1225904 玫、發明說明： 【發明所屬之技術領域】 本發明實現複合式驅動控制架構於直驅式無刷馬達洗衣 機疋:具有相田70整性之機電整合裝置，所涉及之技術領域 也相當廣泛，其中包含有機械、電機、電子、磁場分析、控· 制、微處理器及人機操作介面等諸多迥然不同之範疇；雖然 本發明所牵涉技術領域报廣，但其主要在於規劃出一完善之 複合式驅動控制架構於直驅式無刷馬達洗衣機，將驅動控制 法則及流程以軟體方式規晝於單晶片微處理器内，做為驅動籲 控制系統之核心，並配合硬體電路，如外部驅動電路、功率 模組及直錢刷馬達本體，使其成為全自動化之複合式驅動 控制洗衣機。 【先前技術】 ik著國人豕居生活品質的提高，各種馬達製品紛紛應用 於家電產品，對洗衣機的品質要求也相對提高，於選取致動 器時’需優先考量馬達特性，如以步進馬達為致動器，雖易# 控制，但運轉轉矩不足，無法提供洗衣機搓洗時所需之力矩； 直流有刷馬達易於軸及㈣，但結構上需要碳刷及換相片， 長期使用會磨損且需定期保養’並不適合做為洗衣機致動器； 而傳統式洗衣機蘭“電料轉核應馬達⑴，固定於水 槽側邊並利用皮帶傳動，經由減速齒輪帶動洗衣機迴轉盤作 正、反轉及脫水籠轉動，由於洗衣時負荷㈣及感應馬達本 身之滑μ題’馬達轉速不易㈣，造成馬耗功率大， 易產生電磁音、傳動齒輪音及振動Α等缺點，為改善以上缺 5 1225904 點，改以直流無刷馬達為致動核心，對直驅變頻式洗衣機加 以設計、驅動以及控制[2,3]。此外，直流無刷馬達轉子使用 永久磁鐵，於結構上毋需使用電刷，並以電氣換流方式取代 傳統直流馬達之機械整流方式，且其控制性能同於直流馬達 並改善直流馬達結構上之缺點，有取代直流馬達成為小型馬 達主流之趨勢。 洗衣機為高變動負載機構，於低速洗衣時，需較大之起 動轉矩，但於脫水情況時，則需運轉於高轉速狀態，此兩極 化特性對系統設計上產生極大之考驗，故於選取直流無刷馬 達時’需將以上條件加以考量。其中，直流無刷馬達之特性 依轉子之永久磁鐵磁極數量相異而不同，極數多之直流無刷 馬達具南轉矩之特性，但不易達成高轉速控制，而極數少之 直流無刷馬達雖然具高轉速之特性，時常無法提供足夠之轉 矩以完成低速控制，為克服這方面之問題，於參考文獻[4]中， 以有限元素分析及磁漏分析法討論永磁同步馬達如何運轉於 弱磁區間’使馬達在輸入固定功率下，運轉於更寬廣轉速範 圍’但文中未討論其驅動及控制方法，缺少系統之完整性； 參考文獻[5,6]中’將磁通控制法實現於數位訊號處理器，低 速時對磁通過激以提升起動轉矩，且於高速時使用弱磁方式 提升額定轉速，使馬達運轉於更寬廣之轉速範圍，但於系統 中使用到編碼器、電流迴授器及數位訊號處理器等高價零組 件，致使成本大為提升。 參考文獻：1225904 Description of the invention: [Technical field to which the invention belongs] The present invention realizes a composite drive control architecture in a direct-drive brushless motor washing machine: an electromechanical integration device with Aida 70 integrity, and the technical field involved is also quite extensive. It includes many very different fields such as machinery, motors, electronics, magnetic field analysis, control and control, microprocessors, and man-machine operating interfaces. Although the technical field involved in the present invention is widely reported, it mainly lies in planning a comprehensive The composite drive control architecture is in a direct-drive brushless motor washing machine. The drive control rules and processes are software-programmed in a single-chip microprocessor as the core of the drive control system and cooperate with hardware circuits, such as external The drive circuit, power module, and straight money brush motor body make it a fully automated hybrid drive control washing machine. [Previous technology] With the improvement of the quality of life of Chinese people, various motor products have been applied to home appliances, and the quality requirements for washing machines have also been relatively increased. When selecting actuators, it is necessary to give priority to motor characteristics, such as stepper motors. It is an actuator, although it is easy to control, but the running torque is insufficient to provide the torque required for washing the washing machine. The DC brush motor is easy to shaft and pinch, but the structure requires carbon brushes and photo changes. Regular maintenance is not suitable as a washing machine actuator; while the traditional washing machine blue "electric material transfer nuclear response motor" is fixed on the side of the sink and uses a belt drive to drive the rotary disk of the washing machine to rotate forward and backward through reduction gears. The dehydration cage rotates, due to the load during washing and the slippage of the induction motor itself. The motor speed is not easy to cause, which causes large horse power consumption, and is prone to the shortcomings of electromagnetic sounds, transmission gear sounds, and vibrations. To improve the above 5 1225904 points In order to design, drive and control the direct-drive variable frequency washing machine, the DC brushless motor is used as the actuation core. [2,3] The brush motor rotor uses permanent magnets, and no brushes are required in the structure. The electrical commutation method is used to replace the mechanical rectification method of the traditional DC motor, and its control performance is the same as that of the DC motor and improves the disadvantages of the DC motor structure. DC motors have become the mainstream of small motors. Washing machines are highly variable load