JP2007175135A - Motor drive device for washing machine or washing / drying machine - Google Patents

Abstract

Noise is reduced by driving a motor with a sensorless sine wave during high-speed rotation.
A DC power of a DC power source 2 is converted into AC power by an inverter circuit 3 to drive a rotating drum 5 or a stirring blade 6; a position detecting means 70 for detecting a rotor magnetic pole position of the motor 7; and a motor. It comprises current detection means 71 and control means 9 for detecting current, and the rotation is controlled by the output signal of the position detection means 70 at low speed, and the rotation is controlled by the output signal of the current detection means 71 at high speed.
[Selection] Figure 1

Description

  The present invention relates to a motor driving device of a washing machine or a washing / drying machine.

Conventionally, a motor driving device using an inverter of this type of washing machine is driven by a rotor position signal at low speed rotation and is driven by estimating a rotor position at high speed rotation (for example, see Patent Document 1).
JP 2005-102451 A

  However, in the motor drive device of a conventional washing machine or washing / drying machine, if the number of rotor magnetic poles of the permanent magnet motor is increased, the electrical displacement of the rotor position signal with respect to the rotor position increases. Although an estimation method has been proposed, there has been a problem that the estimated position is affected by the motor constant and temperature, causing a step-out due to load fluctuation or power supply voltage fluctuation.

  The present invention solves the above-described conventional problems, and in high-speed operation in which the electrical position deviation of the rotor position signal greatly affects, the rotor position is not estimated, but is rotated according to the motor current with respect to the inverter output voltage and its phase. The purpose of this control is to reduce motor current variations and rotational speed fluctuations due to rotor position signal variations, to enable stable driving with little influence of motor constants, and to reduce motor noise.

  In order to solve the above conventional problems, the motor driving device of the washing machine or the washing and drying machine of the present invention converts the AC power of the AC power source into DC power by the rectifier circuit, and converts the DC power to AC power by the inverter circuit. The rotor position detection means, the current detection means for detecting the motor current, and the inverter circuit control means control the motor that drives the rotating drum or the stirring blade. The control means is controlled by the output signal of the position detection means. The rotation of the motor is controlled by the first rotation control means for controlling and the second rotation control means for controlling and controlling the effective current component or the reactive current component with respect to the inverter circuit output voltage.

  Further, in the washing and drying machine, the drying heat pump refrigerant compressor that is driven simultaneously with the rotary drum also rotates the motor by the second rotation control means that controls and controls the effective current component or the reactive current component with respect to the inverter circuit output voltage. It is something to control.

  As a result, the rotation of the motor is controlled by the output signal of the position detection means during low-speed rotation with large load fluctuations, so there is no risk of step-out, and the inverter output current phase during high-speed rotation is greatly affected by electrical displacement of the position detection means. Since the rotation is controlled by the motor, the rotor phase and the motor current phase are synchronized, so there is no risk of step-out. Furthermore, almost complete sine wave drive is possible, so current vibration and distortion can be reduced and noise can be reduced. .

  Furthermore, since the driving method of the compressor that operates simultaneously is also driven by the same sensorless sine wave, the noise of the compressor can be reduced.

  The motor driving device of the washing machine or washing and drying machine of the present invention rotates the motor by the signal of the rotor position detecting means at the time of start-up with a large load fluctuation or at low speed operation, so there is almost no risk of step-out. Since the dq axes can be detected by the rotor position detecting means, vector control is facilitated, and torque control and load torque fluctuation detection are possible, thereby facilitating cloth weight and unbalance detection. Also, during high-speed operation such as dehydration operation, the motor is controlled to rotate by detecting the effective current component or reactive current component with respect to the inverter circuit output voltage instead of the signal of the rotor position detection means, so the position detection of the rotor position detection means Current phase vibration and current distortion due to errors can be eliminated, and noise and current value increase or power regeneration at the time of voltage drop can be prevented.

  Furthermore, during simultaneous operation of the rotary drum and the heat pump compressor, the effective current component or reactive current component with respect to the inverter circuit output voltage is detected and the respective motors are rotationally controlled, so noise can be reduced by sensorless sine wave drive. In addition to simplifying the control program, it is possible to drive the rotary drum motor and compressor motor simultaneously with a single processor, and to instantaneously determine the input of each motor, reducing the number of parts. A cheap and reliable washing and drying machine can be realized.

  A first aspect of the present invention is a DC power source comprising a rectifier circuit that converts AC power of an AC power source into DC power, an inverter circuit that converts DC power of the DC power source into AC power, a washing machine driven by the inverter circuit, or A motor that drives a rotating drum or a stirring blade of a washing and drying machine; a position detection unit that detects a rotor position of the motor; a current detection unit that detects the motor current; and a control unit that controls the inverter circuit. The control means controls the rotation of the motor by controlling the effective current component or the reactive current component with respect to the output voltage of the inverter circuit, and the first rotation control means for controlling the rotation of the motor by the output signal of the position detecting means. Second rotation control means, which is easy to start by the rotor position detection means, and the position detection means and current detection means. It is easy to vector control by means, are sensorless drive is also possible by the current detection means, it is possible to select the optimum drive mode according to the control stroke, such as washing or dewatering.

  In the second invention, in particular, the control means in the first invention controls the rotation of the motor by the first rotation control means that is controlled by the output signal of the position detection means that detects the rotor position at the time of start-up or low-speed rotation, The rotation of the motor is controlled by a second rotation control unit that is controlled by a current detection unit that detects a motor current during high-speed rotation, and the motor is controlled by a signal from the rotor position detection unit during start-up or low-speed operation. During high-speed operation such as dehydration operation by rotating, the motor is controlled by detecting the active current component or reactive current component with respect to the inverter circuit output voltage. During rotation, noise can be reduced by reducing rotational speed fluctuation and current distortion.

