the operation of the motor 16 is attempted to be restarted, if an abnormality such as demagnetization occurs in the counter-counter rotation mode and the torque is insufficient, the rotor completely starts. There is a risk of becoming unable to do so.

Therefore, in the present embodiment, the number of magnetic poles is switched while the outer rotor 20 is stopped to return to the synchronous rotation mode, thereby eliminating the lack of torque and putting the outer rotor 20 into an operable state. Hereinafter, a recovery procedure when the motor 16 becomes inoperable is explained using a flowchart in FIG. 10 .

As shown in Fig. 10, in step 201, it is detected that the motor 16 has become inoperable, and the process proceeds to step S202.

In step S202, the U-phase coil 43 is energized, and the process proceeds to step S203.

In step S203, the V-phase coil 43 is energized, and the process proceeds to step S204.

In step S204, the W-phase coil 43 is energized, and the process proceeds to step S205.

In step S205, the motor 16 is started to operate the outer rotor 20 and the inner rotor 30 in a synchronous rotation mode after the magnetization current is applied to the coils 43 of the U, V, and W phases, The process proceeds to step S206.

In step S206, it is determined whether the motor 16 has started. If the determination in step S206 is "Yes", the process branches to step S207. If the determination in step S206 is "No", the process branches to step S202.

In step S207, the switching magnet 25 is increased in order to perform the synchronous rotation mode, and the process ends. In this way, the lack of torque can be eliminated and the outer rotor 20 can be brought into an operable state.

On the other hand, when the outer rotor 20 continues to be unable to operate, the energization operation to the coil 43 of the U-phase, V-phase, and W-phase is repeated (from step S202 to step S206).

<About the width of the conversion magnet>

By the way, when the outer rotor 20 becomes inoperable, in order to reverse the polarity of the switching magnet 25 by energizing the coil 43 of the U phase, V phase, and W phase at least once, the outer rotor 20 ) is stopped, the switching magnet 25 needs to face the tooth 41 of any one of the U phase, V phase, and W phase.

Specifically, as shown in Fig. 11, the teeth 41 of the U, V, and W phases are spaced apart from each other by 120 degrees electrically. Therefore, if the width (θ) of the switching magnet 25 is set within the range of 60° < θ < 120°, with the minimum magnet width being 60° electrical angle and the maximum magnet width being electrical angle 120°, the outer When the rotor 20 is stopped, the switching magnet 25 faces the tooth 41 of any one of the U phase, V phase, and W phase, so that the polarity of the switching magnet 25 can be reliably reversed. .

<About the timing of increase or polarity reversal>

Inside the switching magnet 25, magnetic flux flows from the S pole toward the N pole. Then, the magnetic force of the switching magnet 25 can be increased by flowing the magnetic flux in the same direction as the magnetic flux flowing inside the switching magnet 25 . Further, by flowing magnetic flux in the opposite direction to the magnetic flux flowing through the inside of the switching magnet 25, the switching magnet 25 can be reversed in polarity.

12 to 15, in this embodiment, when increasing or polarizing the magnetic force of the switching magnet 25, consider the rotation direction of the outer rotor 20 and the position of the switching magnet 25, there is.

First, as shown in FIG. 12, the outer rotor 20 is rotating in one direction (leftward direction in FIG. 12), and the S-pole switching magnet 25 facing the tooth 41 is increased. Review.

In this case, during the rotation of the outer rotor 20, magnetic flux flows from the teeth 41 toward the front portion of the switching magnet 25 in the rotational direction (the left side portion in FIG. 12), so that the switching magnet 25 ) increases the left part of As a result, when the switching magnet 25 is increased, a suction force acts between the left side of the switching magnet 25 and the tooth 41, and the outer rotor 20 is accelerated in the rotation direction, so the consonant sound can be reduced. there is.

In addition, after increasing the left portion of the switching magnet 25, the remaining right portion (rear side portion in the rotational direction in FIG. 12) is reversely rotated to increase the outer rotor 20 in the same manner.