mechanisms. When low-speed washing is required, a large starting torque is required, but in dehydration conditions, they need to run at high speeds. This dual polarization characteristic is important for system design. This has caused a great test, so when selecting a DC brushless motor, the above conditions need to be considered. Among them, the characteristics of a DC brushless motor vary depending on the number of permanent magnet poles of the rotor, and a DC brushless motor with many poles It has the characteristics of south torque, but it is not easy to achieve high speed control. Although the brushless DC motor with few poles has the characteristics of high speed, it often cannot provide enough torque to complete the low speed control. In order to overcome this problem, In reference [4], the finite element analysis and magnetic leakage analysis are used to discuss how the permanent magnet synchronous motor operates in the field weakening zone. 'Make the motor run at a wider speed range with a fixed input power', but its driving and control methods are not discussed in the article, which lacks the integrity of the system; reference [5, 6] 'implements the magnetic flux control method to digital signals The processor, stimulates the magnet at low speed to increase the starting torque, and uses the field weakening method to increase the rated speed at high speed, so that the motor runs in a wider speed range, but encoders and current feedback devices are used in the system And digital signal processors and other high-priced components, resulting in significant cost increases.
[1] G· H· Han，Η· Y· Yi，B· S· Go, D. G· Lee，I· H· Cho, and D· I· Oh，“A new ASIC for washer controller, IEEE Proceedings - International Symposium, vol. 6, pp. 1225904 485-488, 1999.[1] G · H · Han, Η · Y · Yi, B · S · Go, D. G · Lee, I · H · Cho, and D · I · Oh, "A new ASIC for washer controller, IEEE Proceedings -International Symposium, vol. 6, pp. 1225904 485-488, 1999.
[2] Κ· Harmer，Ρ· H. Mellor，and D. Howe，“An energy efficient brushless drive system for a domestic washing machine，’’ Cbn/erence 〇/[2] K. Harmer, P. H. Mellor, and D. Howe, “An energy efficient brushless drive system for a domestic washing machine,’ ’Cbn / erence 〇 /
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[5] Μ. N. Uddin，T. S. Radwan，and M. A· Rahman，“Performance of interior permanent magnet motor drive over wide speed range/5 IEEE Transactions on Energy Conversion, vol. 17, pp. 79-84, 2002.[5] Μ. N. Uddin, TS Radwan, and M. A. Rahman, "Performance of interior permanent magnet motor drive over wide speed range / 5 IEEE Transactions on Energy Conversion, vol. 17, pp. 79-84, 2002 .
[6] G. K. Miti，A. C Renfrew，and B. J. Chalmers，“Field-weakening regime for brushless DC motors based on instantaneous power theory^ IEE Proceedings -Electric Power Applications, vol. 148, pp. 265-271, 2001. 【發明内容】 為改善先前技術之缺點’改以早晶片微處理為為運鼻核 心，直流無刷馬達為致動器，對直驅式洗衣機加以設計、驅 動以及控制。直流無刷馬達轉子使用永久磁鐵，於結構上毋 需使用電刷，並以電氣換流方式取代傳統直流馬達之機械整 流方式，且其控制性能同於直流馬達並改善直流馬達結構上 之缺點，有取代直流馬達成為小型馬達主流之趨勢，其中’ 直流無刷馬達之特性依轉子之永久磁鐵磁極數量相異而不 1225904 轉速控無刷馬達具—矩之特性’但不易達成高 時常無法提少之錢無刷馬達雖然具高轉速之特性， 狄供足夠之轉矩以完成低速控制，為克服 磁區間以動控制使直流無刷馬達運轉於過激磁及弱 磁通控制法率下’運轉於更寬廣轉速範圍，並將 通過激以提升t 器實現於實際系統，低速時對磁 耠升起動轉矩，且於高速時使用弱磁方 、、，使馬達運轉於更寬廣之轉速範圍。 名疋 、本發明改善先前技術之原理及對照功效如下： 1·^機由傳統式的皮帶傳動與減速絲，變更為直接驅 而要皮帶傳動與減速齒*，洗衣運轉時無齒輪 之機械噪音，洗衣時較不會影響鄰居安宜。、、网…、 統式的單相電容運轉式感應馬達 ;刷馬達’定子為三相集中捲線且轉子為磁石埋入 充磁之馬達設計，結構上偏平化，直接固 t向 力矩可作有爛配及控 【實施方式】 本發明糸統架構如圖1所示，波 、、 f=堪路、電磁_心及= 三條路徑’包含轉 L轉速控制迴路：轉速控制_目的在於使馬達按照控制器 1225904 所下的控制命令供給電力於馬達使其運轉，利用117霍爾元 件迴授磁極訊號經過101單晶片微處理器，轉換成為三相反 流器開關訊號，確立馬達的供電方式，由於114智慧型功率 板組於動作切換時會產生延遲現象，易造成單臂開關同時 導通致使直流匯流排電源短路，故本文於1〇7驅動機制產生 開關訊號後加上109互鎖電路，防止反流器單臂上下兩個功 率半導體開關同時導通危險。n寬滅電路依照單晶片 <處理器所下的命令決定供應1〇4直流無刷馬達的功率大 h，以控制直流無刷馬達轉速，並使用U1光耦合器電氣隔 離訊5虎處理電源及103功率模組電源，防止電源透過訊號處 理電源共地。 2·電磁閥驅動：電磁閥動作包括吸引、定態及放開三個狀態， 吸引時需提供一百五十伏特直流電於電磁間，約三秒後以 四十伏特平均直流值加以定態，放開狀態時提供零伏特電 壓。利用單晶片微處理器產生脈寬調變訊號之功能，送出1〇6 電磁閥命令至102外部驅動電路模組之112電磁閥光輕 合器隔離’經過113圖騰極電路將開關訊號功率放大，提供 足夠的電流推動115半導體功率開關，調節-百五十伏特電 壓之直流匯流排，將電力送入116電磁閥，使電磁閥產生吸 引、定態及放開三個狀態。 • 105W車電路·直流無刷馬達減速至停止時，由於磁性轉子 之慣性關係，具有永磁式轉子之直流無刷馬達可視為發電 機’將電力反饋於電_ ’造成直流匯流排電壓異常升高， 故設計電子式剎車電路用以快速降低馬達之反饋功率，使 其具備剎車能力。電壓價测比較電路以分壓方式债測直流 1225904 匯流排電源電壓’與設定之臨界 制電路’將開關訊號經過推挽電路推動功;晶 達慣性反饋功率快速消耗於剎車電阻上 ㉟使付馬 將六步方波六種導通模式分料電於三相於定子 内建立起空間磁場向量’對永磁式轉子產生吸力，使轉子旋 轉至所對應之六組霍爾磁極元件迴授向量，其對應關係如圖2 所示。 將驅動方式之空間磁場以向量表示如圖3所示，里色虛線 為霍爾聽磁簡授向量（Ή6)，黑色實線代表轉子之實复 際位置’由霍爾兀㈣測’整體霍爾元件迴授向量依照轉子 實際位置而變化’淺灰色為反流器開關導通向 照反流器關導^式出現，此时，霍爾磁迴) 量與反流器開關導通向量重疊，所建立之空間磁場向量全： 配予磁通分量(直軸)，並無轉矩分量( =里刀 如欲使轉子以逆時針方向旋轉，導通W流向住量， 改變空：所建立之磁場如圖4所示，此時⑽立磁通 1二過激磁狀態’並有切2之轉矩分量吸引 致動轉子’使轉子以逆時針方向旋轉，當轉子旋轉超過30。， 霍：ί件讀Π授？量變為圮’此時利用驅動器更改反流器 向里為F3 ’空間磁场向量如圖5所示’使轉子具有厂"之轉矩 t量旦使轉子繼續以逆時針方向旋轉，直到霍^件感測磁 场向ϊ為好3 ’再利用驅動器更改反流器向量為'，以此類推， 可使直流無刷馬達以逆時針方式祕，並將料針方向旋轉 驅動規則整理如圖6所示。 如欲使轉子以弱磁方式逆時針方向旋轉，當霍爾磁極於 1225904 A狀態時，導通反流器開關向量，改變空間所建立之磁場 如圖7所示，此時厂3所建立弱磁分量為，並具有相同 之轉矩分量，使轉子以逆時針方向旋轉，以此種方式 驅動馬達，使馬達運轉於弱磁區，將逆時針方向旋轉弱磁驅 動規則整理如圖8所示。 使用同樣之向量分析方法，同理可推導出順時針方向旋 轉之驅動方式如圖9及圖10所示。 依照系統規格及功能，本文將實作程式主要規晝成主程 式、驅動中斷以及控制中斷三個部分，程式控制流程如圖11 所示。 1· 1101主程式：首先，本文於主程式内設定及啟動中斷時間， 其中包含1112控制中斷(計時中斷）及1丨20驅動中斷（外部中 斷），並對脈寬調變訊號加以設定。時間設定完成後’開始 規晝洗衣流程，洗衣時需先分離洗衣盤與洗衣槽，由電磁 閥脈寬調變輸出命令，對1102電磁閥加以吸引，吸引後1103 馬達低速旋轉，使洗衣槽之固定齒與洗衣機外殼相結合’ 結合後1104對電磁閥加以定態，即完成分離洗衣槽與洗衣 盤之動作。洗衣盤與洗衣槽分離後開始洗衣動作，1105正 轉至每分鐘一百轉之定轉速三秒4休息一秒鐘->1106反轉 至母分鐘一百轉之定轉速三秒—休息一秒鐘，如此對衣物 加以重複搓揉，1107到達所設定之搓揉次數後，1108放開 電磁閥使洗衣槽與洗衣盤結合，加以脫水，1109脫水正轉 至每分鐘七百轉，當1110到達所設定之脫水時間，完成洗 衣及脫水程序，1111程式停止。 2· 1120驅動中斷：驅動中斷實為單晶片微處理器之外部中斷， l2259〇4 岔昭4隹爾7L件迴授訊號發生變化時，即會執行驅動中斷， 條…、1121所设定之驅動模式判斷驅動訊號，依照丨122判斷 、♦、牛送出—相反流菇之驅動訊號1123，並經由丨丨24計算馬 建轉速，1U5驅動中斷停止。 U控制中斷：控制中斷實為單晶片微處理器之計時中斷， 人斷時間設為一百微秒，中斷時間内，根據所設定速度命 及1113實際速度迴授，進而1114計算速度誤差並經由1115 ^斷為正誤差或負誤差，若速度誤差大於零，代表速度過 即1117調升脈波寬度以降低送入馬達端之功率；若速 :誤差小於零，代表速度過慢，即1116調降脈波寬度以提 〇送入馬達端之功率，最後1118送出脈寬調變訊號以控制 馬達，1119控制中斷停止。 複合式驅動控制於實作驗證時，首先以電流電壓量測表 電礤閥之動作狀態，接著使用方波函數作為洗衣狀態之軌 ，、規晝，並以固定加速度函數作為脫水速度之執跡規畫，分 刷以不同之水位高度及衣物重量測驗本系統於不同負載狀況 之軌跡追隨與負載調節能力，本實驗共可分為下列五種負載 蜊試條件： •無載(No Load) : 40公升水，0公斤衣物。 •輕載(Slight Load) : 50公升水，1·5公斤衣物。 •中載(Medium Load) ·· 60公升水，3公斤衣物。 •高載(High Load) : 70公升水，4·5公斤衣物。 •重載(Heavy Load) : 75公升水，6公斤衣物。 電磁閥動作電壓電流波形如圖12所示，時間於零秒至五 秒間電磁閥為放開狀態，此時脫水轉輛與洗衣盤相結合，於 12 1225904 五秒時電磁閥動作將脫水轉軸與洗衣盤分離，進入洗衣狀態。 首先電磁閥於吸引時加以一百三十伏特電壓值，此時電磁閥 產生一點八安培之電流，用以吸引離合凸輪，維持約二點二 秒，此段時間使電磁閥與脫水轉轴結合，結合後電磁閥為保 持狀態，利用脈寬調變方式調節直流匯流排電壓以獲得四十 伏特平均直流電壓值，此時電磁閥上產生約一安培之電流， 完成脫水轉軸與洗衣盤分離動作，進入洗衣流程。 洗衣軌跡設定為正轉磋洗定速於每分鐘一百轉持續三秒 鐘，休息一秒鐘，反轉磋洗定速於每分鐘一百轉持續三秒鐘， 休息一秒鐘，以此週期洗衣，洗衣執跡響應如圖13所示，圖i3(a) 至圖13(e)分別為無載、輕載、中載、高載及重載五種負載測 試條件下之實作響應，經比較後發現，雖然洗衣負載發生劇 烈變化，但本文所設計之複合式驅動控制系統依然具有良好 之執跡追隨與負載調節能力。洗衣時馬達之相電流波形如圖Μ 所示，圖14(a)為無載狀況，平均電流峰值約為零點四安培； 圖14(b)為輕載狀況，平均電流峰值約為三點八安培；圖14(幻 為中載狀況，平均電流峰值約為四點八安培；圖14(d)為高載 狀況，平均電流峰值約為五安培；圖14(幻為重載狀況，平均 電流峰值約為五點二安培。 脫水轨跡設定為，洗衣機轉速以每秒增加一轉之加速度 遞增，增加至每秒七百轉之轉速後固定，速度響應如圖15所 示。圖15(a)至圖15(e)分別為無載、輕載、中載、高載及重載 五種測試條件下之實作響應，根據實作結果發現，本系統在 不同負載條件下，皆可穩定追隨所設計之速度軌跡，完成脫 水流程’得以驗證本文所設計複合式驅動控制系統之可行性。 13 1225904[6] GK Miti, A. C Renfrew, and BJ Chalmers, "Field-weakening regime for brushless DC motors based on instantaneous power theory ^ IEE Proceedings -Electric Power Applications, vol. 148, pp. 265-271, 2001. [ SUMMARY OF THE INVENTION To improve the shortcomings of the prior art, the early chip microprocessing is used as the core of the nose, and the DC brushless motor is used as an actuator to design, drive and control the direct drive washing machine. The DC brushless motor rotor is permanent The magnet does not need a brush in the structure, and replaces the mechanical rectification method of the traditional DC motor with electrical commutation. Its control performance is the same as that of the DC motor and improves the structural disadvantages of the DC motor. It has replaced the DC motor into a small motor. The mainstream trend, among them, 'the characteristics of brushless DC motors vary according to the number of permanent magnet poles of the rotor, but the 1225904 speed control brushless motors have the characteristics of moments', but it is not easy to achieve high and often cannot be saved money. The characteristic of high speed, Di supply enough torque to complete the low speed control. The brush motor runs under the over-excitation and weak-flux control method. It operates in a wider speed range, and will be implemented