KR100239509B1 - Speed control apparatus of motor and method thereof - Google Patents

Abstract

The present invention relates to a method of controlling a phase of a washing machine motor, and more particularly, to a speed control apparatus and a method of controlling a speed of a motor by performing fuzzy inference using a variable parameter, to wash and dehydrate laundry. It consists of a motor for driving, a speed sensing means for sensing the rotational speed of the motor that changes during the driving of the motor, and a control means for controlling the rotational speed of the motor sensed by the speed sensing means, the number of pulse periods By controlling the speed of the motor by measuring the unit of μsec, and performing fuzzy inference using a variable parameter that varies according to the characteristics of the device and the number of revolutions of the motor can be accurately adjusted the speed of the motor.

Description

Speed control device of motor and its method

1 is a waveform diagram showing a trigger point of a triac for controlling the phase of a conventional motor.

2 is a schematic cross-sectional view of a washing machine according to an embodiment of the present invention.

3 is a control block diagram of a washing machine according to an embodiment of the present invention.

4 is a detailed circuit diagram of a speed control apparatus for a motor according to an embodiment of the present invention.

5 is a membership function of velocity deviation which is an input of FLC applied to the present invention.

6 is a membership function of the speed change amount which is the input of the FLC applied to the present invention.

7 is an input / output rule preparation table showing the input / output relationship of FLC applied to the present invention.

8 is a membership function of weights by fuzzy inference of FLC applied to the present invention.

9A and 9B are flowcharts showing the speed control operation procedure of the motor according to the present invention.

10 is an output waveform diagram of a hall sensor applied to the present invention.

11 is a rotational waveform diagram of a motor applied to the present invention.

<Explanation of symbols for main parts of drawing>

1: body 7: dehydration tank

9: washing tank 15: water supply valve

19: drain valve 21: motor

23: reducer 27: pulsator

31: magnet 33: Hall sensor

50: DC power supply means 55: operation operation means

60: control means 65: water supply valve drive means

70: water level detecting means 80: motor driving means

81: left turn drive 83: right turn drive

90: speed sensing means 95: drain valve driving means

100: display means

The present invention relates to a method of controlling the phase of a washing machine motor, and more particularly, to a speed control apparatus and a method of a motor for controlling the speed of the motor by performing fuzzy inference using a variable parameter.

In the conventional motor driving method of a washing machine, a magnetic flux generated by the rotation of a 24-polar magnet mounted on the motor in response to the rotation of the motor during phase control washing (WOOL, LINGERIE) or multi-stage dehydration is detected by the Hall IC. When generated, the microcomputer receives a high or low voltage signal through the input terminal INT according to the pulse generated by the Hall IC and counts the number of pulses per unit time (currently 50 msec).

The number of pulses input per unit time is compared with the number of reference pulses of the desired speed, and the trigger pin of the triac is moved forward or backward before the H / W interrupt occurs.

That is, the triac must pass through a point where the current goes to zero to turn it off again after turning on, thereby powering the motor during the hatched portion of FIG.

Therefore, the power supplied to the motor is different according to the trigger point ⓟ of the triac, and the rotation speed of the motor is changed to control the speed of the motor.

However, in such a conventional control method, the unit time for detecting the number of pulses generated by the Hall sensor when the motor rotates is about 50 msec, which is short, so that the number of pulses generated per unit time is less than 10 when washing. 1) is large, and a big difference arises in the rotation speed of a motor by this error.

Thus, the number of pulses per unit time should be increased, but there is a problem that the current technology is difficult.

In addition, since the variable controlling the speed of the motor is a fixed parameter, there is a problem in that the speed control is varied according to the characteristics of the device and the load so that the speed deviation increases.

Accordingly, the present invention has been made to solve the above problems, and an object of the present invention is to provide a speed control apparatus and a method of a motor for controlling the speed of the motor by measuring the pulse period in the unit of several microseconds.

Another object of the present invention is to provide a speed control apparatus and a method for controlling a motor speed by performing fuzzy inference using a variable parameter that varies according to the characteristics of the device and the rotation speed of the motor.

In order to achieve the above object, a speed control apparatus for a motor according to the present invention includes a motor for driving washing and dewatering of laundry, a speed sensing means for sensing a rotational speed of the motor that changes when the motor is driven, and the speed sensing device. Characterized in that the control means for controlling the rotational speed of the motor sensed by the means.

In addition, the speed control method of the motor according to the present invention includes a parameter input step of inputting a reference parameter of the speed variable RMX indicating the speed deviation of the motor, the weight variable A1X indicating the output weight value of the motor, and the initial operation of the motor. Pulse measurement step for measuring the time at which the motor reaches the normal speed, the maximum and minimum periodicity of the pulse waveform generated when the motor is driven, and the repetition time for the motor to reach the normal speed, and the pulse measuring step The first speed variable step of varying the speed variable of the motor input in the parameter input step by comparing the normal speed reaching time with the reference value preset in the control means, and the maximum and minimum of the pulse waveform measured in the pulse measuring step. The speed difference of the motor input in the parameter input step is varied by comparing the periodic difference with the reference value preset in the control means. Is a weight variable step of varying the output weight variable of the motor input in the parameter input step by comparing the second speed variable step and the normal speed arrival time interval measured in the pulse measuring step with a reference value preset in the control means. And a fuzzy operation step of adjusting the speed of the motor by performing fuzzy operation according to the variable speed variable and the weight variable in the speed variable step and the weight variable step.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 2, a door 3 hinged at one side is freely opened and closed at an upper end of the main body 1, and the main body 1 has a cylindrical shape for washing and dewatering the loaded laundry. Spin tub (7: hereinafter referred to as a dehydration tank) is rotatably installed, the outer periphery of the dehydration tank (7) with a cylindrical outer support for the dehydration tank (7) at regular intervals to support the dehydration tank (7) A bar 9 (hereinafter referred to as a washing tank) is provided.

