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CN107819421B - Vibration control device and washing machine - Google Patents

Vibration control device and washing machine Download PDF

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Publication number
CN107819421B
CN107819421B CN201710667446.3A CN201710667446A CN107819421B CN 107819421 B CN107819421 B CN 107819421B CN 201710667446 A CN201710667446 A CN 201710667446A CN 107819421 B CN107819421 B CN 107819421B
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current
linear actuator
vibration
thrust
voltage
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CN107819421A (en
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法月邦彦
岩路善尚
中津川润之介
马饲野佑贵
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Hitachi Global Life Solutions Inc
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Hitachi Global Life Solutions Inc
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Priority claimed from JP2016178554A external-priority patent/JP6673789B2/en
Priority claimed from JP2017049348A external-priority patent/JP6725443B2/en
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06Linear motors
    • H02P25/064Linear motors of the synchronous type
    • DTEXTILES; PAPER
    • D06TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06FLAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F37/00Details specific to washing machines covered by groups D06F21/00 - D06F25/00
    • D06F37/20Mountings, e.g. resilient mountings, for the rotary receptacle, motor, tub or casing; Preventing or damping vibrations
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K33/00Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
    • H02K33/02Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with armatures moved one way by energisation of a single coil system and returned by mechanical force, e.g. by springs

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Textile Engineering (AREA)
  • Control Of Washing Machine And Dryer (AREA)
  • Main Body Construction Of Washing Machines And Laundry Dryers (AREA)

Abstract

本发明提供一种适当地抑制减振对象物的振动的低成本的减振装置等。减振装置(100)具备:线性电机(10),其与减振对象物(G)连接;变换器(40),其驱动线性电机(10);电流检测器(50),其对向线性电机(10)通电的电流进行检测;推力调整部(60),其基于由电流检测器50检测出的电流,通过驱动变换器(40)来调整线性电机(10)的推力。由此,能够适当地抑制减振对象物(G)的振动。

Figure 201710667446

The present invention provides a low-cost vibration damping device and the like that appropriately suppress vibration of an object to be damped. A vibration damping device (100) includes: a linear motor (10) connected to a vibration damping object (G); an inverter (40) for driving the linear motor (10); and a current detector (50) for opposing the linear The electric current of the motor (10) is detected; the thrust adjusting part (60) adjusts the thrust of the linear motor (10) by driving the inverter (40) based on the current detected by the current detector 50. Thereby, the vibration of the vibration-damping object (G) can be appropriately suppressed.

Figure 201710667446

Description

振动控制装置及洗衣机Vibration control device and washing machine

技术领域technical field

本发明涉及一种控制对象物的振动的振动控制装置等。The present invention relates to a vibration control device and the like for controlling vibration of an object.

背景技术Background technique

作为具备线性促动器的设备,例如专利文献1中记载了一种线性压缩机,该线性压缩机通过线性促动器在汽缸内使活塞移动,对气体进行压缩。As a device including a linear actuator, for example, Patent Document 1 describes a linear compressor that compresses gas by moving a piston in a cylinder by a linear actuator.

另外,专利文献2中记载了一种减振控制系统,其具备检测线性促动器的动子的相对位置的位置传感器、基于该位置传感器的检测值等控制对象物的振动的控制装置。In addition, Patent Document 2 describes a vibration damping control system including a position sensor that detects the relative position of a mover of a linear actuator, and a control device that controls vibration of an object based on a detection value of the position sensor and the like.

现有技术文献prior art literature

专利文献Patent Literature

专利文献1:日本特开2003-214353号公报Patent Document 1: Japanese Patent Laid-Open No. 2003-214353

专利文献2:日本特开2010-78075号公报Patent Document 2: Japanese Patent Laid-Open No. 2010-78075

发明内容SUMMARY OF THE INVENTION

在专利文献1所述的技术中,为了使线性压缩机的活塞在上死点与下死点之间没有过不足地进行往复,自动调谐线性促动器的电机常数。即,专利文献1所述的技术即使各种条件发生变化,也使线性促动器的振幅为一定,不会使该振幅时刻进行变化。In the technique described in Patent Document 1, the motor constant of the linear actuator is automatically tuned so that the piston of the linear compressor reciprocates between the top dead center and the bottom dead center without overshooting. That is, the technique described in Patent Document 1 keeps the amplitude of the linear actuator constant even if various conditions change, and does not change the amplitude from moment to moment.

另外,在专利文献2所述的技术中,由于设置有检测线性促动器的动子的相对位置的位置传感器,有时会导致制造成本的增加。In addition, in the technique described in Patent Document 2, since a position sensor for detecting the relative position of the mover of the linear actuator is provided, the manufacturing cost may increase.

因此,本发明的课题在于提供一种适当地控制对象物的振动的低成本的振动控制装置等。Therefore, the subject of this invention is to provide the low-cost vibration control apparatus etc. which control the vibration of an object suitably.

为了解决上述课题,本发明的特征在于,具备:线性促动器,其与对象物连接;变换器,其驱动上述线性促动器;电流检测器,其具备检测向上述线性促动器通电的电流的电流检测单元;推力调整部,其根据由上述电流检测器检测出的电流,通过驱动上述变换器来调整上述线性电机的推力。In order to solve the above-mentioned problems, the present invention is characterized by comprising: a linear actuator connected to an object; an inverter for driving the linear actuator; A current detection unit for current; and a thrust force adjustment unit for adjusting the thrust force of the linear motor by driving the inverter based on the current detected by the current detector.

发明效果Invention effect

根据本发明,提供一种适当地控制对象物的振动的低成本的振动控制装置等。According to the present invention, there is provided a low-cost vibration control device or the like that appropriately controls the vibration of an object.

附图说明Description of drawings

图1是本发明第一实施方式的振动控制装置所具备的线性促动器的纵剖视图。1 is a vertical cross-sectional view of a linear actuator included in a vibration control device according to a first embodiment of the present invention.

图2是图1的II-II线向视端面图。FIG. 2 is an end view taken along the line II-II in FIG. 1 .

图3是本发明第一实施方式的振动控制装置的立体图。3 is a perspective view of the vibration control device according to the first embodiment of the present invention.

图4是具备本发明的第一实施方式的振动控制装置的洗衣机的立体图。4 is a perspective view of a washing machine provided with the vibration control device according to the first embodiment of the present invention.

图5是具备本发明的第一实施方式的振动控制装置的洗衣机的纵剖视图。5 is a vertical cross-sectional view of a washing machine provided with the vibration control device according to the first embodiment of the present invention.

图6是本发明第一实施方式的振动控制装置的结构图。6 is a configuration diagram of the vibration control device according to the first embodiment of the present invention.

图7是包含本发明第一实施方式的振动控制装置所具备的变换器的结构图。7 is a configuration diagram including an inverter included in the vibration control device according to the first embodiment of the present invention.

图8是包含本发明第一实施方式的振动控制装置的推力调整部等的整体控制框图。8 is an overall control block diagram including a thrust force adjustment unit and the like of the vibration control device according to the first embodiment of the present invention.

图9是与图8所示的一次延迟元件(1/(R+sL))等价的控制框图。FIG. 9 is a control block diagram equivalent to the primary delay element (1/(R+sL)) shown in FIG. 8 .

图10是本发明第二实施方式的振动控制装置的结构图。10 is a configuration diagram of a vibration control device according to a second embodiment of the present invention.

图11是本发明第二实施方式的振动控制装置所具备的推力调整部的控制框图。11 is a control block diagram of a thrust adjustment unit included in the vibration control device according to the second embodiment of the present invention.

图12A是表示在使用粘度系数固定的油压减振器的比较例中,洗涤槽的旋转速度和外槽的位移的变化的实验结果。12A is an experimental result showing changes in the rotational speed of the washing tub and the displacement of the outer tub in a comparative example using a hydraulic damper with a fixed viscosity coefficient.

图12B是表示在本发明第二实施方式中,洗涤槽的旋转速度和外槽的位移的变化的实验结果。12B is an experimental result showing changes in the rotation speed of the washing tank and the displacement of the outer tank in the second embodiment of the present invention.

图13是本发明第三实施方式的振动控制装置的结构图。13 is a configuration diagram of a vibration control device according to a third embodiment of the present invention.

图14是包含本发明第三实施方式的振动控制装置所具备的推力调整部及速度信息推算部的控制框图。14 is a control block diagram including a thrust force adjustment unit and a speed information estimation unit included in the vibration control device according to the third embodiment of the present invention.

图15A是表示在本发明第三实施方式的振动控制装置中基于感应电压Em而生成电流指令i*时所使用的函数的例子的说明图。15A is an explanatory diagram showing an example of a function used when generating a current command i* based on the induced voltage Em in the vibration control device according to the third embodiment of the present invention.

图15B是表示在本发明第三实施方式的振动控制装置中基于感应电压Em而生成电流指令i*时所使用的函数的其它例的说明图。15B is an explanatory diagram showing another example of the function used when generating the current command i* based on the induced voltage Em in the vibration control device according to the third embodiment of the present invention.

图15C是表示在本发明第三实施方式的振动控制装置中基于感应电压Em而生成电流指令i*时所使用的函数的其它例的说明图。15C is an explanatory diagram showing another example of the function used when generating the current command i* based on the induced voltage Em in the vibration control device according to the third embodiment of the present invention.

图15D是表示在本发明第三实施方式的振动控制装置中基于感应电压Em而生成电流指令i*时所使用的函数的其它例的说明图。15D is an explanatory diagram showing another example of the function used when generating the current command i* based on the induced voltage Em in the vibration control device according to the third embodiment of the present invention.

图16是本发明第四实施方式的振动控制装置的结构图。16 is a configuration diagram of a vibration control device according to a fourth embodiment of the present invention.

图17是包含本发明第四实施方式的振动控制装置所具备的推力调整部的控制框图。17 is a control block diagram including a thrust adjustment unit included in the vibration control device according to the fourth embodiment of the present invention.

图18是本发明的变形例的振动控制装置的结构图。18 is a configuration diagram of a vibration control device according to a modification of the present invention.

图19A是本发明第五实施方式的振动控制装置的结构图。19A is a configuration diagram of a vibration control device according to a fifth embodiment of the present invention.

图19B是表示在第一实施方式中在施加固定的激振力时产生的推力的结果。FIG. 19B shows the result of the thrust generated when a fixed excitation force is applied in the first embodiment.

图19C是表示在第五实施方式中在施加固定的激振力时产生的推力的结果。FIG. 19C is a result showing the thrust force generated when a fixed excitation force is applied in the fifth embodiment.

图20是本发明第六实施方式的振动控制装置的结构图。20 is a configuration diagram of a vibration control device according to a sixth embodiment of the present invention.

图21是包含本发明第六实施方式的振动控制装置所具备的推力调整部及速度情報推算部的控制框图。21 is a control block diagram including a thrust force adjustment unit and a speed information estimation unit included in the vibration control device according to the sixth embodiment of the present invention.

图22A是表示在本发明第六实施方式的振动控制装置中基于感应电压Em生成电流指令i**时所使用的函数的例子的说明图。22A is an explanatory diagram showing an example of a function used when generating a current command i** based on the induced voltage Em in the vibration control device according to the sixth embodiment of the present invention.

图22B是表示在本发明第六实施方式的减振装置中基于感应电压Em生成电流指令i**时所使用的函数的其它例的说明图。22B is an explanatory diagram showing another example of the function used when generating the current command i** based on the induced voltage Em in the vibration damping device according to the sixth embodiment of the present invention.

图22C是表示在本发明第六实施方式的减振装置中基于感应电压Em生成电流指令i**时所使用的函数的其它例的说明图。22C is an explanatory diagram showing another example of the function used when generating the current command i** based on the induced voltage Em in the vibration damping device according to the sixth embodiment of the present invention.

图22D是表示在本发明第六实施方式的减振装置中基于感应电压Em生成电流指令i**时所使用的函数的其它例的说明图。22D is an explanatory diagram showing another example of the function used when generating the current command i** based on the induced voltage Em in the vibration damping device according to the sixth embodiment of the present invention.

图23A是在本发明第三实施方式中,在洗涤槽35内的偏置的规定位置固定了600g的重量的状态下使洗涤槽35以900(min-1)旋转时的、向外槽的上下方向的振动速度和向线性促动器10通电的电流的结果。FIG. 23A is a view of the outward tub when the washing tub 35 is rotated at 900 (min −1 ) in a state where the weight of 600 g is fixed at the offset predetermined position in the washing tub 35 in the third embodiment of the present invention. The result of the vibration velocity in the vertical direction and the current supplied to the linear actuator 10 .

图23B是在本发明第六实施方式中,在洗涤槽35内的偏置的规定位置固定了600g的重量的状态下使洗涤槽35以900(min-1)旋转时的、向外槽的上下方向的振动速度和向线性促动器10通电的电流的结果。FIG. 23B is a diagram showing the outward direction of the washing tub 35 when the washing tub 35 is rotated at 900 (min −1 ) in a state where the weight of 600 g is fixed at the offset predetermined position in the washing tub 35 in the sixth embodiment of the present invention. The result of the vibration velocity in the vertical direction and the current supplied to the linear actuator 10 .

图24是本发明第七实施方式的振动控制装置的结构图。24 is a configuration diagram of a vibration control device according to a seventh embodiment of the present invention.

图25是包含本发明第七实施方式的振动控制装置所具备的推力调整部的控制框图。25 is a control block diagram including a thrust adjustment unit included in a vibration control device according to a seventh embodiment of the present invention.

图26A是本发明第八实施方式的振动控制装置的结构图。26A is a configuration diagram of a vibration control device according to an eighth embodiment of the present invention.

图26B是发明第八实施方式的振动控制装置的结构图。26B is a configuration diagram of the vibration control device according to the eighth embodiment of the invention.

图27A是本发明第八实施方式的振动控制装置的结构图。27A is a configuration diagram of a vibration control device according to an eighth embodiment of the present invention.

图27B是发明第八实施方式的振动控制装置的结构图。27B is a configuration diagram of the vibration control device according to the eighth embodiment of the invention.