in the actual system by exciting to increase the torque. At low speed, the starting torque is boosted to the magnetic field, and it is used at high speed. Weak magnetic side, and make the motor run in a wider range of speed. The principle and comparative effect of the present invention to improve the prior technology are as follows: 1. The machine is changed from a traditional belt drive and reduction wire to a direct drive. To drive belts and reduce gears *, there is no mechanical noise of gears during laundry operation, and it will not affect neighbors Anyi when washing ...., single-phase capacitor-operated induction motors with unified type; brush motor's stator is three-phase The winding is concentrated and the rotor is a magnet embedded magnetized motor design. The structure is flat, and the direct t-direction torque can be used for poor control and control. [Embodiment] The system architecture of the present invention is shown in Figure 1. = Kanlu, Electromagnetic_Heart and = The three paths' including the rotation speed control loop of L: speed control_ The purpose is to make the motor supply power to the motor to run according to the control command issued by the controller 1225904, using 11 7 Hall element feedback magnetic pole signal is converted into a three-inverter switch signal through a 101 single-chip microprocessor, which establishes the power supply method of the motor. Since the 114 intelligent power board group will cause a delay when the action is switched, it is easy to cause a single unit. The arm switch is turned on at the same time, which causes the DC bus power supply to be short-circuited. Therefore, in this paper, a 109 interlock circuit is added after the 1077 drive mechanism generates a switching signal to prevent the two power semiconductor switches on the single arm of the inverter from turning on simultaneously. According to the order given by the single chip < processor, the wide-kill circuit decides to supply a large amount of power to the 104 DC brushless motor to control the speed of the DC brushless motor, and uses a U1 optocoupler to electrically isolate the signal and process the power. And 103 power module power supply to prevent the power supply from processing the power to ground through the signal. 2. Solenoid valve drive: The solenoid valve operation includes three states of attraction, steady state and release. When attracting, it is necessary to provide 150 volts DC to the electromagnetic space, and then to set the state with an average DC value of 40 volts after about three seconds. Provides zero volts when released. Utilizing the function of the single-chip microprocessor to generate the pulse width modulation signal, it sends a 106 solenoid valve command to the 102 external drive circuit module. The 112 solenoid valve light-coupler is isolated through the 113 totem pole circuit to amplify the switching signal power. Provide enough current to drive the 115 semiconductor power switch, adjust the DC bus of -150 volts, and send the power to the 116 solenoid valve, so that the solenoid valve has three states of attraction, steady state and release. • 105W vehicle circuit. When the DC brushless motor is decelerated to a stop, the DC brushless motor with permanent magnet rotor can be regarded as a generator due to the inertia relationship of the magnetic rotor. 'Feedback power to the electricity_' causes the DC bus voltage to rise abnormally. High, so the electronic brake circuit is designed to quickly reduce the feedback power of the motor, so that it has braking capabilities. The voltage price measurement comparison circuit uses a voltage division method to measure the DC 1225904. The bus power supply voltage 'and the set critical control circuit' pushes the switching signal through the push-pull circuit to drive the work; Jingda's inertial feedback power is quickly dissipated on the braking resistor to enable the horse. The six-step square wave and six conduction modes are divided into three phases to establish a space magnetic field vector in the stator to generate a suction force on the permanent magnet rotor, and the rotor is rotated to the corresponding six groups of Hall magnetic pole element feedback vectors. The corresponding relationship is shown in Figure 2. The space magnetic field of the driving mode is represented by a vector as shown in Figure 3. The dashed line in the inside is the Hall magnetic induction vector (Ή6). The solid black line represents the real complex position of the rotor. The element feedback vector varies according to the actual position of the rotor. 