  According to a third aspect of the invention, in particular, the control means in the first aspect of the invention controls the motor vector by the output signals of the position detection means for detecting the rotor position and the current detection means for detecting the motor current during start-up or low-speed rotation. The second rotation control means controls the effective current component or the reactive current component with respect to the inverter circuit output voltage from the output signal of the current detection means at the time of high speed rotation. The motor is controlled to rotate, and it is possible to detect the load amount and cloth imbalance by vector control during start-up or low-speed rotation, and control the current vector corresponding to the inverter output voltage during high-speed rotation to control a sine wave. Because of the drive, the current distortion increases due to the displacement of the position detection means due to the increase in the number of rotor magnetic poles. Can be low noise can be prevented.

  In a fourth aspect of the invention, in particular, the second rotation control means in the first aspect of the invention controls the inverter circuit output voltage so that the reactive current component with respect to the inverter circuit output voltage becomes a predetermined value. The control algorithm is simple for open-loop speed control, circuit parameters and control parameters are very small, strong against load fluctuations or power supply voltage fluctuations, and rotation control with excellent robustness becomes possible.

  In the fifth invention, in particular, the second rotation control means in the first invention detects the motor input or the load amount from the effective current component with respect to the inverter circuit output voltage. Can be automatically set and the amount of detergent can be displayed, and the rotational speed can be controlled according to the amount of load, or a change in the amount of load can be detected to detect cloth imbalance.

  In the sixth aspect of the invention, in particular, the second rotation control means in the first aspect of the invention detects the motor input or the load amount from the effective current component with respect to the inverter circuit output voltage and the inverter circuit output voltage. The water level can be automatically set and the amount of detergent can be displayed by detecting the load amount. When the load amount is large, the rotational speed can be reduced to lower the motor input and the dehydration vibration can be reduced.

  The seventh invention drives a DC power source comprising a rectifier circuit that converts AC power of the AC power source into DC power, a plurality of inverter circuits that convert DC power of the DC power source into AC power, and a rotating drum or a stirring blade A first motor that detects the position of the rotor of the first motor, a second motor that drives the compressor of the drying heat pump, and the first and second motor currents, respectively. A plurality of current detecting means and a control means for controlling the plurality of inverter circuits, wherein the control means obtains an effective current component or a reactive current component for each inverter circuit output voltage of the first and second motors. The first and second motors are detected and rotated, and the motor control algorithm is simple, so the burden on the processor is small. Even if a plurality of motors are driven simultaneously by a single processor, the burden on the processor is small, so an inexpensive processor can be used, and the load quantity can be easily detected. It becomes possible.

  In the eighth invention, in particular, the control means in the seventh invention detects the respective inverter circuit output voltages of the first and second motors and the effective current components for the inverter circuit output voltages to detect the respective motor inputs. Since the load amount of each motor and the output of the inverter circuit can be detected, the inverter circuit control according to the load amount or the optimal distribution of the inverter circuit output becomes possible.

  In the ninth aspect of the invention, in particular, the control means in the seventh aspect of the invention detects the load amounts or motor inputs of the first and second motors and controls the rotational speeds of the respective motors. It is possible to limit the AC power supply current to a predetermined value or less.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Embodiment 1)
FIG. 1 is a block diagram of a motor drive device for a washing machine according to the first embodiment of the present invention.

  In FIG. 1, AC power is applied from an AC power source 1 to a rectifier circuit 2 that is a double voltage rectifier composed of a full-wave rectifier circuit 20 and electrolytic capacitors 21 a and 21 b, and is converted into DC power. The converted DC power is added to the inverter circuit 3 and converted into three-phase AC power. The converted three-phase AC power is applied to the rotating drum 5 disposed inside the water receiving tank 4 or the motor 7 that rotationally drives the stirring blade 6 disposed at the bottom of the rotating drum 5. Rotation control. The transmission shaft of the motor 7 and the rotating drum 5 or the stirring blade 6 is provided with a switching mechanism 8 so that the rotational force of the motor 7 can be switched to the rotating drum 5 or the stirring blade 6.

  The motor 7 is provided with position detection means 70 for detecting the rotor magnetic pole position, and current detection means for detecting the phase current of the motor 7 between the inverter circuit 3 and the negative voltage power supply line N of the DC power supply 2. 71 is connected, and the output signal Ha of the position detection means 70 is input to the control means 9. The current detection means 71 is a so-called three-shunt method current detection method, and is a shunt between the emitter terminals Nu, Nv, Nw of the lower arm switching transistor of the inverter circuit 3 having a three-phase full bridge configuration and the negative voltage power supply line N. The resistors 71u, 71v, 71w are connected, the voltage generated in the shunt resistors 71u, 71v, 71w is applied to the level conversion circuit 72, and the output signal Vs of the level conversion circuit 72 is input to the control means 9. The control means 9 outputs the output signal G to the inverter circuit 3 based on the output signal Ha of the position detection means 70 and the output signal Vs of the current detection means 71, thereby controlling the inverter circuit 3 and rotationally driving the motor 7. It is mainly composed of a program controllable processor (not shown) such as a microcomputer and its peripheral circuit (not shown).

  The configuration shown in FIG. 1 is controlled so that the stirring blade 6 is mainly rotated in the cleaning operation and the stirring blade 6 is rotated at 50 to 200 r / min. In the dehydration operation or the centrifugal cleaning, The rotary drum 5 is controlled to rotate at 30 to 1200 r / min.