图中:100、100A、100B、100C、100D—振动控制装置,10—线性促动器,10L—线性促动器(一方的线性促动器),10R—线性促动器(另一方的线性促动器),11—定子,11a—芯,11b—线圈,12—动子,121b、122b、123b—永磁铁,20—弹簧,31—基座,32—箱体,32a—左右侧板,32b—前面罩,32c—背面罩,32d—上面罩,33—门,h1—投入口,h2—洗涤槽35的开口h2,h3—洗涤槽37的开口h3,34—操作和显示面板,H—排水软管,35—洗涤槽,36—升降机,37—外槽(对象物),38—驱动机构,38a—电机驱动用变换器,38b—电机,39—送风单元,40、40L、40R—变换器,50—电流检测器,F—整流回路,F1—二极管桥式电路,E—交流电源,D1、D2、D3、D4—二极管,k1—配线,k2—配线,S1、S2、S3、S4、S5、S6、S11、S12、S13、S14—开关元件,D—续流二极管,Ch—平滑电容器,60、60A、60B、60C、60E—推力调整部,61、61A—运算器,Ke—感应电压常数,70B、70C—速度信息推算部,G—对象物,W—洗衣机,C—线性促动器10的粘度系数,FD—线性促动器的阻尼力,FL—线性促动器的推力,62、66、66E—表,70B、70C—速度信息推算部,63—减法器,65、65C、67、67、67E—电流指令生成部,64—ACR,260A、260B、260C、270A—通电电压和通电电流。In the figure: 100, 100A, 100B, 100C, 100D—vibration control device, 10—linear actuator, 10L—linear actuator (one linear actuator), 10R—linear actuator (the other linear actuator) Actuator), 11—stator, 11a—core, 11b—coil, 12—mover, 121b, 122b, 123b—permanent magnet, 20—spring, 31—base, 32—box, 32a—left and right side plates , 32b—front cover, 32c—back cover, 32d—top cover, 33—door, h1—input port, h2—opening h2 of washing tank 35, h3—opening h3 of washing tank 37, 34—operation and display panel, H—Drain hose, 35—Washing tank, 36—Elevator, 37—Outer tank (object), 38—Drive mechanism, 38a—Motor drive inverter, 38b—Motor, 39—Air supply unit, 40, 40L , 40R—converter, 50—current detector, F—rectifier circuit, F1—diode bridge circuit, E—AC power supply, D1, D2, D3, D4—diode, k1—wiring, k2—wiring, S1 , S2, S3, S4, S5, S6, S11, S12, S13, S14—switching element, D—freewheeling diode, Ch—smoothing capacitor, 60, 60A, 60B, 60C, 60E—thrust adjustment part, 61, 61A - calculator, Ke - induced voltage constant, 70B, 70C - speed information calculation unit, G - object, W - washing machine, C - viscosity coefficient of linear actuator 10, F D - damping force of linear actuator, F L —thrust force of linear actuator, 62, 66, 66E—table, 70B, 70C—speed information estimation unit, 63—subtractor, 65, 65C, 67, 67, 67E—current command generation unit, 64—ACR , 260A, 260B, 260C, 270A - energized voltage and energized current.

具体实施方式Detailed ways

在以下的各实施方式中,作为一例,对于通过线性促动器10(参照图1)来控制洗衣机W(参照图4)的振动的结构进行说明。In each of the following embodiments, a configuration in which the vibration of the washing machine W (refer to FIG. 4 ) is controlled by the linear actuator 10 (refer to FIG. 1 ) will be described as an example.

(第一实施方式)(first embodiment)

图1是振动控制装置所具备的线性促动器10的纵剖视图。FIG. 1 is a vertical cross-sectional view of a linear actuator 10 included in a vibration control device.

此外,如图1所示,规定xyz轴。另外,在图1中,在x方向图示有线性促动器10一半,线性促动器10的结构以yz平面为基准而对称。Furthermore, as shown in FIG. 1 , the xyz axes are defined. In addition, in FIG. 1, a half of the linear actuator 10 is shown in the x direction, and the structure of the linear actuator 10 is symmetrical with respect to the yz plane.

线性促动器10是通过作为电枢的定子11与沿z方向延伸的板状的动子12之间的向z轴方向的磁吸力/斥力(也就是推力)使定子11与动子12的相对位置沿z方向直线变化的电机。如图1所示,线性促动器10与洗衣机W(参照图5)的外槽37(对象物)连接。具体而言线,性促动器10的动子12与外槽37连接。In the linear actuator 10, the stator 11 and the mover 12 are connected by the magnetic attraction force/repulsion force (that is, the thrust force) in the z-axis direction between the stator 11 serving as the armature and the plate-shaped mover 12 extending in the z direction. A motor whose relative position changes linearly in the z-direction. As shown in FIG. 1, the linear actuator 10 is connected to the outer tank 37 (object) of the washing machine W (refer to FIG. 5). Specifically, the rotor 12 of the sexual actuator 10 is connected to the outer groove 37 .

如图1所示,线性促动器10具备定子11和动子12。定子11具备由电磁钢板在z方向层叠而成的芯11a和卷绕于该芯11a的磁极齿T的线圈11b。As shown in FIG. 1 , the linear actuator 10 includes a stator 11 and a mover 12 . The stator 11 includes a core 11a formed by laminating electromagnetic steel sheets in the z direction, and a coil 11b wound around the magnetic pole teeth T of the core 11a.

图2是图1的II-II线向视端面图。此外,在图2中,不是x方向的线性促动器10的一半(参照图1),而是图示了线性促动器10的整体。FIG. 2 is an end view taken along the line II-II in FIG. 1 . In addition, in FIG. 2, the linear actuator 10 as a whole is shown in figure instead of a half of the linear actuator 10 in the x-direction (refer to FIG. 1).

如图2所示,定子11的芯11a具备环状部S和磁极齿T、T。As shown in FIG. 2 , the core 11 a of the stator 11 includes an annular portion S and magnetic pole teeth T and T. As shown in FIG.

环状部S在纵剖面视图的情况下呈环状(矩形框状),通过该环状部S构成了磁回路。一对磁极齿T、T从环状部S向y方向内侧延伸,相互对置。此外,磁极齿T、T之间的距离比呈板状的动子12的厚度稍长。在磁极齿T、T分别卷绕由线圈11b。通过对该线圈11b通电,定子11作为电磁铁发挥作用。The annular portion S has an annular shape (rectangular frame shape) in the longitudinal cross-sectional view, and the annular portion S constitutes a magnetic circuit. The pair of magnetic pole teeth T and T extend inward in the y direction from the annular portion S, and face each other. In addition, the distance between the magnetic pole teeth T and T is slightly longer than the thickness of the plate-shaped mover 12 . Coils 11b are wound around the magnetic pole teeth T and T, respectively. By energizing the coil 11b, the stator 11 functions as an electromagnet.

在图1所示的例中,在z方向(动子12的移动方向),设置有两对磁极齿T。另外,分别卷绕在两对磁极齿T的线圈11b形成一根线圈,其两端与后记的变换器40(参照图6)的输出侧连接。In the example shown in FIG. 1 , two pairs of magnetic pole teeth T are provided in the z direction (the moving direction of the mover 12 ). In addition, the coils 11b respectively wound around the two pairs of magnetic pole teeth T form one coil, and both ends thereof are connected to the output side of the inverter 40 (see FIG. 6 ) described later.

图2所示的动子12贯通呈环状的芯11a而沿z方向延伸。另外,如图1所示,动子12具备沿z方向延伸的多个金属板12a以及在z方向上设置规定的间隔而设置于金属板12a的永磁铁121b、122b、123b。此外,也可以在一张金属板粘贴多个永磁铁,另外,也可以在一张金属板埋设多个永磁铁。The mover 12 shown in FIG. 2 penetrates the ring-shaped core 11 a and extends in the z direction. Further, as shown in FIG. 1 , the mover 12 includes a plurality of metal plates 12a extending in the z direction, and permanent magnets 121b, 122b, and 123b provided on the metal plates 12a at predetermined intervals in the z direction. In addition, a plurality of permanent magnets may be attached to a single metal plate, or a plurality of permanent magnets may be embedded in a single metal plate.

图1所示的永磁铁121b、122b、123b在y方向被磁化。若更详细地说明,则朝向y方向正侧被磁化的永磁铁(例如,永磁铁121b、123b)和向y方向负侧被磁化的永磁铁(例如,永磁铁122b)在z方向上交替配置。而且,通过动子12与起到电磁铁作用的定子11的吸力/斥力,向动子12作用z方向的推力。此外,“推力”是使动子12与定子11的相对位置变化的力。The permanent magnets 121b, 122b, and 123b shown in FIG. 1 are magnetized in the y direction. In more detail, the permanent magnets magnetized toward the positive side in the y direction (for example, the permanent magnets 121b and 123b) and the permanent magnets magnetized toward the negative side in the y direction (for example, the permanent magnet 122b) are alternately arranged in the z direction. . Then, a thrust force in the z direction acts on the mover 12 by the attraction/repulsion force between the mover 12 and the stator 11 functioning as an electromagnet. In addition, "thrust force" is the force which changes the relative position of the mover 12 and the stator 11.

另外,作为永磁铁121b、122b、123b,期望使用钐‐铁‐氮系的永磁铁。永磁铁121b、122b、123b的原料的具体比例(%)例如为铁:约73%、钐:约24%、氮:约3%。上述的原料中,稀土类元素为钐。In addition, as the permanent magnets 121b, 122b, and 123b, it is desirable to use a samarium-iron-nitrogen-based permanent magnet. Specific ratios (%) of the raw materials of the permanent magnets 121b, 122b, and 123b are, for example, iron: about 73%, samarium: about 24%, and nitrogen: about 3%. Among the above-mentioned raw materials, the rare earth element is samarium.

相对于此,在现有的钕磁铁中,多使用铁:约65%、钕:约28%、镝:约5%、硼:约2%的比例的钕磁铁。在上述的原料中,稀土类元素为钕及镝。因此,钐‐铁‐氮系的永磁铁121b、122b、123b中,稀土类元素的比例比现有的钕磁铁小,因此,难以受到市场动向的影响,具有能够稳定供给的优点。On the other hand, in conventional neodymium magnets, the ratios of iron: about 65%, neodymium: about 28%, dysprosium: about 5%, and boron: about 2% are often used. Among the above-mentioned raw materials, the rare earth elements are neodymium and dysprosium. Therefore, in the samarium-iron-nitrogen-based permanent magnets 121b, 122b, and 123b, the ratio of rare earth elements is smaller than that of conventional neodymium magnets, so it is difficult to be affected by market trends and has the advantage of being able to supply stably.

进一步地,钐‐铁‐氮系的永磁铁121b、122b、123b与现有的钕磁铁、铁氧体磁铁不同,能够掺入到树脂而模制成形。因此,相较于以往,能够提高永磁铁121b、122b、123b的加工精度,减小其尺寸偏差。另外,即使模制成形时剩余了原料的浪费的部分,也能够进行再利用,因此,不存在原料损失,能够削减制造成本。Furthermore, the samarium-iron-nitrogen-based permanent magnets 121b, 122b, and 123b can be mixed with resin and molded, unlike conventional neodymium magnets and ferrite magnets. Therefore, the machining accuracy of the permanent magnets 121b, 122b, and 123b can be improved, and the dimensional variation thereof can be reduced as compared with the prior art. In addition, even if the waste portion of the raw material remains at the time of molding, it can be reused, so that there is no loss of the raw material, and the manufacturing cost can be reduced.

图3是具备线性促动器10的振动控制装置100的立体图。FIG. 3 is a perspective view of the vibration control device 100 including the linear actuator 10 .

振动控制装置100是具备上述的线性促动器10和弹簧20的电磁悬架,具有控制作为“对象物”的外槽37的振动(即,洗衣机W的振动:参照图5)的功能。The vibration control device 100 is an electromagnetic suspension including the linear actuator 10 and the spring 20 described above, and has a function of controlling the vibration of the outer tub 37 as an "object" (ie, the vibration of the washing machine W: see FIG. 5 ).

如图3所示,线性促动器10的动子12的一端与洗衣机W(参照图5)的外槽37连接,另一端与固定夹具J连接。另外,线性促动器10的定子11没有图示,通过其它固定夹具(未图示)来限制其移动。因此,若洗衣机W的外槽37向z方向振动,则伴随于此,动子12在z方向上往复,动子12与定子11的相对的位置关系发生变化。As shown in FIG. 3 , one end of the mover 12 of the linear actuator 10 is connected to the outer groove 37 of the washing machine W (see FIG. 5 ), and the other end is connected to the fixing jig J. In addition, the stator 11 of the linear actuator 10 is not shown, and its movement is regulated by another fixing jig (not shown). Therefore, when the outer tank 37 of the washing machine W vibrates in the z direction, the mover 12 reciprocates in the z direction, and the relative positional relationship between the mover 12 and the stator 11 changes.

弹簧20是向定子11赋予弹性力的弹簧,介于定子11与固定夹具J之间。如图3所示,动子12贯通定子11,并且也贯通弹簧20。The spring 20 is a spring that imparts elastic force to the stator 11 , and is interposed between the stator 11 and the fixing jig J. As shown in FIG. 3 , the mover 12 penetrates the stator 11 and also penetrates the spring 20 .

图4是具备振动控制装置100的洗衣机W的立体图。FIG. 4 is a perspective view of the washing machine W including the vibration control device 100 .

此外,振动控制装置100设置于洗衣机W的内部(参照图5),因此,图4中未图示振动控制装置100。In addition, since the vibration control apparatus 100 is provided in the inside of the washing machine W (refer FIG. 5), the vibration control apparatus 100 is not shown in FIG. 4. FIG.

图4所示的洗衣机W是滚筒式洗衣机,另外,也具有干燥衣类的功能。洗衣机W具备上述的振动控制装置100(参照图5)、基座31、箱体32、门33、操作和显示面板34、以及排水软管H。The washing machine W shown in FIG. 4 is a drum-type washing machine, and also has a function of drying clothes. The washing machine W includes the above-described vibration control device 100 (see FIG. 5 ), a base 31 , a case 32 , a door 33 , an operation and display panel 34 , and a drain hose H.

基座31支撑箱体32。The base 31 supports the case 32 .

箱体32具备左右的侧板32a、32a、前面罩32b、背面罩32c(参照图5)以及上面罩32d。在前面罩32b的中央附近形成有用于拿出放入衣类的圆形的投入口h1(参照图5)。The case 32 includes left and right side plates 32a and 32a, a front cover 32b, a back cover 32c (see FIG. 5 ), and a top cover 32d. In the vicinity of the center of the front cover 32b, a circular inlet h1 (refer to FIG. 5 ) for taking out and putting in clothes is formed.

门33是设置于上述的投入口h1的能够开闭的盖。The door 33 is an openable and closable cover provided in the above-mentioned input port h1.

操作和显示面板34是设置有电气开关、操作开关、显示器等的面板,设置于上面罩32d。The operation and display panel 34 is a panel provided with electrical switches, operation switches, a display, and the like, and is provided on the upper cover 32d.

排水软管H是用于排出外槽37(参照图5)的洗涤水的软管,与外槽37连接。The drain hose H is a hose for draining the wash water in the outer tub 37 (see FIG. 5 ), and is connected to the outer tub 37 .

图5是具备振动控制装置100的洗衣机W的纵剖视图。FIG. 5 is a longitudinal cross-sectional view of the washing machine W including the vibration control device 100 .

除了上述的结构之外,洗衣机W还具备洗涤槽35、升降机36、外槽37、驱动机构38以及送风单元39。The washing machine W includes a washing tub 35 , a lifter 36 , an outer tub 37 , a drive mechanism 38 , and an air blower unit 39 in addition to the above-described configuration.

洗涤槽35收纳衣类,呈有底圆筒状。洗涤槽35被外槽37包围于内部,与该外槽37在同轴上旋转自如地被轴支撑。在洗涤槽35的周壁及底壁设置有很多用于通水、通风的通孔(未图示)。另外,洗涤槽35的开口h2和外槽37的开口h3一同面对关闭状态的门33。The washing tub 35 accommodates clothes and has a bottomed cylindrical shape. The washing tub 35 is surrounded by the outer tub 37 inside, and is supported by the shaft so as to be rotatable coaxially with the outer tub 37 . A large number of through holes (not shown) for water and ventilation are provided on the peripheral wall and the bottom wall of the washing tub 35 . In addition, the opening h2 of the washing tub 35 and the opening h3 of the outer tub 37 face the door 33 in the closed state together.