That is, during reverse rotation of the outer rotor 20, magnetic flux flows from the teeth 41 toward the front portion (right side portion in FIG. 12) in the reverse rotation direction of the switching magnet 25, thereby ) increases the right part of As a result, when the switching magnet 25 is increased, a suction force acts between the right side of the switching magnet 25 and the teeth 41, and the outer rotor 20 is accelerated in the reverse rotation direction, so that the consonant sound can be reduced. can

In FIG. 13, the magnetic flux flow is shown when the outer rotor 20 rotates in one direction (leftward direction in FIG. 13) and the N-pole switching magnet 25 facing the teeth 41 is increased.

As shown in FIG. 13, during rotation of the outer rotor 20, magnetic flux flows from the front side portion (left side portion in FIG. 13) of the rotation direction of the switching magnet 25 toward the teeth 41, The left part of the conversion magnet 25 is increased. As a result, when the switching magnet 25 is increased, a suction force acts between the left side of the switching magnet 25 and the tooth 41, and the outer rotor 20 is accelerated in the rotation direction, so the consonant sound can be reduced. there is.

After increasing the left portion of the switching magnet 25, the remaining right portion (the portion on the rear side in the rotational direction in FIG. 13) may be increased in the same manner by rotating the outer rotor 20 in reverse.

Subsequently, as shown in FIG. 14, when the outer rotor 20 is rotating in one direction (leftward direction in FIG. 14) and the S-pole switching magnet 25 facing the tooth 41 is reversed in polarity review about

In this case, during the rotation of the outer rotor 20, magnetic flux flows from the rear side portion of the rotation direction of the switching magnet 25 (the right side portion in FIG. 14) toward the teeth 41, thereby ) is polar inverted. As a result, when the switching magnet 25 is pole-reversed, a repulsive force acts between the right side of the switching magnet 25 and the teeth 41, and the outer rotor 20 is accelerated in the rotational direction, thereby reducing the consonant sound. can

After polarity inversion of the right portion of the switching magnet 25, the remaining left portion (front side portion in the rotational direction in FIG. 14 ) may be reversed by rotating the outer rotor 20 in a similar manner.

In FIG. 15, the magnetic flux flow is shown when the outer rotor 20 rotates in one direction (leftward direction in FIG. 15) and the N-pole switching magnet 25 facing the teeth 41 is reversed in polarity. .

As shown in FIG. 15, during rotation of the outer rotor 20, magnetic flux flows from the teeth 41 toward the rear portion of the switching magnet 25 in the rotational direction (the right side portion in FIG. 15), The polarity of the right side of the switching magnet 25 is reversed. As a result, when the switching magnet 25 is pole-reversed, a repulsive force acts between the right side of the switching magnet 25 and the teeth 41, and the outer rotor 20 is accelerated in the rotational direction, thereby reducing the consonant sound. can

After polarity inversion of the right side portion of the switching magnet 25, the remaining left portion (front side portion in the rotational direction in FIG. 15 ) may be reversed by rotating the outer rotor 20 in a similar manner.

《Other Embodiments》

About the said embodiment, it is good also as the following structure.

In this embodiment, the number of poles of the outer rotor 20 can be switched by installing the switching magnet 25 on the outer rotor 20, but by installing the switching magnet 25 on the inner rotor 30, the inner rotor The number of poles in (30) may be switchable.

As described above, the present invention is extremely useful and has high industrial applicability in that a highly practical effect of being able to suppress occurrence of problems caused by switching of the number of magnetic poles of the rotor is obtained.

1: washing machine
6: controller (control part)
6a: storage unit
6b: judging unit
10: water tank
11: drum (rotating tank)
12: Pulsator
16: motor
20: outer rotor (second rotor)
25: conversion magnet
30: inner rotor (first rotor)
40: stator
43: coil (switching part)
45: magnetic flux sensor
46: speed sensor
47: speed sensor

Claims (20)