'Light gray appears when the inverter switch is turned on to the photo-return-off switch. At this time, the Hall magnetic return amount overlaps with the inverter switch conduction vector. The created space magnetic field vector is allotted: The magnetic flux component (straight axis) is assigned, and there is no torque component (= the inner knife is to rotate the rotor in a counterclockwise direction, turning on the W flow direction, and changing the airspace: As shown in Figure 4, at this time, the standing magnetic flux 1 and the overexcitation state 2 and the torque component of the cut 2 attract the actuator to rotate the rotor in a counterclockwise direction. When the rotor rotates more than 30 °, Huo: Reading The amount of 授 is changed to 圮 '. At this time, the inverter is changed into F3 by the driver. The space magnetic field vector is shown in Fig. 5' Make the rotor have a factory torque of t. Once the rotor continues to rotate in a counterclockwise direction, Until Huo ^ pieces sense the magnetic field to ϊ for better 3 'reuse drive The inverter changes the inverter vector to ', and so on, so that the brushless DC motor can be turned counterclockwise, and the rotation driving rule of the material needle can be arranged as shown in Figure 6. To make the rotor counterclockwise in a weak magnetic manner Directional rotation. When the Hall magnetic pole is at 1225904 A, the inverter vector is turned on and the magnetic field created by changing the space is shown in Figure 7. At this time, the field weakening component established by Factory 3 is and has the same torque component. The rotor is rotated counterclockwise, and the motor is driven in this way, so that the motor runs in the field weakening zone. The counterclockwise rotation field weakening drive rules are arranged as shown in Figure 8. Using the same vector analysis method, the same can be done. The driving method of clockwise rotation is derived as shown in Figure 9 and Figure 10. According to the system specifications and functions, this article will mainly implement the program into a main program, drive interruption and control interruption. The program control flow is shown in Figure 11 1. 1101 main program: First, this article sets and starts the interrupt time in the main program, which includes 1112 control interrupt (timing interrupt) and 1 丨 20 drive interrupt (external interrupt) The pulse width modulation signal is set. After the time setting is completed, the day-to-day laundry process is started. When washing, the wash pan and the laundry tank must be separated first. The solenoid valve pulse width modulation output command attracts the 1102 solenoid valve. After the suction, the 1103 motor rotates at a low speed, so that the fixed teeth of the washing tank are combined with the washing machine casing. After the combination, the 1104 sets the solenoid valve to the fixed state to complete the action of separating the washing tank from the washing pan. , 1105 forwards to a fixed speed of one hundred revolutions per minute for three seconds 4 and rests for one second-> 1106 reverses to a fixed speed of one hundred revolutions for three seconds to rest for one second, so that the clothes are repeatedly rubbed After 1107 reaches the set number of kneading times, 1108 releases the solenoid valve to combine the washing tank with the washing tray and dehydrates. 1109 dehydration is turned to 700 revolutions per minute. When 1110 reaches the set dehydration time, the laundry and Dehydration program, 1111 program stops. 