此外,在图5所示的例中,洗涤槽35的旋转中心轴以开口侧变高的方式倾斜,但并不限定于此。即,洗涤槽35的旋转中心轴也可以是水平方向,另外,也可以是垂直方向。In addition, in the example shown in FIG. 5, although the rotation center axis|shaft of the washing tub 35 is inclined so that an opening side may become high, it is not limited to this. That is, the rotation center axis of the washing tub 35 may be in the horizontal direction, or may be in the vertical direction.

升降机36设置于洗涤槽35的内周壁,在洗涤中、干燥中将衣类举起、使其落下。The lifter 36 is provided on the inner peripheral wall of the washing tub 35, and lifts and drops clothes during washing and drying.

外槽37进行洗涤水的贮存等,呈有底圆筒状。如图5所示,外槽37将洗涤槽35包围在内部。在外槽37的左右分别设置有线性促动器10(定子11、动子12)及弹簧20。此外,在图5中,图示有左右的线性促动器10的一方。The outer tank 37 stores washing water and the like, and has a bottomed cylindrical shape. As shown in FIG. 5 , the outer tub 37 surrounds the washing tub 35 inside. The linear actuators 10 (the stator 11 and the mover 12 ) and the springs 20 are respectively provided on the left and right sides of the outer groove 37 . In addition, in FIG. 5, one of the linear actuators 10 on the left and right is shown.

另外,在外槽37的底壁的最下部设置有排水孔(未图示),在该排水孔连接有排水软管H。而且,在设置于排水软管H的排水阀(未图示)为闭阀状态下,洗涤水贮存于外槽37,另外,通过打开排水阀,洗涤水被排出。Moreover, a drain hole (not shown) is provided in the lowermost part of the bottom wall of the outer tank 37, and the drain hose H is connected to this drain hole. Then, when the drain valve (not shown) provided in the drain hose H is in a closed state, the wash water is stored in the outer tank 37, and the wash water is discharged by opening the drain valve.

驱动机构38是使洗涤槽35旋转的机构,设置于外槽37的底壁的外侧。驱动机构38所具备的电机38b(参照图7)的旋转轴贯通外槽37的底壁,与洗涤槽35的底壁连结。The drive mechanism 38 is a mechanism for rotating the washing tub 35 , and is provided outside the bottom wall of the outer tub 37 . The rotation shaft of the motor 38b (refer FIG. 7) with which the drive mechanism 38 is equipped penetrates the bottom wall of the outer tub 37, and is connected to the bottom wall of the washing tub 35.

送风单元39向洗涤槽35送入热风,配置于洗涤槽35的上侧。送风单元39具备加热器(未图示)及风扇(未图示)。而且,用加热器加热的空气被风扇送入洗涤槽35。由此,含有水的衣类在洗涤槽35内慢慢干燥。The air blowing unit 39 sends hot air to the washing tub 35 and is disposed on the upper side of the washing tub 35 . The blower unit 39 includes a heater (not shown) and a fan (not shown). Also, the air heated by the heater is sent into the washing tub 35 by a fan. Thereby, the clothes containing water are gradually dried in the washing tub 35 .

图6是振动控制装置100的结构图。此外,在图6中,图示了左右的两个线性促动器10中的一方,省略了另一方。另外,图6所示的对象物G为洗衣机W(参照图5)的外槽37(参照图5)。FIG. 6 is a configuration diagram of the vibration control device 100 . In addition, in FIG. 6, one of the two linear actuators 10 on the left and right is shown, and the other is abbreviate|omitted. In addition, the object G shown in FIG. 6 is the outer tub 37 (refer FIG. 5) of the washing machine W (refer FIG. 5).

除了上述的结构(线性促动器10及弹簧20:参照图3)之外,振动控制装置100还具备变换器40、电流检测器50以及推力调整部60。The vibration control device 100 includes the inverter 40 , the current detector 50 , and the thrust adjusting unit 60 in addition to the above-described configuration (the linear actuator 10 and the spring 20 : see FIG. 3 ).

变换器40为如下变换器,其基于来自推力调整部60的电压指令V*将从整流回路F施加的直流电压变换为单相交流电压,并将该单相交流电压施加于线性促动器10的线圈11b(参照图2)。即,变换器40具有基于上述的电压指令V*来驱动线性促动器10的功能。The inverter 40 is an inverter that converts the DC voltage applied from the rectifier circuit F to a single-phase AC voltage based on the voltage command V* from the thrust adjustment unit 60 and applies the single-phase AC voltage to the linear actuator 10 the coil 11b (refer to FIG. 2 ). That is, the inverter 40 has a function of driving the linear actuator 10 based on the above-described voltage command V*.

此外,向变换器40施加直流电压的“直流电源”包含交流电源E和整流回路F而成。In addition, the "DC power source" that applies the DC voltage to the inverter 40 includes the AC power source E and the rectifier circuit F.

图7是包含振动控制装置100所具备的变换器40的结构图。FIG. 7 is a configuration diagram including the inverter 40 included in the vibration control device 100 .

此外,在图7中,将左侧的线性促动器设为“线性促动器10L”,将右侧的线性促动器记作“线性促动器10R”。In addition, in FIG. 7, the linear actuator on the left is referred to as "linear actuator 10L", and the linear actuator on the right is referred to as "linear actuator 10R".

图7所示的整流回路F是将从交流电源E施加的交流电压变换为直流电压的众所周知的倍电压整流回路。如图7所示,整流回路F具备由二极管D1~D4进行电桥连接而构成的二极管桥式电路F1、串联连接的两个平滑电容器Ch。The rectifier circuit F shown in FIG. 7 is a well-known voltage multiplier rectifier circuit that converts the AC voltage applied from the AC power source E into a DC voltage. As shown in FIG. 7 , the rectifier circuit F includes a diode bridge circuit F1 in which diodes D1 to D4 are bridge-connected, and two smoothing capacitors Ch connected in series.

而且,从二极管桥式电路F1施加的电压(包含脉动电流的直流电压)被平滑电容器Ch平滑化,生成相当于交流电源E的电压的大致2倍的直流电压。Then, the voltage (DC voltage including the pulsating current) applied from the diode bridge circuit F1 is smoothed by the smoothing capacitor Ch, and a DC voltage corresponding to approximately twice the voltage of the AC power supply E is generated.

整流回路F经由正侧的配线k1、负侧的配线k2与变换器40连接,也与使洗涤槽35(参照图5)旋转的驱动机构38的变换器38a连接。此外,驱动机构38具备电机驱动用变换器38a和电机38b。The rectifier circuit F is connected to the inverter 40 via the positive side wiring k1 and the negative side wiring k2, and is also connected to the inverter 38a of the drive mechanism 38 that rotates the washing tub 35 (see FIG. 5). Further, the drive mechanism 38 includes a motor drive inverter 38a and a motor 38b.

变换器40是将从上述的“直流电源”施加的直流电压变换为单相交流电压,并将该单相交流电压施加于线性促动器10L、10R的线圈11b(参照图2)的三相全桥变换器。The inverter 40 converts the DC voltage applied from the above-mentioned “DC power source” into a single-phase AC voltage, and applies the single-phase AC voltage to the coils 11b (see FIG. 2 ) of the linear actuators 10L and 10R. full bridge converter.

如图7所示,变换器40由具备开关元件S1、S2的第一脚、具备开关元件S3、S4的第二脚、具备开关元件S5、S6的第三的脚并联连接的结构。作为这些开关元件S1~S6,例如能够使用IGBT(Insulated Gate Bipolar Transistor)。在开关元件S1~S6分别反并联地连接有续流二极管D。As shown in FIG. 7 , the converter 40 has a structure in which a first leg including switching elements S1 and S2, a second leg including switching elements S3 and S4, and a third leg including switching elements S5 and S6 are connected in parallel. As these switching elements S1 to S6, for example, an IGBT (Insulated Gate Bipolar Transistor) can be used. Freewheeling diodes D are connected in anti-parallel to the switching elements S1 to S6, respectively.

另外,开关元件S1、S2的连接点经由配线k3与线性促动器10L的线圈11b(参照图2)连接。即,与三相的变换器40的一个相对应的脚与左侧(一方)的线性促动器10L连接。Moreover, the connection point of the switching elements S1 and S2 is connected to the coil 11b (refer FIG. 2) of the linear actuator 10L via the wiring k3. That is, the leg corresponding to one of the three-phase inverters 40 is connected to the left (one) linear actuator 10L.

另外,开关元件S5、S6的连接点经由配线k5与线性促动器10R的线圈11b(参照图2)连接。即,与三相的变换器40的一个相对应的另一个脚与右侧(他方)的线性促动器10L连接。Moreover, the connection point of the switching elements S5 and S6 is connected to the coil 11b (refer FIG. 2) of the linear actuator 10R via the wiring k5. That is, the other leg corresponding to one of the three-phase inverters 40 is connected to the right (other) linear actuator 10L.

另外,开关元件S3、S4的连接点经由配线k4与线性促动器10L的线圈11b(参照图2)连接,并经由该配线k4也与线性促动器10R的线圈11b连接。即,三相的变换器40的剩余的脚与左侧(一方)的线性促动器10L、及右侧(另一方)的线性促动器10R连接。The connection point of the switching elements S3 and S4 is connected to the coil 11b (see FIG. 2 ) of the linear actuator 10L via the wiring k4, and is also connected to the coil 11b of the linear actuator 10R via the wiring k4. That is, the remaining legs of the three-phase inverter 40 are connected to the left (one) linear actuator 10L and the right (the other) linear actuator 10R.

这样,不会与左右的线性促动器10L、10R相对应地分别设置变换器,而是左右通用一个变换器40,从而能够削减变换器40的成本。而且,通过基于PWM控制(Pulse WidthModulation)控制开关元件S1~S6的导通关断,向线性促动器10L、10R的线圈11b(参照图2)施加单相交流电压。In this way, the inverters are not separately provided corresponding to the linear actuators 10L and 10R on the left and right, but one inverter 40 is used for the left and right, and the cost of the inverter 40 can be reduced. Then, by controlling on/off of the switching elements S1 to S6 by PWM control (Pulse Width Modulation), a single-phase AC voltage is applied to the coils 11b (see FIG. 2 ) of the linear actuators 10L and 10R.

电流检测器50检测向线性促动器10L、10R通电的电流,设置于配线k6。即,通过电流检测器50,检测线性促动器10L、10R的线圈11b(参照图2)中流动的电流。此外,上述的配线k6是连接开关元件S2、SS4、S6的发射器、变换器38a的输入侧的配线。The current detector 50 detects the current supplied to the linear actuators 10L and 10R, and is provided in the wiring k6. That is, the current flowing through the coils 11b (see FIG. 2 ) of the linear actuators 10L and 10R is detected by the current detector 50 . In addition, the above-mentioned wiring k6 is a wiring which connects the transmitter of the switching elements S2, SS4, and S6, and the input side of the inverter 38a.

图6所示的推力调整部60未图示,包含CPU(Central Processing Unit)、ROM(ReadOnly Memory)、RAM(Random Access Memory)以及各种接口等的电子电路而成。而且,读出ROM所存储的程序并展开至RAM/CPU执行各种处理。The thrust adjustment unit 60 shown in FIG. 6 is not shown, but includes electronic circuits such as a CPU (Central Processing Unit), a ROM (ReadOnly Memory), a RAM (Random Access Memory), and various interfaces. Then, the program stored in the ROM is read out and expanded to the RAM/CPU to execute various processes.

推力调整部60具有如下的功能,基于由电流检测器50检测出的电流i,通过驱动变换器40来调整线性促动器10的推力。即,推力调整部60基于上述的电流生成规定的电压指令V*,基于该电压指令V*切换开关元件S1~S6的导通关断。详细情况进行后述,若伴随着外槽37(参照图5)的振动,动子12和定子11的相对位置发生变化,则推力调整部60调整线性促动器10的推力,以抵消该变化。The thrust adjusting unit 60 has a function of adjusting the thrust of the linear actuator 10 by driving the inverter 40 based on the current i detected by the current detector 50 . That is, the thrust adjustment unit 60 generates a predetermined voltage command V* based on the above-described current, and switches the switching elements S1 to S6 on and off based on the voltage command V*. The details will be described later, but when the relative position of the mover 12 and the stator 11 changes due to the vibration of the outer groove 37 (see FIG. 5 ), the thrust adjustment unit 60 adjusts the thrust of the linear actuator 10 to offset the change. .

在此,对外槽37的振动(即,洗衣机W的振动)进行简单说明。洗涤/漂洗/干燥时,通过图5所示的驱动机构38,洗涤槽35低速旋转,反复进行将洗涤槽35的底积存的衣类通过升降机36举起、使其落下的翻滚动作。另外,脱水时,洗涤槽35高速旋转,进行用旋转的离心力将衣类的水分向外甩出的离心脱水。Here, the vibration of the outer tub 37 (that is, the vibration of the washing machine W) will be briefly described. During washing/rinsing/drying, the washing tub 35 is rotated at a low speed by the drive mechanism 38 shown in FIG. In addition, during spin-drying, the washing tub 35 rotates at a high speed, and centrifugal spin-drying is performed in which the moisture of the clothes is thrown out by the centrifugal force of the rotation.

此外,在现有的洗衣机中,在洗涤/漂洗/干燥时,大多由于落下的衣类的反作用力,洗涤槽35的振动的振幅增大。另外,在现有的洗衣机中,在脱水时,大多由于衣类的位置的偏离,在洗衣机W发生振动、噪音。这样一来,根据洗涤槽35中的衣类的量、位置的偏离、含水率,除此之外还根据洗涤/漂洗/干燥/脱水等的各条件,洗衣机W的振动的方式时刻发生变化。其振动传播至外槽37。In addition, in the conventional washing machine, the amplitude of the vibration of the washing tub 35 is often increased due to the reaction force of the fallen clothes during washing, rinsing, and drying. In addition, in the conventional washing machine, vibration and noise are often generated in the washing machine W due to the positional deviation of the clothes during spin-drying. In this way, the vibration pattern of the washing machine W changes from time to time depending on the amount of clothes in the washing tub 35, positional deviation, moisture content, and other conditions such as washing/rinsing/drying/spinning. Its vibration is propagated to the outer tank 37 .

图8是包含推力调整部60等的整体的控制框图。FIG. 8 is an overall control block diagram including the thrust adjustment unit 60 and the like.

如图8所示,推力调整部60具备运算器61。该运算器61具有如下功能,通过将由电流检测器50检测出的电流i乘以规定的电流比例增益Kp,算出变换器40的电压指令V*。As shown in FIG. 8 , the thrust adjustment unit 60 includes an arithmetic unit 61 . The calculator 61 has a function of calculating the voltage command V* of the inverter 40 by multiplying the current i detected by the current detector 50 by a predetermined current proportional gain Kp.

此外,线性促动器10的动子12(参照图3)的速度越大,则电流i的值越大。因此,推力调整部60调整电压指令V*,以增大该电流i(即,减小与外槽37连接的动子12的速度)。In addition, as the speed of the mover 12 (see FIG. 3 ) of the linear actuator 10 increases, the value of the current i increases. Therefore, the thrust force adjustment unit 60 adjusts the voltage command V* to increase the current i (that is, to decrease the speed of the mover 12 connected to the outer groove 37).