In the washing machine performing the water supply process and the washing process,
a rotating tub accommodating laundry;
a water tank in which the rotating tub is provided;
a pulsator rotatably provided inside the rotating tub;
a motor for rotating the rotating tub and the pulsator; and
At least one processor for controlling the motor;
the motor,
A stator including a plurality of coils;
a first rotor independently rotatable with respect to the stator; and
A second rotor independently rotatable with respect to the stator; includes,
The plurality of coils,
Switching the number of magnetic poles of at least one of the first rotor and the second rotor;
The at least one processor,
A first rotation mode in which the first rotor and the second rotor rotate in the same direction or the first rotor and the second rotor in opposite directions by controlling the current supplied to the plurality of coils to perform a switching operation. driving the motor in a second rotation mode to rotate, and controlling current supplied to the plurality of coils so that the motor is driven in the first rotation mode before the start of the water supply stroke;
At least one of the first rotor and the second rotor,
It includes a plurality of switching magnets whose magnetic poles are reversed based on the switching operation,
The at least one processor,
The position and magnetic pole of the switching magnet is stored, and a magnetic pole having a polarity opposite to that for driving the motor in the first rotation mode is selected from among the plurality of switching magnets based on the stored position and magnetic pole of the switching magnet. A washing machine controlling the current supplied to the plurality of coils to reverse. According to claim 1,
The at least one processor,
The washing machine controls the motor to be driven in the second rotation mode after the water supply cycle ends. According to claim 2,
The at least one processor,
The washing machine controls so that a magnetizing current is applied to any one of a U-phase coil, a V-phase coil, and a W-phase coil of the plurality of coils after the completion of the water supply process. According to claim 2,
The at least one processor,
Control so that a magnetizing current of a predetermined size is applied to any one of a U-phase coil, a V-phase coil, and a W-phase coil of the plurality of coils after the completion of the water supply process,
When the magnetizing current of the predetermined magnitude is applied, the washing machine controls the amplitude of the d-axis current or the amplitude of the q-axis current in the motor control to be greater than or equal to the predetermined magnitude. ◈Claim 5 was abandoned when the registration fee was paid.◈ According to claim 1,
A magnetic flux sensor for detecting magnetic flux of at least one of the first magnet of the first rotor and the second magnet of the second rotor; further comprising,
The at least one processor,
The washing machine determines whether the first rotation mode is driven based on a detection result of the magnetic flux sensor. ◈Claim 6 was abandoned when the registration fee was paid.◈ According to claim 1,
Further comprising a speed sensor for detecting the rotational speed of the first rotor and the second rotor,
The at least one processor,
The washing machine determines whether the first rotation mode is driven based on a detection result of the speed sensor. delete According to claim 1,
The at least one processor,
The washing machine controlling currents supplied to the plurality of coils to repeatedly reverse the magnetic poles of the switching magnets until the magnetic poles opposite to the magnetic poles for driving the motor in the first rotation mode are eliminated. According to claim 1,
The at least one processor,
Rotate the second rotor in one direction,
While the second rotor is rotating, the washing machine controls the current supplied to the plurality of coils to increase the front side corresponding to the rotational direction of the second rotor in the switching magnet. According to claim 9,
The at least one processor,
Rotating the second rotor in a direction opposite to the one direction,
While the second rotor is rotating, the washing machine controls the current supplied to the plurality of coils to increase the front side corresponding to the rotational direction of the second rotor in the switching magnet. According to claim 1,
The at least one processor,
Rotate the second rotor in one direction,
While the second rotor rotates, the switching magnet controls the current supplied to the plurality of coils to reverse the magnetic pole of the rear side corresponding to the rotation direction of the second rotor. ◈Claim 12 was abandoned when the registration fee was paid.◈ According to claim 11,
The at least one processor,
Rotating the second rotor in a direction opposite to the one direction,
While the second rotor rotates, the switching magnet controls the current supplied to the plurality of coils to reverse the magnetic pole of the rear side corresponding to the rotation direction of the second rotor. ◈Claim 13 was abandoned when the registration fee was paid.◈ in the motor,
A stator including a plurality of coils;
a first rotor independently rotatable with respect to the stator;
a second rotor independently rotatable with respect to the stator; and
at least one processor;
The plurality of coils,
Switching the number of magnetic poles of at least one of the first rotor and the second rotor;
The at least one processor,