  Since the motor 7 is a direct drive system that directly drives the rotating drum 5 or the stirring blade 6 without using a speed reduction mechanism, it is necessary to increase the number of rotor magnetic poles in order to rotate at low speed and high torque. It becomes necessary to increase the drive frequency and to control the field weakening. However, the mechanical position shift of the position sensor or the position detection shift due to the shake of the rotor magnet becomes large at high speed rotation, so that the electrical position detection error of the output signal Ha of the position detection means 70 becomes very large and the position detection means. When rotation control is performed using the output signal Ha of 70, there are problems such as an increase in motor current or current distortion, an increase in vibration noise, and a weakening field increases to shift to a regenerative operation.

  FIG. 2 shows a block diagram of the control means 9 in the first embodiment of the present invention.

  The control means 9 includes a first rotation control means 90 that controls rotation based on the output signal Ha of the position detection means 70 and an output signal Vs of the current detection means 71, and a second rotation control that controls rotation based on the output signal of the current detection means 71. The switching means 92 for switching whether the control is performed by the means 91, the first rotation control means 90 or the second rotation control means 91, and the control signal selected by the switching means 92 is added to make the inverter circuit 3 PWM (Pulse). PWM control means 93 for controlling (Width Modulation), and rotation speed discrimination means 94 for discriminating whether the motor rotation speed is a predetermined high speed rotation and switching the motor control method by the switching means 92.

  FIG. 3 shows a detailed block diagram of the control means 9 in the first embodiment of the present invention.

  The control means 9 performs vector control by converting the motor current detected by the position detection means 70 and the current detection means 71 into the dq coordinate axes during low speed operation, and performs inverter control on the motor current detected by the current detection means 71 during high speed operation. Coordinate conversion to the circuit output voltage axis (ar coordinate axis) is performed by calculating the reactive current component Ir and the effective current component Ia, and the inverter circuit output voltage is controlled by the reactive current component Ir.

  FIG. 4 is a control vector diagram during low speed operation of the embedded magnet motor, showing the relationship between the dq coordinate axis and the ar coordinate axis (or the ra coordinate axis), and FIG. It is a control vector diagram. The phase between the q axis and the inverter output voltage axis is called an internal phase difference angle δ, and is generally called a load angle.

  4 and 5, Em is a motor induced voltage, Io is a motor current, Va is a motor applied voltage (inverter output voltage), Lq is a q-axis inductance, Ld is a d-axis inductance, R is a motor resistance, and ω is an electrical angular velocity. The electrical angular velocity ω is a value obtained by multiplying the mechanical angular velocity ωr by the number of magnetic pole pairs. The dq coordinate currents of the motor current Io are Iq and Id, and the ar coordinate axis currents are Ia and Ir.

  In the low speed rotation, the applied voltage Va becomes higher than the induced voltage Em as shown in FIG. 4, but in the high speed rotation, the induced voltage Em becomes high as shown in FIG. 5, and the applied voltage Va is the inverter circuit input voltage ( Therefore, it is necessary to perform advance angle control that increases the advance angle (current advance angle β, voltage advance angle δ) from the q axis to increase the motor current. A phase angle φ between the applied voltage Va and the motor current Io is a power factor angle, and is represented by a reactive current Ir = Io × sinφ and an effective current Ia = Io × cosφ.

  In FIG. 3, the signal of the current detection means 71 is applied to the A / D conversion means 900 and converted into a digital signal, and the digital signals corresponding to the motor currents Iu, Iv and Iw are applied to the three-phase / two-phase conversion means 901. It is converted into a two-phase current signal Iα, Iβ. Further, the signal of the position detecting means 70 is applied to the speed / phase detecting means 902, and the speed / phase detecting means 902 outputs the rotational speed ω1 of the rotor magnetic pole and the phase θ1 from the q axis. The U-phase induced voltage maximum phase is usually selected as the q-axis reference phase. The coordinate conversion means 903 converts the two-phase currents Iα and Iβ into the dq coordinate axis or the ar coordinate axis, and calculates the q-axis current Iq and the d-axis current Id, or the effective current component. Ia and reactive current component Ir are obtained. In Equation 1, Iq and Id are obtained when the phase θ is the phase θ1 from the q axis, and Ia and Ir are obtained when the phase θ is the phase θ2 from the a axis.

  The rotation speed setting signal ωs and the rotor magnetic pole rotation speed signal ω1 from the target rotation speed setting means (not shown) are applied to the speed comparison means 904, and the output signal Δω of the speed comparison means 904 is applied to the Iq command means 905. The torque current command value Iqo is increased or decreased according to the signal Δω. The rotation speed setting signal ωs is applied to the Id command means 906, and the Id command means 906 sets the d-axis current command value Ido according to the rotation speed setting value ωs. The torque current command value Iqo is applied to the q-axis current comparison means 907, and the d-axis current command value Ido is applied to the d-axis current comparison means 908, and the error signal ΔIq is compared with the output signals Iq and Id of the coordinate conversion means 903, respectively. , ΔId are added to the q-axis voltage setting unit 909 and the d-axis voltage setting unit 910, respectively.