通过基于该电压指令V*控制变换器40,向线性促动器10的线圈11b(参照图2)施加规定的电压V。该电压V反应至动子12的速度(在图8中,记载为在“x”上加一个“·”)之前的流程表示于框线Q内。另外,x(m)是动子12的位置。By controlling the inverter 40 based on the voltage command V*, a predetermined voltage V is applied to the coil 11b (see FIG. 2 ) of the linear actuator 10 . The flow until the voltage V reacts to the speed of the mover 12 (in FIG. 8 , is described by adding a "·" to "x") is shown in the frame line Q. In addition, x(m) is the position of the mover 12 .

即,向线圈11b施加从变换器40的输出侧的电压V减去线性促动器10的感应电压Em而得到的电压(V-Em)。通过该电压(V-Em)、和基于线圈11b的电阻R及电感L的一次延迟元件(1/(R+sL)),在线圈11b流动规定的电流i。将该电流i乘以表示线性促动器10的特性的电机常数Kt(也称“推力常数”)而得到的值成为线性促动器10的推力。即,产生使定子11和动子12的相对位置在z方向移动的推力。而且,由于上述的推力和积分元素(1/sM),动子12的速度发生变化。此外,M是外槽37的质量。That is, a voltage (V-Em) obtained by subtracting the induced voltage Em of the linear actuator 10 from the voltage V on the output side of the inverter 40 is applied to the coil 11b. A predetermined current i flows through the coil 11b by the voltage (V-Em) and the primary delay element (1/(R+sL)) based on the resistance R and the inductance L of the coil 11b. The thrust of the linear actuator 10 is a value obtained by multiplying the current i by a motor constant Kt (also referred to as a “thrust constant”) representing the characteristics of the linear actuator 10 . That is, a thrust force that moves the relative positions of the stator 11 and the mover 12 in the z direction is generated. Also, the velocity of the mover 12 changes due to the thrust and integral element (1/sM) described above. Further, M is the mass of the outer groove 37 .

另外,在线性促动器10的线圈11b(参照图2)产生感应电压Em,该感应电压Em与将动子12的速度乘以感应电压常数Ke而得到的值相等。该感应电压Em因外槽37的振动而时刻进行变化,伴随于此,在线圈11b流动的电流i也发生变化。基于该电流i,推力调整部60调整线性促动器10的推力,从而控制外槽37的振动。In addition, an induced voltage Em is generated in the coil 11 b (see FIG. 2 ) of the linear actuator 10 , and the induced voltage Em is equal to a value obtained by multiplying the velocity of the mover 12 by the induced voltage constant Ke. The induced voltage Em changes from time to time due to the vibration of the outer tank 37, and the current i flowing in the coil 11b also changes with this. Based on the current i, the thrust force adjustment unit 60 adjusts the thrust force of the linear actuator 10 to control the vibration of the outer tank 37 .

例如,外槽37的振动中,动子12(参照图3)朝向z方向上方移动,推力调整部60产生在线性促动器10中抑制动子12的移动(即,外槽37的振动)的向下的推力。另一方面,若动子12向z方向下方移动,则推力调整部60产生在线性促动器10中抑制动子12的移动的、向上的推力。由此,外槽37的振动得以抑制,从而,洗衣机W的振动得以抑制。For example, during the vibration of the outer tank 37 , the mover 12 (see FIG. 3 ) moves upward in the z direction, and the thrust adjustment unit 60 generates the linear actuator 10 to suppress the movement of the mover 12 (ie, the vibration of the outer tank 37 ). downward thrust. On the other hand, when the mover 12 moves downward in the z direction, the thrust force adjusting unit 60 generates an upward thrust force that suppresses the movement of the mover 12 in the linear actuator 10 . Thereby, the vibration of the outer tub 37 is suppressed, and the vibration of the washing machine W is suppressed.

(效果)(Effect)

根据第一实施方式,推力调整部60基于线性促动器10中流动的电流i,产生推力以抵消外槽37的振动。由此,振动控制装置100通过比较简单的方法就能够适当抑制外槽37的振动。According to the first embodiment, the thrust adjusting portion 60 generates thrust to cancel the vibration of the outer groove 37 based on the current i flowing in the linear actuator 10 . Accordingly, the vibration control device 100 can appropriately suppress the vibration of the outer tank 37 by a relatively simple method.

另外,根据第一实施方式,由于没有必要设置用于检测动子12的位置的位置传感器,因此,能够实现洗衣机W的低成本化。另外,线性促动器10几乎不发生其结构要素(定子11、动子12)的损伤、磨损,因此,能够提高振动控制装置100的耐久性。In addition, according to the first embodiment, since it is not necessary to provide a position sensor for detecting the position of the mover 12, the washing machine W can be reduced in cost. In addition, since the linear actuator 10 is hardly damaged or worn out of its constituent elements (the stator 11 and the mover 12 ), the durability of the vibration control device 100 can be improved.

另外,施加至左右的线性促动器10L、10R(参照图7)的单相交流电压由一个变换器40生成。因此,与和左右的线性促动器10L、10R相对应地分别设置变换器的结构相比较,能够实现洗衣机W的低成本化。In addition, the single-phase AC voltage applied to the left and right linear actuators 10L and 10R (see FIG. 7 ) is generated by one inverter 40 . Therefore, compared with the structure in which the inverters are respectively provided corresponding to the linear actuators 10L and 10R on the left and right, cost reduction of the washing machine W can be achieved.

另外,通过使用钐‐铁‐氮系的永磁铁121b、122b、123b(参照图1),如上所述,与使用钕磁铁的现有技术相比较,能够实现永磁铁121b、122b、123b的低成本化。因此,能够削减洗衣机W的制造成本。In addition, by using the samarium-iron-nitrogen-based permanent magnets 121b, 122b, and 123b (see FIG. 1 ), as described above, the permanent magnets 121b, 122b, and 123b can be reduced in size compared with the conventional technique using neodymium magnets. cost. Therefore, the manufacturing cost of the washing machine W can be reduced.

(第一实施方式的变形例)(Variation of the first embodiment)

在第一实施方式中,将推力调整部60中的电流比例增益Kp设为固定而进行了说明,但也可以通过改变该电流比例增益Kp的大小,使线性促动器10的粘度系数C(Ns/m)发生变化。对使该粘度系数C发生变化的方法进行说明。In the first embodiment, the current proportional gain Kp in the thrust adjusting unit 60 is fixed and explained, but the viscosity coefficient C (( Ns/m) changes. A method of changing the viscosity coefficient C will be described.

作为电磁悬架的振动控制装置100的运动方程由以下的式(1)表示。此外,式(1)所示的FD(N)是由振动控制装置100产生的力(即,由线性促动器10产生的阻尼力)。The equation of motion of the vibration control device 100 as the electromagnetic suspension is represented by the following equation (1). In addition, FD(N) shown in Equation (1) is the force generated by the vibration control device 100 (that is, the damping force generated by the linear actuator 10 ).

(式1)(Formula 1)

Figure BDA0001372204460000121
Figure BDA0001372204460000121

另外,线性促动器10的推力的运动方程由式(2)表示。此外,FL(N)是线性促动器10的推力,Kt(N/A)是线性促动器10的电机常数。另外,i(A)是线圈11b(参照图2)中流动的电流,V(V)是施加至线圈11b的电压。另外,R(Ω)是线圈11b的电阻,φ(T)是由线圈11b产生的磁通。In addition, the equation of motion of the thrust of the linear actuator 10 is represented by equation (2). Further, FL (N) is the thrust of the linear actuator 10 , and Kt(N/A) is the motor constant of the linear actuator 10 . In addition, i(A) is the current which flows in the coil 11b (refer FIG. 2), and V(V) is the voltage applied to the coil 11b. In addition, R(Ω) is the resistance of the coil 11b, and φ(T) is the magnetic flux generated by the coil 11b.

(式2)(Formula 2)

Figure BDA0001372204460000122
Figure BDA0001372204460000122

在此,由于式(1)的阻尼力FD和式(2)的推力FL等价,因此,可导出以下的式(3)。此外,C(Ns/m)是线性促动器10的粘度系数。Here, since the damping force FD of the formula (1) is equivalent to the thrust force FL of the formula (2), the following formula (3) can be derived. In addition, C(Ns/m) is the viscosity coefficient of the linear actuator 10 .

(式3)(Formula 3)

Figure BDA0001372204460000131
Figure BDA0001372204460000131

图9是与图8所示的一次延迟元件(1/(R+sL))等价的控制框图。FIG. 9 is a control block diagram equivalent to the primary delay element (1/(R+sL)) shown in FIG. 8 .

例如,若式(3)所示的电阻R的大小改变,则线性促动器10的粘度系数C的大小也改变。另外,推力调整部60(参照图8)使电流比例增益Kp产生变化,因此,能够产生与使电阻R变化的情况同样的效果。即,通过使电流比例增益Kp产生变化,线性促动器10的粘度系数C发生变化(即,振动控制装置100的阻尼率发生变化)。For example, when the magnitude of the resistance R shown in the formula (3) changes, the magnitude of the viscosity coefficient C of the linear actuator 10 also changes. In addition, since the thrust adjustment unit 60 (see FIG. 8 ) changes the current proportional gain Kp, the same effect as the case where the resistance R is changed can be produced. That is, by changing the current proportional gain Kp, the viscosity coefficient C of the linear actuator 10 is changed (that is, the damping rate of the vibration control device 100 is changed).

就图8所示的推力调整部60而言,由电流检测器50检测出的电流i越大(即,伴随外槽37的振动的动子12的移动速度越大),则使电流比例增益Kp越大。由此,由线性促动器10产生更大的推力,能够有效地抑制外槽37的振动。In the thrust adjustment unit 60 shown in FIG. 8 , the larger the current i detected by the current detector 50 (that is, the larger the moving speed of the mover 12 accompanying the vibration of the outer tank 37 ), the proportional gain of the current is increased. The larger the Kp is. Thereby, a larger thrust force is generated by the linear actuator 10, and the vibration of the outer groove 37 can be effectively suppressed.

(第二实施方式)(Second Embodiment)

第二实施方式与第一实施方式的不同点在于,基于线性促动器10中流动的电流i和外槽37的振动频率f,推力调整部60A(参照图10)使线性促动器10的粘度系数C发生变化。此外,其他(线性促动器10、洗衣机W的结构等)与第一实施方式相同。因此,对与第一实施方式不同的部分进行说明,对重复的部分省略说明。The second embodiment differs from the first embodiment in that the thrust adjustment unit 60A (see FIG. 10 ) adjusts the linear actuator 10 to the The viscosity coefficient C changes. In addition, other parts (the linear actuator 10, the structure of the washing machine W, etc.) are the same as those of the first embodiment. Therefore, the parts different from the first embodiment will be described, and the description of the overlapping parts will be omitted.

图10是第二实施方式的振动控制装置100A的结构图。FIG. 10 is a configuration diagram of a vibration control device 100A according to the second embodiment.

如图10所示,振动控制装置100A具备线性促动器10、变换器40、电流检测器50、以及推力调整部60A。As shown in FIG. 10 , the vibration control device 100A includes a linear actuator 10 , an inverter 40 , a current detector 50 , and a thrust adjustment unit 60A.

推力调整部60A具有如下功能,即,通过将由电流检测器50检测出的电流i乘以规定的电流比例增益Kp来算出变换器40的电压指令V*。另外,推力调整部60A具有如下功能,即,外槽37(对象物G)的振动频率f越高,则使上述的电流比例增益Kp越小。The thrust adjusting unit 60A has a function of calculating the voltage command V* of the inverter 40 by multiplying the current i detected by the current detector 50 by a predetermined current proportional gain Kp. Further, the thrust adjusting unit 60A has a function of reducing the above-described current proportional gain Kp as the vibration frequency f of the outer tank 37 (object G) is higher.

此外,外槽37的振动频率f和洗涤槽35的旋转速度成比例。因此,推力调整部60A基于从上述的驱动机构38(参照图5)输入的洗涤槽35的旋转频率,对外槽37的振动频率f进行运算。因此,没有设置检测外槽37的振动频率f的传感器,从而,能够实现洗衣机W的低成本化。Further, the vibration frequency f of the outer tub 37 is proportional to the rotational speed of the washing tub 35 . Therefore, the thrust adjustment part 60A calculates the vibration frequency f of the outer tub 37 based on the rotation frequency of the washing tub 35 input from the drive mechanism 38 (refer FIG. 5) mentioned above. Therefore, a sensor that detects the vibration frequency f of the outer tub 37 is not provided, so that the washing machine W can be reduced in cost.

图11是振动控制装置100A所具备的推力调整部60A的控制框图。FIG. 11 is a control block diagram of the thrust adjustment unit 60A included in the vibration control device 100A.

如图11所示,推力调整部60具备运算器61和表62。As shown in FIG. 11 , the thrust adjustment unit 60 includes a calculator 61 and a table 62 .

运算器61通过将由电流检测器50检测出的电流i乘以规定的电流比例增益Kp,来算出电压指令V*。The calculator 61 calculates the voltage command V* by multiplying the current i detected by the current detector 50 by a predetermined current proportional gain Kp.

在表62预先存储由表示外槽37的振动频率f与电流比例增益Kp的关系的数据。具体而言,基于表62的数据,外槽37的振动频率f越高,则电流比例增益Kp设定为越大的值。即,外槽37的振动频率f越高,则振动控制装置100A(参照图10)的粘度系数C越小线性促动器10产生越大的推力。由此,能够有效地抑制外槽37的振动。Data representing the relationship between the vibration frequency f of the outer tank 37 and the current proportional gain Kp is stored in the table 62 in advance. Specifically, based on the data in Table 62, the higher the vibration frequency f of the outer tank 37, the larger the current proportional gain Kp is set. That is, as the vibration frequency f of the outer tank 37 is higher, the linear actuator 10 generates a larger thrust force as the viscosity coefficient C of the vibration control device 100A (see FIG. 10 ) is smaller. Thereby, the vibration of the outer tank 37 can be suppressed effectively.

此外,外槽37的振动频率f根据洗涤槽35中的衣类的重量、位置、运转模式等时刻发生变化,因此,伴随于此,推力调整部60时刻使电流比例增益Kp发生变化。In addition, the vibration frequency f of the outer tub 37 changes time by time according to the weight, position, operation mode, etc. of the clothes in the washing tub 35. Accordingly, the thrust adjusting unit 60 changes the current proportional gain Kp time by time.

(效果)(Effect)

根据第二实施方式,基于外槽37的振动频率f,可变地控制线性促动器10的粘度系数C。因此,相较于第一实施方式,能够更有效地抑制外槽37的振动。According to the second embodiment, the viscosity coefficient C of the linear actuator 10 is variably controlled based on the vibration frequency f of the outer tank 37 . Therefore, compared with the first embodiment, the vibration of the outer groove 37 can be suppressed more effectively.

图12A是表示在使用粘度系数C固定的油压减振器的比较例中洗涤槽35的旋转速度和外槽37的位移的变化的实验结果。12A is an experimental result showing changes in the rotational speed of the washing tub 35 and the displacement of the outer tub 37 in the comparative example using the hydraulic damper with the viscosity coefficient C fixed.