A first rotation mode in which the first rotor and the second rotor rotate in the same direction or the first rotor and the second rotor in opposite directions by controlling the current supplied to the plurality of coils to perform a switching operation. When the motor is driven in the second rotation mode to rotate, and the second rotor does not operate when the first rotor and the second rotor are driven in the second rotation mode, the first rotor and the second rotor Control current supplied to the plurality of coils so that the rotor is driven in the first rotation mode;
At least one of the first rotor and the second rotor,
It includes a plurality of switching magnets whose magnetic poles are reversed based on the switching operation,
The at least one processor,
The position and magnetic pole of the switching magnet is stored, and a magnetic pole having a polarity opposite to that for driving the motor in the first rotation mode is selected from among the plurality of switching magnets based on the stored position and magnetic pole of the switching magnet. A motor that controls the current supplied to the plurality of coils to reverse. ◈Claim 14 was abandoned when the registration fee was paid.◈ According to claim 13,
The at least one processor,
When the second rotor does not operate, a motor that energizes a U-phase coil, a V-phase coil, and a W-phase coil of the plurality of coils at least once for magnetizing current for switching the magnetic pole of the switching magnet. ◈Claim 15 was abandoned when the registration fee was paid.◈ According to claim 14,
The at least one processor,
Driving the first rotor and the second rotor in the first rotation mode after the magnetizing current is energized in the plurality of coils;
When the second rotor does not operate, the motor controls the energization operation to be repeated for the plurality of coils. ◈Claim 16 was abandoned when the registration fee was paid.◈ According to claim 14,
The plurality of conversion magnets,
The magnetic pole is reversed based on the switching operation,
The at least one processor,
Rotate the second rotor in one direction,
While the second rotor rotates, the motor for controlling the current supplied to the plurality of coils to increase the front side corresponding to the rotation direction of the second rotor in the switching magnet. ◈Claim 17 was abandoned when the registration fee was paid.◈ According to claim 16,
The at least one processor,
Rotating the second rotor in a direction opposite to the one direction,
While the second rotor rotates, the motor for controlling the current supplied to the plurality of coils to increase the front side corresponding to the rotation direction of the second rotor in the switching magnet. ◈Claim 18 was abandoned when the registration fee was paid.◈ According to claim 16,
The at least one processor,
Rotate the second rotor in one direction,
While the second rotor rotates, the switching magnet controls the current supplied to the plurality of coils to reverse the magnetic pole of the rear side corresponding to the rotation direction of the second rotor,
Rotating the second rotor in a direction opposite to the one direction,
While the second rotor rotates, the motor controls the current supplied to the plurality of coils so that the switching magnet reverses the magnetic pole of the rear side corresponding to the rotation direction of the second rotor. In the washing machine performing the water supply process and the washing process,
a rotating tub accommodating laundry;
a water tank in which the rotating tub is provided;
a pulsator rotatably provided inside the rotating tub;
a motor for rotating the rotating tub and the pulsator; and
At least one processor for controlling the motor;
the motor,
A stator including a plurality of coils;
first and second rotors independently rotatable with respect to the stator; and
The plurality of coils,
Switching the number of magnetic poles of at least one of the first rotor and the second rotor;
The at least one processor,
A first rotation mode in which the first rotor and the second rotor rotate in the same direction by controlling the current supplied to the plurality of coils to perform a switching operation, and the first rotor and the second rotor in opposite directions. When the motor is driven in the second rotation mode to rotate, and the second rotor does not operate when the first rotor and the second rotor are driven in the second rotation mode, the first rotor and the second rotor Control current supplied to the plurality of coils so that the rotor is driven in the first rotation mode;
At least one of the first rotor and the second rotor,
It includes a plurality of switching magnets whose magnetic poles are reversed based on the switching operation,
The at least one processor,
The position and magnetic pole of the switching magnet is stored, and a magnetic pole having a polarity opposite to that for driving the motor in the first rotation mode is selected from among the plurality of switching magnets based on the stored position and magnetic pole of the switching magnet. A washing machine controlling the current supplied to the plurality of coils to reverse. According to claim 19,
The at least one processor,
The at least one processor,
When the second rotor does not operate, the magnetizing current for switching the magnetic pole of the switching magnet is energized to the U-phase coil, the V-phase coil, and the W-phase coil of the plurality of coils at least once.

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