  The rotation speed setting signal ωs is also applied to the phase signal generation means 911, the reactive current command means 912, and the rotation speed determination means 94. In the case of the rotation speed open loop control (reactive current constant control), the phase signal generation means 911. Output signal θ2 is added to the coordinate axis switching means 920, and when it is determined that the rotation speed is determined to be high speed by the rotation speed determination means 94, θ2 is selected as the phase signal θ of the coordinate conversion means 903. The reactive current command means 912 sets the reactive current command value Iro according to the rotation speed setting signal ωs or the load and applies it to the reactive current comparison means 913. The reactive current comparison means 913 receives the reactive current command value Iro. And the reactive current signal Ir of the coordinate conversion means 903 are compared, and the error signal ΔIr is added to the inverter output voltage setting means 914.

  Since the vector control is performed on the dq coordinate axis in the low-speed operation, the output signal Vq of the q-axis voltage setting unit 909 and the output signal Vd of the d-axis voltage setting unit 910 are added to the inverse conversion unit 922 via the voltage control switching unit 921. Control the motor applied voltage and voltage phase. Further, in the high speed operation, the rotational speed open loop control (constant reactive current control) that operates independently of the position signal is performed, and the output signal Va of the inverter output voltage setting means 914 is converted into the inverse conversion means 922 via the voltage control switching means 921. In addition, the motor applied voltage Va is applied to the inverse conversion means 922.

  The inverse conversion means 922 converts the d-q coordinate voltage signals Vq and Vd into a three-phase AC signal or reverse-converts the a-r coordinate voltage signal Va, and generates a three-phase AC voltage according to Equation 2. Let By changing the phase θ1 from the q-axis or the phase θ2 from the a-axis and the voltage signals Vq, Vd, and Va by the coordinate axis switching means 920, vector control by the dq coordinate or sensorless sine wave drive by the ar coordinate Is possible.

  In the constant reactive current control method in which the reactive current Ir is controlled to be the reactive current command value Iro, the voltage signal Vr is set to zero in Equation 2 and only Va is calculated. There is an advantage that the calculation amount and the calculation time which are half the vector control are sufficient. The three-phase AC voltage output signal of the reverse conversion means 922 is added to the PWM control means 93, and the inverter circuit 3 is PWM controlled to control the motor current.

  Although detailed description is omitted, Vr and Va may be controlled in Formula 1 as in the vector control. At this time, Ia and Ir are set and controlled, and it is necessary to perform feedback control by detecting the rotational speed as in the vector control.

  Since the torque of the motor 7 can be instantaneously detected from the q-axis current obtained by the dq coordinate conversion, the load amount determination means 95 determines the load amount from the q-axis current, and from the fluctuation amount during rotation of the q-axis current. Dehydration imbalance of cloth can be determined. As can be seen from FIGS. 4 and 5, since the a-axis current Ia obtained by the a-r coordinate conversion is substantially equal to the q-axis current Iq, the load amount determination means 95 is effective when the effective current Ia and the effective current Ia are rotated. It is possible to determine the load amount and the unbalance from the fluctuation amount. Therefore, since the load amount can be determined even in sensorless sine wave driving during high speed operation, when the output of the motor 7 becomes abnormal during dehydration and high load operation, the rotational speed of the motor 7 is decreased and the output of the motor 7 is decreased. .

  FIG. 6 shows a flowchart of the basic control program of the motor drive device according to the first embodiment of the present invention.

  The motor drive program starts from step 100, and various initial settings are made in step 101. Next, the process proceeds to step 102 to determine the presence or absence of a start flag. If it is a start operation, the process proceeds to step 103 to perform start control. At startup, the motor 7 is driven by the output signal Ha of the position detection means 70, so that there is almost no step-out at startup except overload.

  Next, the routine proceeds to step 104, where the rotational speed and the rotor position are detected from the output signal Ha of the position detection means 70, and then the routine proceeds to step 105, where it is determined whether the rotational speed has reached the set rotational speed or more. If the rotation speed is high, the routine proceeds to step 106, where the rotation speed control method is changed from the position detection method to the sensorless sine wave drive method.

  Next, the routine proceeds to step 107, where it is determined whether there is a carrier signal interrupt. If there is a carrier signal interrupt, the routine proceeds to step 108 where a carrier signal interrupt subroutine is executed. FIG. 7 shows details of the carrier signal interrupt subroutine, which will be described later.

  Next, the routine proceeds to step 109, where the load amount determination or the cloth imbalance determination is performed, and then the routine proceeds to step 110, where the rotation speed control subroutine is executed. FIG. 8 shows a rotation speed control subroutine, which will be described in detail later.

  Next, the process proceeds to step 111 to determine whether or not the drive is completed. If it is not completed, the process returns to step 104 and if it is determined to complete, the process proceeds to step 112 and the program ends.

  FIG. 7 shows a detailed flowchart of the carrier signal interrupt subroutine according to the first embodiment of the present invention. FIG. 9 is a timing chart of PWM control according to the first embodiment of the present invention, which will be described with reference to FIGS.

  The program starts from step 200, and motor currents Iu, Iv, Iw are detected in step 201. In FIG. 9, Ca indicates a triangular wave carrier signal, Vu is a U-phase voltage signal, compares the carrier signals Ca and Vu, and outputs a U-phase upper arm transistor drive signal Gp of the inverter circuit 3 if Vu is high, If Vu is low, the U-phase lower arm transistor drive signal Gn of the inverter circuit 3 is output. The carrier synchronization signal Ct is output at the peak value of the triangular wave carrier signal Ca, Ct becomes an interrupt signal, and the carrier signal interrupt subroutine operates. First, the A / D conversion means operates to perform a current detection operation.

  After the A / D conversion is completed, the process proceeds to step 202 to determine the count number of the control counter. If the control counter is 1, the process proceeds to step 203 and the control counter is zeroed. When the control content increases, the control content is selected according to the count value.