此外,在图12A的实验中,在将1kg的衣类置于洗涤槽35内的偏置的规定位置的状态下,使洗涤槽35旋转(图12B也同样)。In addition, in the experiment of FIG. 12A , the washing tub 35 was rotated in a state in which 1 kg of clothing was placed in a predetermined position offset in the washing tub 35 (the same applies to FIG. 12B ).

如图12A所示,随着洗涤槽35的旋转速度增大,外槽37的振幅发生变化。具体而言,若使洗涤槽35的旋转速度从零开始增加,则在约50(min-1)的旋转速度下,外槽37的振幅暂时减少,在约100(min-1)的旋转速度下,外槽37的振幅急剧增,达到最大振幅。另外,在105~170(min-1)的旋转速度下,外槽37的振幅增加,在200(min-1)以上的区域中,随着洗涤槽35的旋转速度增大,外槽37的振幅减小。As shown in FIG. 12A , as the rotational speed of the washing tub 35 increases, the amplitude of the outer tub 37 changes. Specifically, when the rotation speed of the washing tub 35 is increased from zero, at the rotation speed of about 50 (min -1 ), the amplitude of the outer tank 37 is temporarily reduced, and at the rotation speed of about 100 (min -1 ) Then, the amplitude of the outer groove 37 increases sharply and reaches the maximum amplitude. In addition, at the rotation speed of 105 to 170 (min −1 ), the amplitude of the outer tub 37 increases, and in the region of 200 (min −1 ) or more, the rotation speed of the washing tub 35 increases as the rotation speed of the outer tub 37 increases. Amplitude decreases.

图12B是表示在第二实施方式中洗涤槽35的旋转速度和外槽37的位移(振动)的变化的实验结果。12B is an experimental result showing changes in the rotational speed of the washing tub 35 and the displacement (vibration) of the outer tub 37 in the second embodiment.

在图12B所示的实验中,洗涤槽35的旋转速度越大(即,外槽37的振动频率f越高),则线性促动器10的粘度系数C越小。In the experiment shown in FIG. 12B , the higher the rotational speed of the washing tub 35 (ie, the higher the vibration frequency f of the outer tub 37 ), the smaller the viscosity coefficient C of the linear actuator 10 .

如图12B所示,洗涤槽35的旋转速度为约100(min-1)时的外槽37的最大振幅为约5mm,是图12A所示的比较例的最大振幅(约10mm)的一半左右。另外,在洗涤槽35的旋转速度为500(min-1)以上的区域中,外槽37的振幅为1mm左右。这样,根据第二实施方式,通过可变地控制粘度系数C,能够比第一实施方式更有效地抑制外槽37的振动。As shown in FIG. 12B , when the rotation speed of the washing tub 35 is about 100 (min −1 ), the maximum amplitude of the outer tub 37 is about 5 mm, which is about half of the maximum amplitude (about 10 mm) of the comparative example shown in FIG. 12A . . In addition, in the region where the rotation speed of the washing tub 35 is 500 (min −1 ) or more, the amplitude of the outer tub 37 is about 1 mm. In this way, according to the second embodiment, by variably controlling the viscosity coefficient C, the vibration of the outer tank 37 can be suppressed more effectively than in the first embodiment.

(第三实施方式)(third embodiment)

第三实施方式与第一实施方式的不同点在于具备速度信息推算部70B(参照图13),该速度信息推算部70B基于向线性促动器10通电的电流i和变换器40的电压指令V*,推算线性促动器10的感应电压Em。另外,第三实施方式与第一实施方式的不同点在于,基于上述的感应电压Em和线性促动器10中流动的电流i,推力调整部60B(参照图13)对线性促动器10的推力进行调整。此外,其它方面(线性促动器10、洗衣机W的结构等)与第一实施方式相同。因此,对与第一实施方式不同的部分进行说明,对重复的部分省略说明。The third embodiment differs from the first embodiment in that it includes a speed information estimation unit 70B (see FIG. 13 ) based on the current i energized to the linear actuator 10 and the voltage command V of the inverter 40 *, the induced voltage Em of the linear actuator 10 is estimated. In addition, the third embodiment is different from the first embodiment in that, based on the above-described induced voltage Em and the current i flowing in the linear actuator 10 , the force adjustment unit 60B (see FIG. 13 ) exerts a force on the linear actuator 10 . Thrust is adjusted. In addition, other points (the linear actuator 10, the structure of the washing machine W, etc.) are the same as those of the first embodiment. Therefore, the parts different from the first embodiment will be described, and the description of the overlapping parts will be omitted.

图13是第三实施方式的振动控制装置100B的结构图。FIG. 13 is a configuration diagram of a vibration control device 100B according to the third embodiment.

如图13所示,振动控制装置100B具备线性促动器10、变换器40、电流检测器50、推力调整部60B、以及速度信息推算部70B。As shown in FIG. 13 , the vibration control device 100B includes a linear actuator 10 , an inverter 40 , a current detector 50 , a thrust force adjustment unit 60B, and a speed information estimation unit 70B.

速度信息推算部70B未图示,包含CPU、ROM、RAM、各种接口等的电子电路而构成,读取存储于ROM的程序并展开至RAM,CPU执行各种处理。The speed information estimation unit 70B is not shown, but is configured to include electronic circuits such as a CPU, a ROM, a RAM, and various interfaces, reads a program stored in the ROM and develops it to the RAM, and the CPU executes various processes.

速度信息推算部70B基于由电流检测器50检测出的电流i和由推力调整部60B算出的变换器40的电压指令V*,推算由线性促动器10产生的感应电压Em。该感应电压Em由以下的式(4)表示。此外,关于电压V、电阻R以及电感L,如第一实施方式中所说明。The speed information estimation unit 70B estimates the induced voltage Em generated by the linear actuator 10 based on the current i detected by the current detector 50 and the voltage command V* of the inverter 40 calculated by the thrust adjustment unit 60B. The induced voltage Em is represented by the following formula (4). In addition, the voltage V, the resistance R, and the inductance L are as described in the first embodiment.

(式4)(Formula 4)

Figure BDA0001372204460000151
Figure BDA0001372204460000151

速度信息推算部70B基于式(4)算出线性促动器10的感应电压Em,并将该感应电压Em的值输出至推力调整部60B。The speed information estimation unit 70B calculates the induced voltage Em of the linear actuator 10 based on the equation (4), and outputs the value of the induced voltage Em to the thrust adjustment unit 60B.

此外,如以下的式(5)所示,线性促动器10的感应电压Em与动子12的速度(即,振动的外槽37的速度)成比例。因此,感应电压Em可以说是“相当于外槽37的速度的值”。Further, as shown in the following equation (5), the induced voltage Em of the linear actuator 10 is proportional to the speed of the mover 12 (ie, the speed of the vibrating outer groove 37 ). Therefore, the induced voltage Em can be said to be "a value corresponding to the speed of the outer tank 37".

(式5)(Formula 5)

Figure BDA0001372204460000161
Figure BDA0001372204460000161

图14是包含振动控制装置100B所具备的推力调整部60B及速度信息推算部70B在内的控制框图。FIG. 14 is a control block diagram including the thrust adjustment unit 60B and the speed information estimation unit 70B included in the vibration control device 100B.

推力调整部60B基于由电流检测器50检测出的电流i以及由速度信息推算部70B算出的感应电压Em,生成规定的电压指令V*。The thrust adjustment unit 60B generates a predetermined voltage command V* based on the current i detected by the current detector 50 and the induced voltage Em calculated by the speed information estimation unit 70B.

如图14所示,推力调整部60B具备减法器63、ACR64(Automatic currentregulator)以及电流指令生成部65。As shown in FIG. 14 , the thrust adjustment unit 60B includes a subtractor 63 , an ACR 64 (Automatic current regulator), and a current command generation unit 65 .

减法器63具有从作为电流指令生成部65的算出结果的电流指令i*减去作为电流检测器50的检测结果的电流i的功能。The subtractor 63 has a function of subtracting the current i which is the detection result of the current detector 50 from the current command i* which is the calculation result of the current command generation unit 65 .

ACR64具有以使上述的电流i接近电流指令i*的方式算出电压指令V*的功能。而且,基于由ACR64算出的电压V*,控制变换器40(参照图13)。The ACR 64 has a function of calculating the voltage command V* so that the above-described current i is close to the current command i*. Then, inverter 40 is controlled based on voltage V* calculated by ACR 64 (see FIG. 13 ).

电流指令生成部65具有如下功能,即、基于从速度信息推算部70B输入的感应电压Em的值,以抵消感应电压Em的方式算出变换器40的电流指令i*。The current command generation unit 65 has a function of calculating the current command i* of the inverter 40 so as to cancel the induced voltage Em based on the value of the induced voltage Em input from the speed information estimation unit 70B.

图15A是表示基于感应电压Em而生成电流指令i*时所使用的函数的例子的说明图。15A is an explanatory diagram showing an example of a function used when generating the current command i* based on the induced voltage Em.

在图15A所示的例中,感应电压Em与电流指令i*成比例,其比例系数为负值。即,就电流指令生成部65(即,推力调整部60B)而言,感应电压Em的绝对值越大,则电流指令i*的绝对值越大。这样,通过感应电压Em越大(外槽37振动的速度越大),则电流指令i*的绝对值越大,能够适当地抑制外槽37的振动。In the example shown in FIG. 15A , the induced voltage Em is proportional to the current command i*, and the proportionality coefficient thereof is a negative value. That is, in the current command generation unit 65 (ie, the thrust force adjustment unit 60B), the larger the absolute value of the induced voltage Em is, the larger the absolute value of the current command i* is. In this way, as the induced voltage Em is larger (the speed of the vibration of the outer tank 37 is larger), the absolute value of the current command i* is larger, and the vibration of the outer tank 37 can be appropriately suppressed.

图15B是表示基于感应电压Em算出电流指令i*时所使用的函数的其它例的说明图。15B is an explanatory diagram showing another example of the function used when calculating the current command i* based on the induced voltage Em.

如图15B所示,也可以将用于抵消感应电压Em的电流指令i*(绝对值)设为固定值。即使这样,也能够通过振动控制装置100B适当地抑制外槽37的振动。As shown in FIG. 15B , the current command i* (absolute value) for canceling the induced voltage Em may be a fixed value. Even in this case, the vibration of the outer tank 37 can be appropriately suppressed by the vibration control device 100B.

图15C是表示基于感应电压Em算出电流指令i*时所使用的函数的其它例的说明图。15C is an explanatory diagram showing another example of the function used when calculating the current command i* based on the induced voltage Em.

在图15C所示的例中,关于感应电压Em不是零附近的区域,与图15B相同,但在感应电压Em为零附近的区域中,通过电流指令生成部65(即,通过推力调整部60B),电流指令i*被设定为零。In the example shown in FIG. 15C , the region where the induced voltage Em is not near zero is the same as that in FIG. 15B , but in the region where the induced voltage Em is near zero, the current command generation unit 65 (that is, the thrust adjustment unit 60B) ), the current command i* is set to zero.

此外,在上述的图15B的例中,在感应电压Em为零附近的区域,电流指令i*的正负交替更换,因此,在某些情况下,线性促动器10的动作容易变得不稳定。因此,如图15C所示,通过设置电流指令i*为零的死区,能够稳定地控制线性促动器10的推力。In addition, in the example of FIG. 15B described above, in the region where the induced voltage Em is near zero, the positive and negative of the current command i* are alternately changed, and therefore, the operation of the linear actuator 10 tends to become unstable in some cases. Stablize. Therefore, as shown in FIG. 15C , by providing a dead zone where the current command i* is zero, the thrust of the linear actuator 10 can be stably controlled.

此外,在上述的图15A的例中,由于没有电流指令i*的上限,因此,在某些情况下,会超过线性促动器10或者变换器40的最大电流值。因此,如图15D所示,通过对电流指令i*的大小设置上限,能够算出线性促动器10或者变换器40的最大电流值以下的电流指令i*。In addition, in the example of FIG. 15A described above, since there is no upper limit of the current command i*, the maximum current value of the linear actuator 10 or the inverter 40 may be exceeded in some cases. Therefore, as shown in FIG. 15D , by setting an upper limit to the magnitude of the current command i*, the current command i* which is equal to or less than the maximum current value of the linear actuator 10 or the inverter 40 can be calculated.

(效果)(Effect)

根据第三实施方式,基于电流i及电压指令V*推算感应电压Em(相当于外槽37的速度的值),基于该感应电压Em等控制线性促动器10。即,通过以抵消外槽37的每个时刻的速度的方式产生线性促动器10的推力,能够有效地抑制外槽37的振动。According to the third embodiment, the induced voltage Em (value corresponding to the speed of the outer tank 37 ) is estimated based on the current i and the voltage command V*, and the linear actuator 10 is controlled based on the induced voltage Em and the like. That is, by generating the thrust of the linear actuator 10 so as to cancel the speed of the outer tank 37 at each time point, the vibration of the outer tank 37 can be effectively suppressed.

(第四实施方式)(Fourth Embodiment)

第四实施方式与第三实施方式的不同点在于线性促动器10的推力的调整方法,其它方面(线性促动器10、洗衣机W的结构等)与第三实施方式相同。因此,对与第三实施方式不同的部分进行说明,对重复的部分省略说明。The fourth embodiment differs from the third embodiment in the method of adjusting the thrust of the linear actuator 10 , and the other points (the structure of the linear actuator 10 and the washing machine W, etc.) are the same as those of the third embodiment. Therefore, parts different from those of the third embodiment will be described, and descriptions of overlapping parts will be omitted.

图16是第四实施方式的振动控制装置100C的结构图。FIG. 16 is a configuration diagram of a vibration control device 100C according to the fourth embodiment.

如图16所示,振动控制装置100C具备线性促动器10、变换器40、电流检测器50、推力调整部60C以及速度信息推算部70C。As shown in FIG. 16 , the vibration control device 100C includes a linear actuator 10 , an inverter 40 , a current detector 50 , a thrust force adjustment unit 60C, and a speed information estimation unit 70C.

速度信息推算部70C通过与第三实施方式中所说明的速度信息推算部70B(参照图13)相同的方法,基于电压指令V*及电流i推算感应电压Em。The speed information estimation unit 70C estimates the induced voltage Em based on the voltage command V* and the current i by the same method as the speed information estimation unit 70B (see FIG. 13 ) described in the third embodiment.

推力调整部60C具有基于电流i、感应电压Em以及外槽37(对象物G)的振动频率f算出电压指令V*的功能。The thrust adjusting unit 60C has a function of calculating the voltage command V* based on the current i, the induced voltage Em, and the vibration frequency f of the outer tank 37 (object G).

图17是包含振动控制装置100C所具备的推力调整部60C在内的控制框图。FIG. 17 is a control block diagram including the thrust force adjustment unit 60C included in the vibration control device 100C.

如图17所示,推力调整部60C具备减法器63、ACR64、表66以及电流指令生成部67。此外,关于减法器63及ACR64,因为与第三实施方式(参照图14)相同,故省略说明。As shown in FIG. 17 , the thrust adjustment unit 60C includes a subtractor 63 , an ACR 64 , a table 66 , and a current command generation unit 67 . In addition, since the subtractor 63 and the ACR 64 are the same as those of the third embodiment (see FIG. 14 ), the description thereof will be omitted.