2. 1120 drive interrupt: The drive interrupt is actually an external interrupt of a single-chip microprocessor. When the feedback signal of the 7L piece changes, the drive interrupt will be executed. The drive mode judges the drive signal, judges it in accordance with 丨 122, ♦, and sends it out by the cow—in contrast, the drive signal of the flow mushroom is 1123, and the speed of Ma Jian is calculated via 丨 丨 24. The 1U5 drive stops and stops. U control interrupt: The control interrupt is a timing interruption of a single-chip microprocessor. The interruption time is set to one hundred microseconds. During the interruption time, the feedback is set according to the set speed and the actual speed of 1113. Then the speed error is calculated in 1114 and passed 1115 ^ is a positive or negative error. If the speed error is greater than zero, it means that the speed is too high, that is, the pulse width is increased to reduce the power fed to the motor. If the speed is less than zero, it means that the speed is too slow, that is, 1116 speed. The pulse width is reduced to increase the power sent to the motor. Finally, 1118 sends a pulse width modulation signal to control the motor, and 1119 controls the interruption to stop. When the composite drive control is verified in practice, the operating state of the electric valve of the current and voltage meter is first measured, and then the square wave function is used as the track of the washing state, and the day and day, and the fixed acceleration function is used as the dehydration speed. Planning, sub-brush testing with different water levels and clothing weights This system tracks and tracks load capacity under different load conditions. This experiment can be divided into the following five load test conditions: • No Load: 40 litres of water, 0 kg of clothing. • Slight Load: 50 litres of water, 1.5 kg of clothes. • Medium Load · 60 liters of water, 3 kg of clothing. • High Load: 70 liters of water, 4.5 kg of clothes. • Heavy Load: 75 liters of water, 6 kg of clothing. The voltage and current waveform of the solenoid valve is shown in Figure 12. The solenoid valve is released between zero and five seconds. At this time, the dehydration car is combined with the washing plate. At 12 1225904, the solenoid valve moves the dehydration shaft and The washing pan is separated and enters the washing state. First, the solenoid valve is applied with a voltage of 130 volts when it is attracted. At this time, the solenoid valve generates a current of 1.8 amps to attract the clutch cam and maintain it for about 2.2 seconds. This period of time makes the solenoid valve and the dehydration shaft After the combination, the solenoid valve is maintained after the combination, and the DC bus voltage is adjusted by pulse width modulation to obtain an average DC voltage value of forty volts. At this time, a current of about one ampere is generated on the solenoid valve, and the dehydration shaft is separated from the washing plate. Action to enter the laundry process. The washing trajectory is set to a forward rotation at a fixed speed of 100 revolutions per minute for three seconds and a break of one second, and a reverse rotation to a fixed speed of 100 revolutions per minute for three seconds and a break of one second. Cycle laundry and laundry response are shown in Figure 13. Figures i3 (a) to 13 (e) are the actual response under five load test conditions: no load, light load, medium load, high load and heavy load. After comparison, it was found that although the laundry load changes drastically, the composite drive control system designed in this paper still has a good track following and load adjustment ability. The phase current waveform of the motor during washing is shown in Figure M. Figure 14 (a) is the no-load condition and the average current peak is about 0.4 amps; Figure 14 (b) is the light-load condition and the average current peak is about three points