  Next, the routine proceeds to step 204 where the time t from the q axis is measured, the routine proceeds to step 205, the phase θ1 from the q axis is calculated from the rotational speed ω and the time t, and then the routine proceeds to step 206 where 3 Iq and Id are obtained by phase / 2 phase and dq coordinate conversion, and the process proceeds to step 207 to store Iq and Id.

  In step 202, if the control counter is not 1, proceed to step 208 to set the control counter to 1, set the next carrier signal interrupt to proceed to step 203, and then proceed to step 209 to set the time from the a-axis. Measure and proceed to step 210 to obtain the electrical angle θ2 from the a-axis. Since the a-axis is the phase at which the U-phase voltage signal vu becomes the maximum value, the r-axis is retarded by 90 degrees, so that the U-phase voltage signal Vu is zero. Therefore, the U-phase applied voltage signal is expressed by Vu = M × cos θ2. Here, M represents the modulation degree.

  Step 211 converts the motor currents Iu, Iv, and Iw into three-phase / 2-phase and a-r axis coordinates, calculates the reactive current Ir and the effective current Ia according to Equation 1, and proceeds to step 212 to obtain Ia, Memorize Ir. The phase θ2 is made equal to the phase of the U-phase applied voltage signal Vu.

  Next, the process proceeds to step 213 to determine whether the position detection system vector control or the sensorless sine wave drive system is used. If it is the position detection system vector control, the process proceeds to step 214 to call the phase θ1 from the q axis, and the process proceeds to step 215. Call q-axis applied voltage Vq and d-axis applied voltage Vd.

  In the case of the sensorless sine wave driving method, the process proceeds to step 216 to call the phase θ2 from the a axis, and then proceeds to step 217 to call the applied voltage Va, and then proceeds to step 218 to follow the two-phase / three-phase coordinate according to Equation 2. An inverse conversion operation is performed to obtain a three-phase AC applied voltage. In the case of the sensorless sine wave driving method using the constant reactive current method, since the control voltage is only the a-axis voltage, the inverse conversion is substantially unnecessary, so there is no need for calculation and the program becomes very simple.

  Next, the process proceeds to step 219 to perform PWM control, and the process proceeds to step 220 to return the subroutine. In FIG. 9, P1 indicates the execution period of the position detection system vector control, P2 indicates the execution period of the position sensorless sine wave drive system, and shows that the program operates alternately in synchronization with the carrier. By obtaining Iq, Id, Ia, and Ir alternately in the carrier period, it is easy to change the control method even when shifting from a low speed to a high speed as in the dehydrating operation. In particular, in the case of the constant reactive current method, the applied voltage Va can be controlled by integral control of the reactive current error signal ΔIr, and there is a drawback that the response speed is slow compared to proportional control, but it is strong against noise and smooth. There is a feature that can be controlled.

  FIG. 8 shows a detailed flowchart of the rotation speed control subroutine according to the first embodiment of the present invention.

  From step 300, the rotation speed control subroutine starts, and in step 301, the rotation speed Ns is set. Next, the process proceeds to step 302 to determine whether the motor control system is a position detection system or a sensorless sine wave system. If the system is a position detection system, the process proceeds to step 303 to call the set rotational speed Ns, and the process proceeds to step 304 and the rotational speed. D-axis current command value Ids is set according to the above.

  Next, the routine proceeds to step 305, where the motor rotation speed N is detected, and then the routine proceeds to step 306, where Iq and Id obtained by the carrier signal interrupt subroutine are called. In step 307, Ids and Id are compared and the d-axis voltage Vd is set from the error signal. In step 308, Ns and N are compared to calculate the q-axis current command value Iqs. Iq is compared to obtain a q-axis voltage Vq, and Vq and Vd are stored in step 310. The stored Vq and Vd are used in the carrier signal interrupt subroutine.

  In the case of the sensorless sine wave method, the process proceeds to step 312 to detect the DC voltage Edc, and then proceeds to step 313 to call the drive set frequency fs corresponding to the rotational speed Ns, and then proceeds to step 314 to rotate the rotational speed. And the reactive current set value Irs according to the load torque is set, the reactive current Ir detected at step 315 is called, then the predetermined applied voltage constant kr is called at step 316, and Irs is set at step 317. The voltage correction value ΔVa is obtained from the error signal ΔIr of Ir and Ir, and the process proceeds to step 318 to obtain the applied voltage Va. In step 319, Va is stored, and in step 311, the subroutine is returned.

  The control equation having the above contents is expressed by Equation 3, and Equation 3 represents proportional-integral control, but it can be controlled only by an integral term. In Equation 3, Ke is an induced voltage constant, and the induced voltage voltage Em is obtained from the product of the rotational speed N and the induced voltage constant Ke.

  As described above, according to the present invention, the first rotation control unit 90 that detects and drives the rotor magnetic pole position by the position detection unit 71 and the second rotation control unit 91 that rotates without detecting the position are provided. Because it is controlled by the signal of the position detection means 71 at the time of start-up or low-speed operation, there is no possibility of step-out, and in dehydration high-speed operation where the magnetic pole position detection error increases, the sensorless sine wave drive that does not detect the position is used for driving. Value and current distortion can be reduced and vibration noise can be reduced. Furthermore, when the embedded magnet motor rotates at a high speed, it is necessary to increase the advance angle in order to use the reluctance torque. If the detection error of the position detection means 71 increases, the advance angle control based on the position sensor cannot be performed. However, since control is based on the current component detected using the inverter output voltage axis as a reference, current control is performed according to the motor induced voltage phase and load torque, and the current phase automatically becomes the optimum value according to the load. It becomes efficient and the current of the motor 7 can be reduced, and the vibration noise can be reduced.