表66预先存储有用于基于感应电压Em以及外槽37的振动频率f来生成电流指令i*的数据。具体而言,与第二实施方式相同,基于外槽37的振动频率f,调整线性促动器10的粘度系数C。即,就电流指令生成部67(即,推力调整部60C)而言,外槽37的振动频率f越高,则使电流指令i*越大。The table 66 stores data for generating the current command i* based on the induced voltage Em and the vibration frequency f of the outer tank 37 in advance. Specifically, as in the second embodiment, the viscosity coefficient C of the linear actuator 10 is adjusted based on the vibration frequency f of the outer tank 37 . That is, in the current command generation unit 67 (ie, the thrust force adjustment unit 60C), the higher the vibration frequency f of the outer groove 37 is, the larger the current command i* is.

另外,与第三实施方式同样地,电流指令生成部67以抵消感应电压Em的方式算出电流指令i*。这样,在第四实施方式中,进行产生了第二实施方式的优点和第三实施方式的优点的控制。而且,以使电流i接近由电流指令生成部67生成的电流指令i*的方式,在ACR64中算出电压指令V*。Also, as in the third embodiment, the current command generation unit 67 calculates the current command i* so as to cancel the induced voltage Em. In this way, in the fourth embodiment, the control that produces the advantages of the second embodiment and the advantages of the third embodiment is performed. Then, the voltage command V* is calculated in the ACR 64 so that the current i is close to the current command i* generated by the current command generation unit 67 .

(效果)(Effect)

根据第四实施方式,通过速度信息推算部70C,推算每个时刻的感应电压Em(相当于外槽37的速度的值),以抵消该感应电压Em的方式,通过推力调整部60C调整线性促动器10的推力。进一步地,外槽37的振动频率f越高,则电流指令i*设定为越大的值,因此,能够有效地抑制外槽37的振动。由此,能够提供低成本且减振性高的洗衣机W。According to the fourth embodiment, the induced voltage Em (a value corresponding to the speed of the outer tank 37 ) at each time is estimated by the velocity information estimation unit 70C, and the thrust adjustment unit 60C adjusts the linear acceleration so as to cancel the induced voltage Em. the thrust of the actuator 10. Furthermore, as the vibration frequency f of the outer tank 37 is higher, the current command i* is set to a larger value, so that the vibration of the outer tank 37 can be effectively suppressed. Thereby, the washing machine W with low cost and high vibration damping property can be provided.

(变形例)(Variation)

以上,通过实施方式对本发明的振动控制装置100等进行说明,但本发明并不限定于这些记载,能够进行各种变更。例如,在各实施方式中,对通过一个变换器40(参照图7)驱动左右的线性促动器10L、10R的结构进行了说明,但并不限定于此。As mentioned above, although the vibration control apparatus 100 etc. of this invention were demonstrated using embodiment, this invention is not limited to these descriptions, Various changes are possible. For example, in each embodiment, the configuration in which the left and right linear actuators 10L and 10R are driven by one inverter 40 (see FIG. 7 ) has been described, but the present invention is not limited thereto.

图18是变形例的振动控制装置100D的结构图。FIG. 18 is a configuration diagram of a vibration control device 100D according to a modification.

如图18所示,也可以分别设置驱动左侧的线性促动器10L的变换器40L和驱动右侧的线性促动器10R的变换器40R。As shown in FIG. 18 , an inverter 40L that drives the linear actuator 10L on the left and an inverter 40R that drives the linear actuator 10R on the right may be provided separately.

变换器40L具备电桥连接的四个开关元件S11~S14。而且,构成第一脚的开关元件S11、S12的连接点、以及构成第二脚的开关元件S13、S14的连接点分别与线性促动器10L连接。此外,驱动右侧的线性促动器10R的变换器40R也具备同样的结构。这样,通过设置两个变换器40L、40R,能够独立地控制左右的线性促动器10L、10R。Inverter 40L includes four switching elements S11 to S14 that are bridge-connected. Further, the connection point of the switching elements S11 and S12 constituting the first leg and the connection point of the switching elements S13 and S14 constituting the second leg are respectively connected to the linear actuator 10L. In addition, the inverter 40R which drives the linear actuator 10R on the right side also has the same structure. In this way, by providing the two inverters 40L and 40R, the left and right linear actuators 10L and 10R can be independently controlled.

(第五实施方式)(Fifth Embodiment)

上述第一实施方式具有如下功能,即,通过将由电流检测器50检测出的电流i乘以规定的电流比例增益Kp来算出变换器40的电压指令V*。(参照图8)The above-described first embodiment has a function of calculating the voltage command V* of the inverter 40 by multiplying the current i detected by the current detector 50 by the predetermined current proportional gain Kp. (Refer to Figure 8)

然而,存在若使电流比例增益Kp的大小发生变化则控制器的响应特性发生变化的问题。例如,若使电流比例增益Kp的大小增大,则响应特性恶化。However, if the magnitude of the current proportional gain Kp is changed, the response characteristic of the controller is changed. For example, when the magnitude of the current proportional gain Kp is increased, the response characteristic deteriorates.

第五实施方式与第一实施方式的不同点在于,将由电流检测器50检测出的电流i乘以规定的电流比例增益Kp所得的值Vp*和将由电流检测器50检测出的电流i的微分值乘以电流微分增益Kd所得的值Vd*这两个值的相加值作为变换器40的电压指令V*(参照图8)。The fifth embodiment differs from the first embodiment in that the value Vp* obtained by multiplying the current i detected by the current detector 50 by a predetermined current proportional gain Kp and the differential of the current i detected by the current detector 50 The value obtained by multiplying the current differential gain Kd by the value Vd* is the sum of these two values as the voltage command V* of the inverter 40 (see FIG. 8 ).

此外,其他(线性促动器10、洗衣机W的结构等)与第一实施方式相同。因此,对与第一实施方式不同的部分进行说明,对重复的部分省略说明。In addition, other parts (the linear actuator 10, the structure of the washing machine W, etc.) are the same as those of the first embodiment. Therefore, the parts different from the first embodiment will be described, and the description of the overlapping parts will be omitted.

在图8中,将感应电压Em作为输入、将由电流检测器50检测出的电流i作为输出的传递函数G1(s)为式(6)。In FIG. 8 , the transfer function G1(s) in which the induced voltage Em is used as an input and the current i detected by the current detector 50 is used as an output is expressed by Equation (6).

(式6)(Formula 6)

Figure BDA0001372204460000191
Figure BDA0001372204460000191

(式7)(Formula 7)

Figure BDA0001372204460000201
Figure BDA0001372204460000201

在此,式(7)所示的Tp为时间常数。Here, Tp represented by Equation (7) is a time constant.

根据式(7),例如通过增加Kp,能够使式(6)所示的G1(s)的大小增加。然而,伴随Kp的增加,时间常数Tp也增加。因此,可知响应性能劣化,相位滞后增加。According to Equation (7), for example, by increasing Kp, the magnitude of G1(s) shown in Equation (6) can be increased. However, as Kp increases, the time constant Tp also increases. Therefore, it can be seen that the response performance deteriorates and the phase lag increases.

图19A是包含推力调整部60D等在内的整体的控制框图。FIG. 19A is an overall control block diagram including the thrust force adjustment unit 60D and the like.

如图19A中所示,推力调整部60D具备运算器61以及运算器61A(相位补偿器)。运算器61具有如下功能,即通过将由电流检测器50检测出的电流i乘以规定的电流比例增益Kp来算出变换器40的电压指令Vp*。As shown in FIG. 19A , the thrust adjustment unit 60D includes an arithmetic unit 61 and an arithmetic unit 61A (phase compensator). The calculator 61 has a function of calculating the voltage command Vp* of the inverter 40 by multiplying the current i detected by the current detector 50 by a predetermined current proportional gain Kp.

运算器61A具有如下功能,即,通过对由电流检测器50检测出的电流i进行微分并乘以电流微分增益Kd,来算出变换器40的电压指令Vd*。在此,s为微分符号。The calculator 61A has a function of calculating the voltage command Vd* of the inverter 40 by differentiating the current i detected by the current detector 50 and multiplying it by the current differential gain Kd. Here, s is the differential symbol.

推力调整部60D将在运算器61生成的电压指令Vp*与在运算器61A生成的电压指令Vd*相加而得到的值作为变换器40的电压指令V*算出。The thrust adjustment unit 60D calculates a value obtained by adding the voltage command Vp* generated by the calculator 61 and the voltage command Vd* generated by the calculator 61A as the voltage command V* of the inverter 40 .

例如,在线性促动器10的电流i以正弦波发生变化的情况下,运算器61算出与电流大致同相位的正弦波的电压指令。另外,运算器61A对电流i进行微分,因此,算出相对于电流i具有90度的超前相位的余弦波的电压指令。通过将在运算器61生成的电压指令Vp*与在运算器61A生成且相对于电压指令Vp*超前90度相位的、电压指令Vd*相加,能够前推相对于电流i的电压指令V*的相位。For example, when the current i of the linear actuator 10 changes with a sine wave, the calculator 61 calculates a voltage command of a sine wave substantially in phase with the current. In addition, since the calculator 61A differentiates the current i, it calculates a voltage command of a cosine wave having a leading phase of 90 degrees with respect to the current i. The voltage command V* with respect to the current i can be advanced by adding the voltage command Vp* generated in the calculator 61 to the voltage command Vd* generated in the calculator 61A and which is 90 degrees ahead of the voltage command Vp* phase.

在图19A中,将线性促动器10的感应电压Em作为输入、并将由电流检测器50检测出的电流i作为输出的传递函数G2(s)为式(8)。在此,Tdp表示时间常数,为式(9)。根据式(9)例如通过增加Kp,能够增加式(8)所示的G2(s)的大小。In FIG. 19A , the transfer function G2(s) in which the induced voltage Em of the linear actuator 10 is input and the current i detected by the current detector 50 is output is expressed by equation (8). Here, Tdp represents a time constant, and it is Formula (9). From Equation (9), for example, by increasing Kp, the magnitude of G2(s) shown in Equation (8) can be increased.

另外,通过调整电流微分增益Kd,能够不依赖比例增益Kp的设定值地对时间常数Tdp进行设定,能够改善在第一实施方式中作为课题的、因响应性能的劣化带来的相位滞后的问题。In addition, by adjusting the current differential gain Kd, the time constant Tdp can be set independently of the set value of the proportional gain Kp, and the phase lag caused by the deterioration of the response performance, which is the subject of the first embodiment, can be improved. The problem.

此外,以成为比电阻R小的范围的方式进行设定比例增益Kp。另外,以成为比电感L小的范围设定微分增益Kd。In addition, the proportional gain Kp is set so as to be in a range smaller than that of the resistance R. As shown in FIG. In addition, the differential gain Kd is set in a range smaller than the inductance L.

(式8)(Formula 8)

Figure BDA0001372204460000211
Figure BDA0001372204460000211

(式9)(Formula 9)

Figure BDA0001372204460000212
Figure BDA0001372204460000212

(效果)(Effect)

根据第五实施方式,能给通过电流微分增益Kd使时间常数Tdp可变。因此,相较于第一实施方式,能够更有效地抑制外槽37的振动。According to the fifth embodiment, the time constant Tdp can be made variable by the differential gain Kd of the passing current. Therefore, compared with the first embodiment, the vibration of the outer groove 37 can be suppressed more effectively.

图19B是表示在第一实施方式中在施加固定的激振力时从线性促动器10产生的推力的结果。FIG. 19B is a result showing the thrust force generated from the linear actuator 10 when a fixed excitation force is applied in the first embodiment.

此外,在图19B的实验中,以5Hz向线性促动器10施加50N的力。(图19C也相同)Furthermore, in the experiment of FIG. 19B , a force of 50 N was applied to the linear actuator 10 at 5 Hz. (The same is true for Fig. 19C)

如图19B所示,激振力和推力不会成为反相位,无法充分抵消激振力。As shown in FIG. 19B , the excitation force and the thrust force do not have opposite phases, and the excitation force cannot be sufficiently canceled.

图19C是表示在第五实施方式中在施加固定的激振力时从线性促动器10产生的推力的结果。在图19C所示的实验中,激振力与推力的相位差接近180度,推力具有抵消激振力的效果。FIG. 19C is a result showing the thrust force generated from the linear actuator 10 when a fixed excitation force is applied in the fifth embodiment. In the experiment shown in FIG. 19C , the phase difference between the exciting force and the thrust force is close to 180 degrees, and the thrust force has the effect of canceling the exciting force.

例如,也可以与对象物的旋转速度或者振动频率相匹配地可变地控制电流微分增益Kd。由此,能够使传递函数G2(s)的大小可变,能够调整减振性。For example, the current differential gain Kd may be variably controlled in accordance with the rotational speed or vibration frequency of the object. Thereby, the magnitude of the transfer function G2(s) can be made variable, and the vibration damping properties can be adjusted.

例如,电流微分增益Kd也可以按照使时间常数Tdp为固定的方式进行赋值。由此,即使使比例增益Kp可变的情况下,也能够使时间常数固定,能够使减振性固定。For example, the current differential gain Kd may be assigned such that the time constant Tdp is fixed. Thereby, even when the proportional gain Kp is made variable, the time constant can be fixed, and the vibration damping property can be fixed.

另外,也可以测定对象物的重量(负荷的大小),并基于该测定结果,调整线性促动器10的推力。例如,也可以为,对象物的重量越大,则使线性促动器10的粘度系数C越大。由此,能够进一步有效地控制对象物的振动。In addition, the weight of the object (the magnitude of the load) may be measured, and the thrust of the linear actuator 10 may be adjusted based on the measurement result. For example, the larger the weight of the object, the larger the viscosity coefficient C of the linear actuator 10 may be. Thereby, the vibration of the object can be further effectively controlled.

(第六实施方式)(Sixth Embodiment)

第六实施方式与第三实施方式的不同点在于,基于感应电压Em和线性促动器10中流动的电流i,推力调整部60D(参照图20)调整线性促动器10的推力,降低在基座31(参照图5)产生的传递力。The sixth embodiment differs from the third embodiment in that, based on the induced voltage Em and the current i flowing in the linear actuator 10, the thrust adjusting unit 60D (see FIG. 20 ) adjusts the thrust of the linear actuator 10 to reduce the thrust force of the linear actuator 10. The transmission force generated by the base 31 (see FIG. 5 ).

其他(线性促动器10、洗衣机W的结构等)与第三实施方式相同。因此,对与第三实施方式不同的部分进行说明,对重复的部分省略说明。Others (the linear actuator 10, the structure of the washing machine W, etc.) are the same as those of the third embodiment. Therefore, parts different from those of the third embodiment will be described, and descriptions of overlapping parts will be omitted.

图20是第六实施方式的振动控制装置100D的结构图。FIG. 20 is a configuration diagram of a vibration control device 100D according to the sixth embodiment.

如图20所示,振动控制装置100D具备线性促动器10、变换器40、电流检测器50、推力调整部60D、以及速度信息推算部70B。As shown in FIG. 20 , the vibration control device 100D includes a linear actuator 10 , an inverter 40 , a current detector 50 , a thrust adjustment unit 60D, and a speed information estimation unit 70B.