Eight amperes; Figure 14 (phantom is a medium load condition, the average current peak is about 4.8 amps; Figure 14 (d) is a high load condition, the average current peak is about 5 amps; Figure 14 (phantom is a heavy load condition, the average The peak current is about 5.2 amps. The dehydration trajectory is set so that the speed of the washing machine increases at an acceleration of one revolution per second and is fixed after increasing to a speed of seven hundred revolutions per second. The speed response is shown in Figure 15. Figure 15 ( a) to Figure 15 (e) are the actual response under the five test conditions of no load, light load, medium load, high load and heavy load. According to the results of the implementation, it is found that the system can work under different load conditions. Following the designed speed trajectory steadily and completing the dehydration process can verify the feasibility of the composite drive control system designed in this paper. 13 1225904
同時於脫水定轉速控制於每分鐘七百轉時，測量輸人馬達之A 相電流α)波形如圖10⑷至⑷所示，此五張波形圖同為上述 之五種負載測試條件，不同負載之電流波峰值均約為二安培， 且波形，似程度高，此原因由於洗衣機本身為高慣量系統， 衣物重量相對於洗衣槽之比例不大，故當洗衣機高逮運轉時， 不同衣物負载對馬達所需之相電流差異性不大。 【圖式簡單說明】 圖1表示本發明實現複合式驅動控制架構於直驅式無刷馬達 洗衣機之系統架構圖。 圖2表π本發明所揭示之實現複合式驅動控制架構於直驅式 無刷馬達洗衣機系統霍爾元件磁極對應關係。 圖3表示本發明所揭示之實現複合式驅動控制架構於直驅式 無刷馬達洗衣機系統空間磁場向量。 圖4表示本發明所揭示之實現複合式驅動控制架構於直驅式 無刷馬達洗衣機系統逆時針方向旋轉向量（一）。 圖5表不本發明所揭示之實現複合式驅動控制架構於直驅式 無刷馬達洗衣機系統逆時針方向旋轉向量（二）。 圖6表不本發明所揭示之實現複合式驅動控制架構於直驅式 無刷馬達洗衣機系統逆時針方向旋轉驅動規則。 圖7表示本發明所揭示之實現複合式驅動控制架構於直驅式 無刷馬達洗衣機系統弱磁驅動向量。 圖8表示本發明所揭示之實現複合式驅動控制架構於直驅式 無刷馬達洗衣機系統逆時針方向旋轉弱磁驅動規則。 圖9表示本發明所揭示之實現複合式驅動控制架構於直驅式 1225904 無刷馬達洗衣齡顏日f針方向旋轉㈣規則。 圖1〇 t本發明所揭示之實現複合式驅動控制架構於直驅式 :刷馬達洗衣機系統順時針方向旋轉弱磁驅動規則。 圖U 發明所揭示之實現複合式驅動控制架構於直驅式 無刷馬達洗衣機系統程式控制流程。 圖12 =發明所揭示之實現複合式驅動控制架構於直驅式 ==達洗衣機祕電_實_⑷電流響應波 電壓響應波形。 )At the same time, when the dehydration constant speed is controlled at seven hundred revolutions per minute, the phase A of the input motor is measured. The waveforms are shown in Figures 10⑷ to ⑷. The five waveform diagrams are the same as the above five load test conditions. The peak value of the current wave is about two amps, and the waveform is high. This is because the washing machine is a high inertia system, and the proportion of the weight of the laundry relative to the laundry tank is not large. The phase current required by the motor is not significantly different. [Brief description of the drawings] FIG. 1 shows a system architecture diagram of the present invention for implementing a composite drive control architecture in a direct drive brushless motor washing machine. FIG. 2 shows the corresponding relationship between the magnetic poles of the Hall elements of the direct drive brushless motor washing machine system for realizing the composite drive control architecture disclosed in the present invention. FIG. 3 shows the space magnetic field vector of the direct drive brushless motor washing machine system for realizing the composite drive control architecture disclosed in the present invention. FIG. 4 shows the counterclockwise rotation vector (1) of the composite drive control architecture implemented in the direct drive brushless motor washing machine system disclosed in the present invention. FIG. 5 shows the counterclockwise rotation vector of the composite drive control architecture implemented in the direct drive brushless motor washing machine system disclosed in the present invention (2). FIG. 6 shows the counterclockwise rotation driving rules for realizing the composite drive control architecture in the direct drive brushless motor washing machine system disclosed in the present invention. FIG. 7 shows a field-weakening drive vector for implementing a composite drive control architecture in a direct-drive brushless motor washing machine system disclosed in the present invention. FIG. 8 shows a counterclockwise rotation field weakening driving rule for realizing the composite drive control architecture in a direct drive brushless motor washing machine system disclosed in the present invention. FIG. 9 shows the implementation of the composite