  In addition, the sensorless sine wave driving method shown in the present invention, that is, the constant reactive current method, has no rotational speed fluctuation due to open loop speed control, and the rotational speed is constant even if cloth imbalance occurs. Vibration due to balance can be reduced. Further, since the load angle δ or the effective current Ia varies according to the load variation, the cloth imbalance can be easily detected by detecting the variation of the load angle δ or the effective current Ia. In other words, in position detection method vector control, unbalance detection and load amount detection can be performed based on q-axis current fluctuations, and cloth unbalance detection and load amount detection can be performed even in position detection or high-speed sensorless sine wave drive without position estimation. Therefore, it is possible to reduce the noise by controlling the rotational speed according to the load amount and the cloth imbalance.

(Embodiment 2)
FIG. 10 is a block diagram of a motor driving device of a washing / drying machine according to the second embodiment of the present invention, which is an embodiment of a drum type washing / drying machine using a heat pump drying system. In addition, about the structure same as Embodiment 1, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  In FIG. 10, AC power is applied from an AC power source 1 to a rectifier circuit 2 </ b> A composed of a full-wave rectifier circuit 20 and an electrolytic capacitor 21 to be converted into DC power. The converted DC power is added to the plurality of inverter circuits 3A, 3B, 3C and converted into three-phase AC power. The converted three-phase alternating current power is applied to the rotary drum driving motor 7A, the compressor driving motor 7B, and the blower fan motor 7C, and the rotary drum driving motor 7A, the compressor driving motor 7B, and the blower fan motor 7C. To drive. FIG. 10 shows an example of one electrolytic capacitor, but a full-wave voltage doubler rectifier circuit system using a plurality of electrolytic capacitors is practical. Although the choke coil is not shown, it is actually necessary to reduce the voltage ripple and reduce the harmonics.

  The first inverter circuit 3A drives the first motor 7A to rotationally drive the rotary drum 5A, and the second inverter circuit 3B drives the second motor 7B to configure the heat pump as a heat exchange refrigerant motor. The integrated compressor is driven, and the third inverter circuit 3C drives the blower fan 12 by rotating the third motor 7C.

  The first motor 7A for driving the rotary drum 5A is provided with position detecting means 70a for detecting the rotor magnetic pole position, and the plurality of inverter circuits 3A, 3B, 3C have current detecting means 71A, 71B, 71C, respectively. Connected. The control means 9A controls the plurality of inverter circuits 3A, 3B, 3C simultaneously by the output signal Ha of the position detection means 70a and the three shunt type current detection means 71A, 71B, 71C. Transistor drive gate signals GA, GB, and GC are output to 3C, respectively.

  The hot air heater system that blows warm air into the washing and dewatering tub 5 with a sheathed heater or ceramic heater is very poor in thermal efficiency. Therefore, it is possible to improve the drying efficiency by recovering the outside air heat or drying exhaust heat using a heat pump. Can be increased. In the heat pump, since the condenser 10 is on the high temperature side and the evaporator 11 absorbs heat on the low temperature side, the heat of the condenser 10 provided on the discharge side of the blower fan 12 is forcibly blown into the rotating drum 5A and rotated. Dehumidification and heat recovery are performed by the heat exchanger of the evaporator 11 provided on the exhaust side of the drum 5 </ b> A, and warm air is again blown into the rotary drum 5 </ b> A through the heat exchanger of the condenser 10 by the blower fan 12. Usually, since the compressor and motor which compress refrigerant gas are united, the 2nd motor 7B is called the compressor motor 7B. In FIG. 10, a refrigerant gas piping path, an expansion valve, and the like are not shown.

  Since the noise can be reduced by driving the compressor motor 7B with a sensorless sine wave, conventionally, a position sensorless vector control system in which the motor phase current is detected by the second current detection means 71B to estimate the position is common. However, if the power supply voltage fluctuation increases, the position estimation method has a limit, and if the rotor position is estimated and the rotating magnetic field is controlled according to the rotor position, the rotational speed fluctuates according to the power supply voltage fluctuation. The rotational speed fluctuates by stopping the driving of the first motor 7A that drives the rotary drum 5A, and the vibration noise of the compressor motor 7B becomes a problem as well as the blower fan 12 noise. In particular, if the DC power supply of the first motor 7A and the compressor motor 7B for driving the rotary drum 5A is shared, the DC power supply voltage fluctuation further increases. Therefore, in the conventional motor drive system, the blower fan 12 and the compressor motor 7B The rotational speed fluctuation becomes very large.

  In the present invention, the compressor motor 7B is driven by open loop speed control by the sensorless sine wave drive method that does not estimate the position described in the first embodiment, and the reactive current perpendicular to the output voltage axis of the inverter circuit 3B is obtained. Since the reactive current component Ir is controlled to a predetermined value by decomposing the active current component Ia in parallel with the component Ir and controlling the motor applied voltage Va, the number of rotations does not fluctuate and the program is simplified. These motors can be simultaneously driven with a sine wave. The basic vector diagram is almost the same as FIG.

  Since the basic motor control program is almost the same as that shown in FIG. 6, the details are omitted. Here, the carrier signal interrupt subroutine will be described in detail.