图21是包含振动控制装置100D所具备的推力调整部60D及速度信息推算部70B的控制框图。FIG. 21 is a control block diagram including the thrust adjustment unit 60D and the speed information estimation unit 70B included in the vibration control device 100D.

推力调整部60D基于由电流检测器50检测出的电流i、以及由速度信息推算部70B而算出的感应电压Em,并生成规定的电压指令V*。The thrust adjustment unit 60D generates a predetermined voltage command V* based on the current i detected by the current detector 50 and the induced voltage Em calculated by the speed information estimation unit 70B.

如图21所示,推力调整部60D具备减法器63、ACR64(Automatic currentregulator)以及电流指令生成部65C。此外,ACR64与第三实施方式(参照图14)相同,故省略说明。As shown in FIG. 21 , the thrust adjustment unit 60D includes a subtractor 63 , an ACR 64 (Automatic current regulator), and a current command generation unit 65C. In addition, since ACR64 is the same as that of the third embodiment (refer to FIG. 14 ), the description thereof is omitted.

减法器63具有从作为电流指令生成部65C的算出结果的电流指令i**减去作为电流检测器50的检测结果的电流i的功能。The subtractor 63 has a function of subtracting the current i, which is the detection result of the current detector 50, from the current command i**, which is the calculation result of the current command generation unit 65C.

通过作为电磁悬架即控制装置100而在基座31产生的传递力FB(N)由以下的式(10)表示。此外,式(10)所示的K(N/m)为弹簧20的弹性模量,FL(N)为线性促动器10的推力,Cm(Ns/m)为由控制装置100或者外相37的任意一方的摩擦力等产生的粘度系数。The transmission force F B (N) generated in the base 31 by the control device 100 serving as the electromagnetic suspension is represented by the following equation (10). In addition, K (N/m) shown in the formula (10) is the elastic modulus of the spring 20, F L (N) is the thrust of the linear actuator 10, and Cm (Ns/m) is determined by the control device 100 or the external phase. Any one of 37 is the viscosity coefficient due to friction, etc.

(式10)(Formula 10)

Figure BDA0001372204460000221
Figure BDA0001372204460000221

由式(10)可知,即使在例如不向线性促动器10进行通电、即将推力FL(N)设为0的情况下,通过因摩擦力而产生的粘度系数Cm(Ns/m),产生传递力(N)。尤其是振动的频率增高、即脱水时等的洗涤槽35的旋转时间较大的情况下,存在传递FB(N)增加、噪音增大等影响的课题。As can be seen from the equation (10), even when the linear actuator 10 is not energized, that is, when the thrust force FL (N) is set to 0, the viscosity coefficient Cm (Ns/m) due to the friction force, Generates a transfer force (N). In particular, when the frequency of vibration increases, that is, when the rotation time of the washing tub 35 during dehydration is long, there is a problem in that the influence of an increase in F B (N) and an increase in noise are transmitted.

因此,在本实施方式中,以抵消因粘度系数Cm(Ns/m)而产生的传递力(N)的方式控制线性促动器10的推力FL(N)。具体而言,电流指令生成部65C具有基于从速度信息推算部70B输入的感应电压Em的值,以使感应电压Em放大的方式算出电流指令i**的功能(参照图21)。即、对线性促动器10进行通电,使动子12的振动放大。Therefore, in the present embodiment, the thrust force FL (N) of the linear actuator 10 is controlled so as to cancel out the transmission force (N) due to the viscosity coefficient Cm (Ns/m). Specifically, the current command generation unit 65C has a function of calculating the current command i** so as to amplify the induced voltage Em based on the value of the induced voltage Em input from the speed information estimation unit 70B (see FIG. 21 ). That is, the linear actuator 10 is energized to amplify the vibration of the mover 12 .

通过使动子12的振动振幅放大,来抵消因Cm(Ns/m)产生的传递力(N),与不向线性促动器10通电电流的情况相比,能够降低在基座31产生的传递力(N)。此外,就变换器40的电流指令i**而言,期望为,线性促动器10的推力FL(N)的大小不超过由摩擦力等产生的传递力(N)。By amplifying the vibration amplitude of the mover 12 to cancel out the transmission force (N) due to Cm (Ns/m), compared with the case where no current is supplied to the linear actuator 10, the generation of the base 31 can be reduced. Transmitting force (N). In addition, regarding the current command i** of the inverter 40, it is desirable that the magnitude of the thrust force FL (N) of the linear actuator 10 does not exceed the transmission force (N) due to frictional force or the like.

图22A是表示基于感应电压Em生成电流指令i**时所使用的函数的例子的说明图。22A is an explanatory diagram showing an example of a function used when generating the current command i** based on the induced voltage Em.

在图22A所示的例中,感应电压Em与电流指令i**成比例,其比例系数为正值。即,就电流指令生成部65C(即,推力调整部60C)而言,感应电压Em的绝对值越大,则使电流指令i*的绝对值越大。这样,感应电压Em越大(外槽37振动的速度越大),则使电流指令i**的绝对值越大,由此,能够适当地放大外槽37的振动。In the example shown in FIG. 22A, the induced voltage Em is proportional to the current command i**, and the proportionality coefficient thereof is a positive value. That is, in the current command generation unit 65C (that is, the thrust force adjustment unit 60C), the larger the absolute value of the induced voltage Em is, the larger the absolute value of the current command i* is. In this way, the larger the induced voltage Em (the greater the speed of the vibration of the outer tank 37 ), the larger the absolute value of the current command i** is, whereby the vibration of the outer tank 37 can be appropriately amplified.

图22B是表示基于感应电压Em算出电流指令i**时所使用的函数的其它例的说明图。22B is an explanatory diagram showing another example of the function used when calculating the current command i** based on the induced voltage Em.

如图22B所示,也可以将用于使感应电压Em放大的电流指令i**(绝对值)设为固定值。即使这样,也能够通过振动控制装置100C适当地放大外槽37的振动。As shown in FIG. 22B , the current command i** (absolute value) for amplifying the induced voltage Em may be a fixed value. Even in this case, the vibration of the outer tank 37 can be appropriately amplified by the vibration control device 100C.

图22是表示基于感应电压Em算出电流指令i**时所使用的函数的其它例的说明图。22 is an explanatory diagram showing another example of the function used when calculating the current command i** based on the induced voltage Em.

在图22C所示的例中,关于感应电压Em不为零附近的区域,与图22B相同,但在感应电压Em为零附近的区域中,通过电流指令生成部65C(即,通过推力调整部60C),电流指令i**被设定为零。In the example shown in FIG. 22C , the region where the induced voltage Em is not near zero is the same as that in FIG. 22B , but in the region where the induced voltage Em is near zero, the current command generating unit 65C (that is, the thrust adjusting unit) 60C), the current command i** is set to zero.

此外,在上述的图22A的例中,由于没有电流指令i**的上限,因此,在某些情况下,会超过线性促动器10或者变换器40的最大电流值。因此,如图22D所示,通过对电流指令i**的大小设置上限,能够算出线性促动器10或者变换器40的最大电流值以下的电流指令i**,能够防止线性促动器10的消磁、变换器40的破损。In addition, in the example of FIG. 22A described above, since there is no upper limit of the current command i**, the maximum current value of the linear actuator 10 or the inverter 40 may be exceeded in some cases. Therefore, as shown in FIG. 22D , by setting an upper limit to the magnitude of the current command i**, the current command i** below the maximum current value of the linear actuator 10 or the inverter 40 can be calculated, thereby preventing the linear actuator 10 degaussing, and damage to the converter 40.

图23A是在第三实施方式中,在洗涤槽35内的偏置的规定位置固定了600g的重量的状态下使洗涤槽35以900(min-1)旋转时的、向外槽的上下方向的振动速度和向线性促动器10通电的电流的结果。23A shows the vertical direction of the outward tank when the washing tank 35 is rotated at 900 (min −1 ) in a state where the weight of 600 g is fixed at the offset predetermined position in the washing tank 35 in the third embodiment The result of the vibration velocity and the current energized to the linear actuator 10.

图23B是在第六实施方式中,在洗涤槽35内的偏置的规定位置固定了600g的重量的状态下使洗涤槽35以900(min-1)旋转时的、向外槽的上下方向的振动速度和向线性促动器10通电的电流的结果。23B shows the vertical direction of the outward tank when the washing tank 35 is rotated at 900 (min −1 ) in a state where the weight of 600 g is fixed at the offset predetermined position in the washing tank 35 in the sixth embodiment The result of the vibration velocity and the current energized to the linear actuator 10.

在第六实施方式中,洗涤35的速度和线性促动器10的电流i通常为同相位。In the sixth embodiment, the speed of the wash 35 and the current i of the linear actuator 10 are generally in phase.

(效果)(Effect)

根据第六实施方式,基于电流i及电压指令V*推算感应电压Em(相当于外槽37的速度的值),基于该感应电压Em等控制线性促动器10。即,通过以使外槽37的每个时刻的速度放大的方式产生线性促动器10的推力、即以与感应电压Em的相位相同的方式产生线性促动器10的推力,能够抵消因摩擦力等而产生的传递力(N),能够有效地抑制在基座31产生的传递力。According to the sixth embodiment, the induced voltage Em (value corresponding to the speed of the outer tank 37 ) is estimated based on the current i and the voltage command V*, and the linear actuator 10 is controlled based on the induced voltage Em and the like. That is, by generating the thrust of the linear actuator 10 so as to amplify the speed of the outer groove 37 at each time point, that is, generating the thrust of the linear actuator 10 so as to have the same phase as the induced voltage Em, it is possible to cancel out the thrust of the linear actuator 10 due to friction. The transmission force (N) generated by the force or the like can effectively suppress the transmission force generated in the base 31 .

(第七实施方式)(Seventh Embodiment)

第七实施方式与第六实施方式的不同点在于线性促动器10的推力的调整方法,但其他方面(线性促动器10、洗衣机W的结构等)与第六实施方式相同。因此,对与第六实施方式不同的部分进行说明,对重复的部分省略说明。The seventh embodiment differs from the sixth embodiment in the method of adjusting the thrust of the linear actuator 10, but other points (the structure of the linear actuator 10, the washing machine W, etc.) are the same as those of the sixth embodiment. Therefore, the parts different from the sixth embodiment will be described, and the description of the overlapping parts will be omitted.

图24是第七实施方式的振动控制装置100E的结构图。FIG. 24 is a configuration diagram of a vibration control device 100E according to the seventh embodiment.

如图24所示,振动控制装置100E具备线性促动器10、变换器40、电流检测器50、推力调整部60E以及速度信息推算部70C。As shown in FIG. 24 , the vibration control device 100E includes a linear actuator 10 , an inverter 40 , a current detector 50 , a thrust force adjustment unit 60E, and a speed information estimation unit 70C.

速度信息推算部70C利用与在第三实施方式中所说明的速度信息推算部70B(参照图13)同样的方法,基于电压指令V*及电流i推算感应电压Em。The speed information estimation unit 70C estimates the induced voltage Em based on the voltage command V* and the current i by the same method as the speed information estimation unit 70B (see FIG. 13 ) described in the third embodiment.

推力调整部60E具有基于电流i、感应电压Em、以及外槽37(对象物G)的振动频率f算出电压指令V*的功能。The thrust adjusting unit 60E has a function of calculating the voltage command V* based on the current i, the induced voltage Em, and the vibration frequency f of the outer tank 37 (object G).

图25是包含振动控制装置100E所具备的推力调整部60E在内的控制框图。FIG. 25 is a control block diagram including the thrust adjustment unit 60E included in the vibration control device 100E.

如图25所示,推力调整部60E具备减法器63、ACR64、表66以及电流指令生成部67E。此外,关于减法器63及ACR64,因为与第三实施方式(参照图14)相同,故省略说明。As shown in FIG. 25 , the thrust adjustment unit 60E includes a subtractor 63 , an ACR 64 , a table 66 , and a current command generation unit 67E. In addition, since the subtractor 63 and the ACR 64 are the same as those of the third embodiment (see FIG. 14 ), the description thereof will be omitted.

在表66E预先存储有用于基于感应电压Em以及外槽37的振动频率f生成电流指令i*的数据。具体而言,基于外槽37的振动频率f,调整线性促动器10的粘度系数C。即,就电流指令生成部67E(即,推力调整部60E)而言,外槽37的振动频率f越高,则使电流指令i*越大。Data for generating the current command i* based on the induced voltage Em and the vibration frequency f of the outer tank 37 is stored in advance in the table 66E. Specifically, the viscosity coefficient C of the linear actuator 10 is adjusted based on the vibration frequency f of the outer tank 37 . That is, in the current command generation unit 67E (ie, the thrust force adjustment unit 60E), the higher the vibration frequency f of the outer groove 37 is, the larger the current command i* is.

另外,电流指令生成部67与第六实施方式同样地,以使感应电压Em放大的方式算出电流指令i**。这样,在第七实施方式中,进行产生了第六实施方式的有点的控制。而且,以使电流i接近由电流指令生成部67E生成的电流指令i**的方式,在ACR64中算出电压指令V*。In addition, the current command generation unit 67 calculates the current command i** so as to amplify the induced voltage Em as in the sixth embodiment. In this way, in the seventh embodiment, the control that brings about the advantages of the sixth embodiment is performed. Then, the voltage command V* is calculated in the ACR 64 so that the current i is close to the current command i** generated by the current command generation unit 67E.

(效果)(Effect)

根据第七实施方式,通过速度信息推算部70C,推算每个时刻的感应电压Em(相当于外槽37的速度的值),以放大该感应电压Em的方式,通过推力调整部60E调整线性促动器10的推力。进一步地,外槽37的振动频率f越高,则电流指令i*设定为越大的值,因此,能够有效地抑制在基座31产生的传递力。由此,能够提供低成本且减振性高的洗衣机W。According to the seventh embodiment, the induced voltage Em (a value corresponding to the velocity of the outer tank 37 ) is estimated at each time point by the velocity information estimation unit 70C, and the linear acceleration is adjusted by the thrust adjustment unit 60E so as to amplify the induced voltage Em. the thrust of the actuator 10. Furthermore, as the vibration frequency f of the outer tank 37 is higher, the current command i* is set to a larger value, so that the transmission force generated in the base 31 can be effectively suppressed. Thereby, the washing machine W with low cost and high vibration damping property can be provided.

(第八实施方式)(Eighth Embodiment)

在第八实施方式中,对第一实施方式至第七实施方式中使用的变换器40的、避免由无感时间产生的电流的死区的手法进行叙述。In the eighth embodiment, a method for avoiding the dead zone of the current caused by the dead time of the inverter 40 used in the first to seventh embodiments will be described.

在图7的变换器40所示的结构图中,例如,在开关元件S1和开关元件S2同时导通的情况下,存在引起电源短路,开关元件破损的情况。因此,在对各脚所包含的开关元件进行导通关断控制时,即为了各脚所包含的两个开关元件不同时导通,在一方的元件导通之后且另一方导通之前,设置死区时间段Td(参照图26A)。In the configuration diagram of the inverter 40 shown in FIG. 7 , for example, when the switching element S1 and the switching element S2 are turned on at the same time, the power supply may be short-circuited and the switching element may be damaged. Therefore, when the switching elements included in each leg are controlled to be turned on and off, that is, in order that the two switching elements included in each leg are not turned on at the same time, after one element is turned on and the other is turned on, set the Dead time period Td (refer to FIG. 26A ).