drive control architecture disclosed in the present invention in a direct-drive type 1225904 brushless motor. FIG. 10 t discloses the implementation of the composite drive control architecture disclosed in the present invention in a direct drive type: a brush motor washing machine system rotates in a clockwise direction and a weak magnetic drive rule. Figure U The program control flow for implementing the composite drive control architecture in a direct drive brushless motor washing machine system disclosed in the invention. Figure 12 = The invention discloses the realization of the composite drive control architecture in the direct drive type == up to the washing machine secret electricity_real_⑷ current response wave voltage response waveform. )
圖13 發明所揭示之實現複合式驅動控制架構於直驅式 二，洗衣機系統洗衣轉速控制響應實施例⑷無載 輕載;(C)中載;(d)高載;(e)重載。 圖14 =本發明所揭示之實現複合式驅動控制架構於直驅式 二刷馬達洗衣機线洗衣轉速控制電流響應實施例⑷無 載;(b)輕載;(c)中載;(d)高載;(e)重載。 圖表7Γ本毛明所揭不之實現複合式驅動控制架構於直驅式Figure 13 The invention discloses the realization of a composite drive control architecture based on a direct drive. Second, the washing machine system's washing speed control response example: no load light load; (C) medium load; (d) high load; (e) heavy load. Figure 14 = Example of the implementation of the composite drive control architecture disclosed in the present invention in a direct-drive two-brush motor washing machine line washing speed control current response example ⑷ no load; (b) light load; (c) medium load; (d) high (E) Overload. Figure 7: The implementation of a composite drive control architecture not directly disclosed by Ben Maoming in a direct drive
:刷馬達洗衣機系統脫水轉速控制響應實施例⑷無載;⑻ 輕載;(c)中載;(句高載;(e)重載。 圖16表示本發明所揭示之實現複合式驅動㈣架構於直驅式 無刷馬達洗衣機系統脫水轉速控制電流響應實施例⑻無 一載;(b)輕載;(c)中載;(d)高載;(e)重载。 圖示主要部分之編號代表意義如下： 101:單晶片微處理器 102:外部驅動電路模組 1〇3:功率模組 15 1225904 104:直流無刷馬達 105:剎車電路 106:電磁閥命令 107:驅動機制 108:轉速控制 109:互鎖電路 110:脈寬調變電路 111:光耦合器 112:電磁閥光耦合器 113:圖騰極電路 114:智慧型功率模組 115:半導體功率開關 116:電磁閥 117:霍爾元件 1101:主程式 1102:吸引電磁閥 1103:低速正轉 1104:電磁閥定態 1105:正轉至每分鐘一百轉 1106:反轉至每分鐘一百轉 1107:是否到達洗衣次數 1108:放開電磁閥 1109:正轉至每分鐘七百轉 1225904 1110:是否到達設定脫水時間 1111:停止 1112:控制中斷 1113:迴授實際馬達轉速 1114:計算速度誤差 1115:速度誤差大於零 1116:脈寬調降 1117:脈寬調升 1118.·送出脈寬調變訊號 1119:停止 1120:驅動中斷 1121:選擇驅動模式 1122:判斷磁極訊號 1123:送出反流器驅動訊號 1124:計算馬達實際轉速 1125:停止: Brush motor washing machine system dehydration speed control response examples ⑷ no load; ⑻ light load; (c) medium load; (sentence high load; (e) heavy load.) Figure 16 shows the implementation of the composite drive ㈣ architecture disclosed by the present invention In the direct-drive brushless motor washing machine system, the current response of the spin-drying speed control embodiment of the present example is without a load; (b) light load; (c) medium load; (d) high load; (e) heavy load. The numbers represent the following meanings: 101: Single-chip microprocessor 102: External drive circuit module 103: Power module 15 1225904 104: Brushless DC motor 105: Brake circuit 106: Solenoid command 107: Drive mechanism 108: Speed Control 109: Interlock circuit 110: Pulse width modulation circuit 111: Optocoupler 112: Solenoid valve Optocoupler 113: Totem pole circuit 114: Smart power module 115: Semiconductor power switch 116: Solenoid valve 117: Huo Element 1101: Main program 1102: Attraction solenoid valve 1103: Low speed forward rotation 1104: Solenoid valve steady state 1105: Forward rotation to 100 revolutions per minute 1106: Reverse rotation to 100 revolutions per minute 1107: Whether to reach the number of washing cycles 1108: Release the solenoid valve 1109: forward to seven hundred revolutions per minute 1225904 1110: whether to reach the set dehydration time 1111: Stop 1112: Control interruption 1113: Feedback actual motor speed 1114: Calculate speed error 1115: Speed error is greater than zero 1116: Pulse width adjustment 1117: Pulse width adjustment rise 1118. Send pulse width modulation signal 1119: Stop 1120: Drive Interrupt 1121: Select drive mode 1122: Determine magnetic pole signal 1123: Send inverter drive signal 1124: Calculate actual motor speed 1125: Stop