  FIG. 11 is a detailed flowchart of the carrier signal interrupt subroutine of the motor rotation control method according to the second embodiment of the present invention, in which the rotating drum drive motor 7A and the compressor motor 7B are simultaneously controlled by one processor. The form is shown. Since the driving of the blower fan motor 7C is almost the same as the driving method of the compressor motor, the description thereof is omitted. FIG. 12 shows a timing chart of PWM control and A / D conversion of the inverter circuit 3A and the inverter circuit 3B in the second embodiment of the present invention. Although not shown, the carrier signal of the blower fan motor 7C is synchronized with the rotary drum motor 7A and the carrier cycle is the same.

  In step 400, the carrier signal interrupt subroutine starts. In step 401, the control method of each motor is set. Then, in step 402, the target control motor is determined, and if the target control motor is the first motor 7A. The process proceeds to step 403a to detect the phase currents Iua, Iva and Iwa of the motor 7A. If the motor 7B, the process proceeds to step 403b to detect the phase currents Iub, Ivb and Iwb of the motor 7B. As shown in FIG. 12, the current detection timing is A / D converted at the peak or trough of the carrier signal Cb1 of the motor 7B in order to remove the switching timing of all 12 transistors of the inverter circuits 3A and 3B. To do. That is, the carrier frequencies of the rotary drum motor 7A and the compressor motor 7B are set to about 16 kHz (for example, a period of 64 μs) and about 4 kHz (for example, a period of 256 μs), and the carrier signals Ca and Cb1 are synchronized in order to synchronize the carrier signals Ca and Cb1. The cycle is set to an even multiple or odd multiple, and current detection is performed by A / D conversion of the rotary drum motor 7A at the peak / valley timing Dia1 of the carrier signal Cb1 of the compressor motor 7B. The current is detected at the timing of the peak Dib1 of the signal Cb1, or at the timing Dia1 of the trough (not shown). FIG. 12 shows an even-numbered embodiment, but the current can be detected in synchronism with the same concept even with an odd-numbered multiple.

  Next, the process proceeds to step 404, where it is determined whether the position detection method or the sensorless sine wave drive is used. If the position detection method, the process proceeds to step 405a to obtain the phase θ1 from the q axis. Proceed to 406a to perform 3-phase / 2-phase dq coordinate transformation, then proceed to step 407a to store q-axis current Iq and d-axis current Id, and then proceed to step 408a to q-axis voltage Vq, The d-axis voltage Vd is called, and the process proceeds to step 409a to perform 2-phase / 3-phase / coordinate inverse transformation calculation. The q-axis voltage Vq and the d-axis voltage Vd are separately obtained by a rotation speed control subroutine, but detailed description thereof is omitted.

  If sensorless sine wave drive is determined in step 404, the process proceeds to step 405b to obtain the phase θ2 from the a axis, and then proceeds to step 406b to perform a three-phase / 2-phase / ar coordinate transformation, Next, the process proceeds to step 407b to store the a-axis current Iaa and the r-axis current Ira, and then proceeds to step 408b to call the a-axis voltage Vaa and proceeds to step 409b to perform a two-phase / three-phase / coordinate inverse transformation calculation. . In the case of controlling the motor B, the phase θa from the output voltage axis of the inverter circuit 3B is obtained in step 405c, and then the process proceeds to step 406c to perform three-phase / two-phase / ar coordinate transformation, Proceeding to step 407c, the a-axis current Iab and the r-axis current Irb are stored, and then proceeding to step 408c to call the a-axis voltage Vab and proceeding to step 409c to perform a two-phase / three-phase / coordinate inverse transformation calculation. Next, the routine proceeds to step 410 to execute the PWM control of the motor A, then proceeds to step 411 to execute the PWM control of the motor B, and proceeds to step 412 to return the subroutine.

  As a compressor motor current detection method for an air conditioner, a single shunt method is generally used. However, if the current detection method of the heat pump compressor 7B of the washing / drying machine is set to a single shunt method, an inverter for driving a rotating drum having a high carrier frequency is used. Since the switching timing of the circuit 3B and the current detection timing overlap, there arises a problem that the current detection error becomes large due to switching noise. Therefore, as shown in the embodiment of the present invention, the current detection timing is set to the peak of the carrier signal by the three-shunt method. Alternatively, the valley is advantageous in that it is not affected by the switching noise of the rotating drum driving inverter circuit 3B.

  In the sensorless sine wave drive method that does not detect the position shown in this embodiment, since control is performed using coordinates based on the inverter output voltage axis, vector conversion is performed using dq coordinates since substantially no inverse conversion is required. In comparison, the calculation is less than half and the burden on the processor is extremely light. Further, the motor input can be instantaneously determined from the product of the effective current and the applied voltage Va, and the total motor input in the hot air dehydration drying operation in which the rotary drum motor 7A and the compressor motor 7B are simultaneously driven can be instantaneously determined. Therefore, the total input current as the washing / drying machine can be obtained by calculation without detecting the input or output current of the DC power source 2A. In particular, since the AC input current of the DC power source 2A is a household outlet, it is usually necessary to limit it to 15A or less. Therefore, without an AC current sensor, the input of a plurality of motors can be determined instantaneously to determine the motor speed. The current can be reduced and the current can be limited.