在死区时间段,电流通过续流二极管(参照图7、40)流动,因此,输出的各脚的电压由切换开关元件的导通关断时流动的电流的极性决定。During the dead time period, the current flows through the freewheeling diode (see FIGS. 7 and 40 ), so the voltage of each output pin is determined by the polarity of the current flowing when the switching element is switched on and off.

图26A图示了向线性电机10L的左右的线圈给予电压指令Vk3*和电压指令Vk4*时的、开关元件S1~S4的导通关断的时机。此外,图26A中记载的Tri为三角波载波,例如,在电压指令Vk3*比三角波载波Tri大的情况下,以使开关元件S1导通并使开关元件S2关断的方式,进行导通关断控制。FIG. 26A illustrates the timing of turning on and off the switching elements S1 to S4 when the voltage command Vk3* and the voltage command Vk4* are given to the left and right coils of the linear motor 10L. Note that Tri shown in FIG. 26A is a triangular wave carrier. For example, when the voltage command Vk3* is larger than the triangular wave carrier Tri, the switching element S1 is turned on and the switching element S2 is turned off. control.

图26A中的虚线所围成的260A部表示:向线性电机10L通电的电流Ik3为正时从第一脚向线性电机10L通电的电压Vk3、从第二脚通电的Vk4、线电压Vk34(从Vk3的电压减去Vk4的电压而得到)以及向线性电机10L通电的电流的Ik3的变化。图26中的虚线所围成的260B部图示了向线性电机10L通电的电流Ik3为负的情况,各符号的含义与206A部相同。此外,在本实施方式中,将从第一脚向线性电机10L通电电流Ik3的情况设为正。A portion 260A surrounded by a dotted line in FIG. 26A indicates that the current Ik3 energized to the linear motor 10L is a voltage Vk3 energized from the first pin to the linear motor 10L, Vk4 energized from the second pin, and the line voltage Vk34 (from It is obtained by subtracting the voltage of Vk4 from the voltage of Vk3 ) and the change in Ik3 of the current energized to the linear motor 10L. The part 260B enclosed by the dotted line in FIG. 26 shows the case where the current Ik3 energized to the linear motor 10L is negative, and the meanings of the symbols are the same as those of the part 206A. In addition, in the present embodiment, the case where the current Ik3 is energized from the first leg to the linear motor 10L is assumed to be positive.

由图26A,例如,在电流Ik3为正的情况下,输出的电压Vk3比电压指令Vk3*小,另外,输出的电压Vk4比电压指令Vk4*大。因此,相对于电压指令Vk3*和电压指令Vk4*产生误差,使控制性能劣化。26A , for example, when the current Ik3 is positive, the output voltage Vk3 is smaller than the voltage command Vk3*, and the output voltage Vk4 is larger than the voltage command Vk4*. Therefore, an error occurs with respect to the voltage command Vk3* and the voltage command Vk4*, and the control performance is degraded.

图26B中,作为因无感时间产生的输出电压误差显著的例,示出使图26A中的电压指令Vk3*及电压指令Vk4*接近的情况。这相当于施加于线性电机10L的电压小的情况、即想要减小电流Ik3的情况。260C部中的各符号与260A部相同,故省略说明。此外,在260C部图示由电流Ik3为正的情况。FIG. 26B shows a case where the voltage command Vk3* and the voltage command Vk4* in FIG. 26A are brought close to each other as an example in which the output voltage error due to the dead time is conspicuous. This corresponds to the case where the voltage applied to the linear motor 10L is small, that is, the case where the current Ik3 is to be reduced. Each symbol in the part 260C is the same as that in the part 260A, so the description is omitted. In addition, the case where the current Ik3 is positive is shown in the section 260C.

在260C部中,由于无感时间的影响,线电压Vk34变小,即、通电时间变短。在开关元件S1~S4中,通常、通过导通电阻等,产生电压降。因此,在开关元件等中,发生电压降,在输出电压降低了与电压降相对应的量等的情况下,有时无法适当地控制电流Ik3,即具有电流的死区。In section 260C, due to the influence of the dead time, the line voltage Vk34 becomes smaller, that is, the energization time becomes shorter. In the switching elements S1 to S4, normally, a voltage drop occurs due to on-resistance or the like. Therefore, when a voltage drop occurs in a switching element or the like, and the output voltage drops by an amount corresponding to the voltage drop, the current Ik3 cannot be properly controlled, that is, there is a current dead band.

在图27中,对通过对电压指令值添加调制来避免由无感时间等产生的电流的死区的方法进行说明。电压指令值Vk3**是以如下方式调制后的电压指令值,即,对于一个载波周期TS(s)的每一半,在前半个TS1期间,加上辅助电压dV,在后半个TS2期间减去辅助电压dV。即,电压指令值Vk3**在TS1的期间为式(11),在TS2的期间为式(12)。In FIG. 27 , a method of avoiding the dead zone of the current due to dead time or the like by adding modulation to the voltage command value will be described. The voltage command value Vk3** is the voltage command value modulated in the following way, that is, for each half of one carrier cycle TS(s), during the first half of TS1, the auxiliary voltage dV is added, and during the second half of TS2, the auxiliary voltage dV is added. to the auxiliary voltage dV. That is, the voltage command value Vk3** is expressed by the formula (11) in the period of TS1, and expressed by the formula (12) in the period of TS2.

(式11)(Formula 11)

Vk3**=Vk3*+dV(TS1时)Vk3 ** = Vk3 * +dV (at TS1)

(式12)(Formula 12)

Vk3**=Vk3*-dV(TS2时)Vk3 ** = Vk3 * -dV (at TS2)

此外,在图27A中,仅对电压指令Vk3*进行了调制,但也可以对其它相进行调制。另外,也可以在TS1的期间减去辅助电压dV,在TS2的期间加上辅助电压dV。另外,为了不使TS期间中的电压指令Vk3**的平均电压发生变化,期望在TS1期间和TS2期间施加的辅助电压dV的大小相同。In addition, in FIG. 27A, only the voltage command Vk3* is modulated, but other phases may be modulated. In addition, the auxiliary voltage dV may be subtracted in the period of TS1, and the auxiliary voltage dV may be added in the period of TS2. In addition, in order not to change the average voltage of the voltage command Vk3** in the TS period, the magnitude of the auxiliary voltage dV applied in the TS1 period and the TS2 period is desirably the same.

若基于电压指令值Vk3**,向开关元件S1、S2发出导通关断指令,则输出电压Vk3维持TS期间的平均电压不变地,仅输出电压Vk3的导通关断的时机被延迟而被输出(图27A记载参照270A部Vk3)。即,能够使TS1期间的输出电压的平均值和TS2期间的输出电压的平均值可变。When an on-off command is issued to the switching elements S1 and S2 based on the voltage command value Vk3**, the output voltage Vk3 maintains the average voltage during the TS period unchanged, and only the timing of the on-off of the output voltage Vk3 is delayed. It is output (see Fig. 27A for the description of section 270A Vk3). That is, the average value of the output voltage in the TS1 period and the average value of the output voltage in the TS2 period can be made variable.

图27B图示了作为本实施方式的变形例的、电压指令Vk3*和电压指令Vk4*为0的情况。此外,各符号与图26A相同,故省略说明。电压指令Vk3*和电压指令Vk4*为0,在仅对Vk3*进行了调制的情况下,在线电压Vk34中能够观测到正负对象的脉冲形状的电压。FIG. 27B illustrates a case where the voltage command Vk3* and the voltage command Vk4* are 0 as a modification of the present embodiment. In addition, since each code|symbol is the same as that of FIG. 26A, description is abbreviate|omitted. Voltage command Vk3* and voltage command Vk4* are 0, and when only Vk3* is modulated, positive and negative pulse-shaped voltages can be observed in line voltage Vk34.

(效果)(Effect)

根据第八实施方式,能够在维持向线性电机10L的左右的线圈通电的、线电压Vk34的平均的情况下,增长在输出电压Vk34的TS1期间或TS2期间的至少任一方的通电时间。因此,能够避免在图26B等中所说明的、因无感时间等而使输出电压Vk34产生的电流的死区。According to the eighth embodiment, the energization time in at least one of the TS1 period or the TS2 period of the output voltage Vk34 can be increased while maintaining the average of the line voltage Vk34 energized to the left and right coils of the linear motor 10L. Therefore, it is possible to avoid the dead zone of the current generated by the output voltage Vk34 due to the dead time or the like, as described in FIG. 26B and the like.

此外,在本实施方式中,在连接有线性电机10L的第一脚以及第二脚,即,开关元件S1~S4的说明中进行了使用,但在连接有线性电机10R的第二脚及第三脚,即、开关元件S3~S6中也能够得到相同的效果。另外,在图18所示的本发明的变形例的振动控制装置的结构中也能够得到相同的效果。In this embodiment, the first and second legs of the linear motor 10L, that is, the switching elements S1 to S4 are used in the description, but the second and second legs of the linear motor 10R are connected to each other. Tripods, that is, switching elements S3 to S6 can also obtain the same effect. Moreover, the same effect can be acquired also in the structure of the vibration control apparatus of the modification of this invention shown in FIG.

另外,在各实施方式中,对在定子11(参照图3)与固定夹具J之间设置弹簧20的结构进行了说明,但并不限定于此。例如,代替弹簧20,也可以应用利用了橡胶、液压的机构。In addition, in each embodiment, the configuration in which the spring 20 is provided between the stator 11 (see FIG. 3 ) and the fixing jig J has been described, but the present invention is not limited to this. For example, instead of the spring 20, a mechanism using rubber or hydraulic pressure may be applied.

另外,在各实施方式中,对在作为对象物的外槽37连接有动子12的结构进行了说明,但并不限定于此。即,也可以将定子11及动子12的一方与对象物连接,通过磁吸力/斥力,使定子11与动子12的相对位置发生变化。In addition, in each embodiment, the structure in which the mover 12 is connected to the outer groove 37 as the object has been described, but the present invention is not limited to this. That is, one of the stator 11 and the mover 12 may be connected to the object, and the relative positions of the stator 11 and the mover 12 may be changed by magnetic attraction force/repulsion force.

另外,在各实施方式中,对通过振动控制装置100等进行洗衣机W的振动控制的结构进行了说明,但并不限定于此。例如,除了空调、冰箱等家用电器之外,也能够将各实施方式应用于铁道车辆、汽车等。In addition, in each embodiment, although the structure which performs the vibration control of the washing machine W by the vibration control apparatus 100 etc. was demonstrated, it is not limited to this. For example, in addition to household appliances such as air conditioners and refrigerators, the respective embodiments can be applied to railway vehicles, automobiles, and the like.

另外,在各实施方式中,对用单相交流电力驱动线性促动器10的结构进行了说明,但例如,也可以用三相交流电力驱动线性促动器10。In addition, in each embodiment, the configuration in which the linear actuator 10 is driven by single-phase AC power has been described, but the linear actuator 10 may be driven by, for example, three-phase AC power.

另外,就实施方式而言,为了更容易理解地对本发明进行说明而详细地进行了记载,其并不限定于具备所说明的全部结构。另外,关于实施方式的结构的一部分,能够进行其它结构的添加、删除或替换。In addition, the embodiment has been described in detail in order to explain the present invention more easily, and it is not limited to having all the structures described. In addition, with respect to a part of the structure of an embodiment, addition, deletion, or replacement of another structure can be performed.

另外,上述的机构、结构是考虑到说明需要而示出的,在产品上并不一定会示出全部的机构、结构。In addition, the above-mentioned mechanisms and structures are shown in consideration of the need for description, and not all mechanisms and structures are necessarily shown on the product.

Claims (5)

1.一种减振装置,具备:1. A vibration damping device comprising: 线性促动器,其与减振对象物连接;a linear actuator connected to the vibration-damping object; 变换器,其驱动上述线性促动器;a transducer that drives the above-mentioned linear actuator; 电流检测器,其对向上述线性促动器通电的电流进行检测;以及a current detector that detects the current energized to the linear actuator; and 推力调整部,其基于由上述电流检测器检测出的电流,通过驱动上述变换器来调整上述线性促动器的推力,a thrust force adjusting unit for adjusting the thrust force of the linear actuator by driving the inverter based on the current detected by the current detector, 其特征在于,It is characterized in that, 上述推力调整部对由上述电流检测器检测出的电流乘以规定的电流比例增益,从而算出上述变换器的电压指令,上述电流越大,则使上述电流比例增益越大。The thrust adjustment unit calculates a voltage command of the inverter by multiplying the current detected by the current detector by a predetermined current proportional gain, and increases the current proportional gain as the current increases. 2.根据权利要求1所述的减振装置,其特征在于,2. The vibration damping device according to claim 1, characterized in that, 上述线性促动器具有作为电枢的定子以及具备永磁铁的动子,The linear actuator described above has a stator serving as an armature and a mover having permanent magnets, 上述永磁铁为钐-铁-氮系的永磁铁。The above permanent magnets are samarium-iron-nitrogen permanent magnets. 3.根据权利要求1所述的减振装置,其特征在于,3. The vibration damping device according to claim 1, characterized in that, 上述推力调整部具备:The above thrust adjustment unit includes: 相位调整部,其基于由上述电流检测器检测出的电流信息,控制对上述变换器的电压指令和通电至上述线性促动器的电流的相位差;以及a phase adjustment unit that controls a phase difference between a voltage command to the inverter and a current energized to the linear actuator based on the current information detected by the current detector; and 振幅调整部,其控制上述线性促动器的电流的大小。The amplitude adjustment unit controls the magnitude of the current of the linear actuator. 4.一种减振装置,具备:4. A vibration damping device, comprising: 线性促动器,其与减振对象物连接;a linear actuator connected to the vibration-damping object; 变换器,其驱动上述线性促动器;a transducer that drives the above-mentioned linear actuator; 电流检测器,其对向上述线性促动器通电的电流进行检测;以及a current detector that detects the current energized to the linear actuator; and 推力调整部,其基于由上述电流检测器检测出的电流,通过驱动上述变换器来调整上述线性促动器的推力,a thrust force adjusting unit for adjusting the thrust force of the linear actuator by driving the inverter based on the current detected by the current detector, 其特征在于,It is characterized in that, 上述推力调整部对由上述电流检测器检测出的电流乘以规定的电流比例增益,从而算出上述变换器的电压指令,上述减振对象物的振动频率越高,则使上述电流比例增益越大。The thrust adjusting unit multiplies the current detected by the current detector by a predetermined current proportional gain to calculate the voltage command of the inverter, and the higher the vibration frequency of the vibration damping object, the larger the current proportional gain. . 5.根据权利要求4所述的减振装置,其特征在于,5. The vibration damping device according to claim 4, characterized in that, 上述线性促动器具有作为电枢的定子以及具备永磁铁的动子,The linear actuator described above has a stator serving as an armature and a mover having permanent magnets, 上述永磁铁为钐-铁-氮系的永磁铁。The above-mentioned permanent magnets are samarium-iron-nitrogen permanent magnets.
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CN107819421A (en) 2018-03-20
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TW201903288A (en) 2019-01-16
TW201812177A (en) 2018-04-01

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