  As described above, according to the first and second embodiments, the motor for driving the stirring blade or the rotary drum is the first rotation control means by the position detection means and the second sensorless sine wave drive without detecting the position. In addition to the first embodiment, the second embodiment controls the rotation of the heat pump compressor motor that is operated simultaneously by the second rotation control means. As a result, the control program can be simplified and the burden on the processor can be reduced, and a plurality of inverter circuits can be driven by one processor to drive a sensorless sine wave. In addition, since there is no rotation speed fluctuation due to sine wave drive by open loop rotation speed control, vibration can be reduced and each motor input, load amount, or load amount fluctuation can be detected instantaneously, so input current, cloth load amount, Alternatively, the unbalance amount is detected and the rotational speed is controlled to reduce the input current, thereby reducing vibration and noise. In particular, when a permanent magnet synchronous motor composed of a multipolar rotor is driven at a high speed, there is a problem that current distortion and current fluctuation due to position detection error of the rotor magnetic pole position detection means increase. Thus, current distortion and current fluctuation can be reduced by a simple control method, and a complicated program such as position sensorless vector control is not required, and the rotary drum and the heat pump compressor can be driven simultaneously.

  The driving method of the drying fan motor or the current detection timing was not described in detail, but the carrier cycle of the drying fan motor was detected in synchronism with other inverter circuits in the same manner as the reactive current. Obviously, it can be controlled by a constant control method.

  As described above, the motor driving device of the washing machine or the washing / drying machine according to the present invention can realize sensorless sine wave driving by open-loop rotational speed control regardless of power supply voltage fluctuation or load fluctuation. Alternatively, noise caused by position detection errors can be reduced by rotation control using a position sensor at low speed activation in an electrically assisted bicycle and position sensorless rotation control at high speed driving. Further, the present invention can be applied to a use for controlling rotation from a low speed to a high speed such as a blower fan such as a gas water heater, or a simultaneous driving of a compressor motor and a cooling motor in an outdoor unit of an air conditioner.

1 is a block diagram of a motor drive device for a washing machine in Embodiment 1 of the present invention. Block diagram of control means of the motor drive device Detailed block diagram of control means of the motor drive device Control vector diagram during low-speed operation of the embedded magnet motor of the motor drive device Control vector diagram during high-speed operation of the embedded magnet motor of the motor drive device Flow chart of basic control program of the motor drive device Flowchart of carrier signal interrupt subroutine of the motor drive device Flow chart of rotation speed control subroutine of the motor drive device Timing chart of PWM cycle and current detection timing of inverter circuit of same motor drive device Block diagram of a motor driving device of a washing and drying machine in Embodiment 2 of the present invention Flowchart of carrier signal interrupt subroutine of the motor drive device Timing chart of PWM cycle and current detection timing of each inverter circuit of the motor drive device

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 AC power source 2 Rectifier circuit 3 Inverter circuit 3A 1st inverter circuit 3B 2nd inverter circuit 5 Rotating drum 6 Stirring blade 7 Motor 7A 1st motor 7B 2nd motor 70 Position detection means 71 Current detection means 9 Control means

Claims (9)

A DC power source comprising a rectifier circuit that converts AC power of AC power source into DC power, an inverter circuit that converts DC power of the DC power source into AC power, and a rotating drum of a washing machine or a washing dryer driven by the inverter circuit Or a motor for driving the stirring blade, a position detection means for detecting the rotor position of the motor, a current detection means for detecting the motor current, and a control means for controlling the inverter circuit, the control means, First rotation control means for controlling the rotation of the motor by an output signal of the position detection means, and second rotation control for controlling the rotation of the motor by controlling an effective current component or reactive current component with respect to the inverter circuit output voltage. A motor driving device for a washing machine or a washing / drying machine. The control means controls the rotation of the motor by the first rotation control means controlled by the output signal of the position detection means for detecting the rotor position at the time of start-up or low-speed rotation, and is controlled by the current detection means for detecting the motor current at the high-speed rotation. The motor driving device for a washing machine or a washing / drying machine according to claim 1, wherein the rotation of the motor is controlled by the second rotation control means. The control means performs rotation control by a first rotation control means that performs vector control of the motor based on an output signal of the position detection means that detects the rotor position and the current detection means that detects the motor current at the time of start-up or low-speed rotation, 2. The rotation of the motor is controlled by a second rotation control means which controls an effective current component or a reactive current component with respect to an inverter circuit output voltage from an output signal of the current detection means at high speed rotation. Motor drive device for washing machine or washing / drying machine. The motor driving device for a washing machine or a washing / drying machine according to claim 1, wherein the second rotation control means controls the inverter circuit output voltage so that the reactive current component with respect to the inverter circuit output voltage becomes a predetermined value. The motor driving device for a washing machine or a washing dryer according to claim 1, wherein the second rotation control means detects the motor input or the load amount from an effective current component with respect to the inverter circuit output voltage. 6. The motor driving device of a washing machine or a washing dryer according to claim 5, wherein the second rotation control means detects the motor input or the load amount from the inverter circuit output voltage and the effective current component with respect to the inverter circuit output voltage. A DC power source comprising a rectifier circuit that converts AC power of the AC power source into DC power; a plurality of inverter circuits that convert DC power of the DC power source into AC power; and a first motor that drives a rotating drum or a stirring blade A position detecting means for detecting the rotor position of the first motor, a second motor for driving a compressor of the drying heat pump, and a plurality of current detecting means for detecting the first and second motor currents, respectively. And control means for controlling the plurality of inverter circuits, wherein the control means detects an effective current component or a reactive current component for each inverter circuit output voltage of the first and second motors, and And a motor driving device for a washing / drying machine in which the rotation of the second motor is controlled. 8. The washing and drying machine according to claim 7, wherein the control means detects each inverter input by detecting the inverter circuit output voltage of each of the first and second motors and the effective current component with respect to the inverter circuit output voltage. Motor drive device. 8. The motor driving device for a washing / drying machine according to claim 7, wherein the control means detects the load amounts or motor inputs of the first and second motors to control the rotational speeds of the respective motors.