In addition, a water supply valve 15 is installed on the rear surface of the main body 1 to supply wash water supplied from the tap water 11 into the washing tank 9 through a water supply hose 13. At one lower end of 1), a drain valve 19 is installed to discharge the wash water in the washing tank 9 to the outside through the drain hose 17.

In addition, the bottom of the washing tank (9) is provided with a motor 21 for forward and reverse rotation to wash and dehydrate the laundry in the dehydration tank (7), the rotational force of the motor (21) at one lower end of the motor (21) The belt 25 which transmits to the reducer 23 is connected to the pulleys 22 and 24 disposed on the shafts of the motor 21 and the reducer 23.

In addition, the inside of the dehydration tank (7) receives the driving force of the motor 21 through the belt 25 and the reducer (23) while forming a water flow in the wash water while the left and right reverse the laundry in the dehydration tank (7) And a pulsator 27 for washing the body, and a detergent dissolving means 29 for dissolving the powder detergent and supplying a softening agent for imparting anti-static or flexibility to the laundry at the upper side of the main body 20. It is.

In the figure, a 24-pole magnet 31 which rotates when the motor 21 is driven is mounted at both ends of the pulley 22 disposed on the shaft of the motor 21, and the magnet 31 is provided. At the lower predetermined position of the motor 21 at a predetermined interval with the number of poles of the magnet 31 as it intersects with the magnet 31 which rotates when the motor 21 is driven to detect the rotational speed of the motor 21. And a Hall IC (hereinafter, referred to as a Hall sensor) for detecting a pulse and generating a pulse proportional to the rotational speed of the motor 21.

Next, a circuit for controlling the motor of the washing machine configured as described above will be described with reference to FIGS. 3 and 4.

As shown in FIG. 3 and FIG. 4, the DC power supply means 50 converts the commercial AC voltage supplied from the AC power supply 101 into a predetermined DC voltage required for driving the washing machine and outputs it to each driving circuit. In addition, the driving operation means 55 is provided with a plurality of function keys at a predetermined position of the door 3 to input a washing condition (washing type, washing time, water supply selection, etc.) desired by the user.

And, the control means 60 is applied to the DC voltage supplied from the DC power supply means 50 to initialize the washing machine, as well as the overall washing machine in accordance with the operation command signal input by the driving operation means (55). As a microcomputer for controlling the operation, the control means 60 receives a pulse signal proportional to the rotational speed of the motor 21 sensed by the Hall sensor 33 to control the speed of the motor 21. The current speed and the speed change amount (previous speed-current speed) of the motor 21 are input, and the weight to adjust the trigger point of the triac TRIAC controlling the phase of the motor 21 is output as the purge. FLC (Fuzzy Logic Controller) that performs inference.

The water supply valve driving means 65 supplies the water supply valve 15 to supply the washing water supplied from the tap water 11 to the washing tank 9 through the water supply hose 13 under the control of the control means 60. The driving level is controlled, and the water level detecting means 70 supplies washing water in an amount suitable for the amount of laundry put into the dewatering tank 7 when the water supply valve 15 is opened by the water supply valve driving means 65. It is a water level sensor to detect whether water is supplied in

In addition, the motor driving means 80 receives the control signal output from the control means 60 to drive control the motor 21 to wash and dehydrate the laundry, the motor driving means 80 is the control means A left turn driving unit 81 which receives the control signal output from the 60 and drives the motor 21 to the left and a right turn driving the motor 21 by receiving the control signal output from the control means 60. It consists of the right rotation drive part 83 and the capacitor C1 which charges / discharges so that the starting voltage required for driving the said motor 21 may be generated.

The speed detecting means 90 detects the rotational speed of the motor 21 driven by the motor driving means 80, and the speed detecting means 90 detects the rotational speed of the motor 21. Hall sensor 33 for generating a pulse by detecting the magnetic flux of the magnet 31 that changes as the magnet 31 crosses, and a clamp diode for fixing the pulse signal generated by the hall sensor 33 to a predetermined level (D1, D2), a resistor (R8) and capacitor (C6) for filtering out noise components included in the pulse signal generated by the Hall sensor 33, and the clamp diode (D1, D2) by a predetermined level A transistor (5V) applied from the DC power supply unit (50) through a pull-up resistor (R7) and a bias resistor (R9) to output a square wave pulse according to a fixed pulse signal, TR3) and the turn-on / turn-off operation of the transistor TR3. The transistor TR to perform charge and discharge accordingly.

The resistor R10 and the capacitor C7 connected in parallel to the base terminal of 3) and a pulse signal proportional to the rotational speed of the motor 21 during the turn-on / turn-off operation of the transistor TR3 are generated. A resistor R11 for applying a voltage output from the DC power supply means 50 to the input terminal INT of the control means 60 so as to be output to the input terminal INT of the control means 60, and the transistor ( Capacitor C8 for filtering the noise component included in the turn on / turn off signal of TR3 and maintaining the potential of the control means 60 stably to prevent malfunction of the control means 60. have.

In addition, the drain valve driving means 95 drives the drain valve 19 under the control of the control means 60 to discharge the washing water in the washing tank 9 to the outside through the drain hose 17, The display means 100 not only displays the washing condition input by the driving operation means 55, but also displays an error when an abnormality occurs in the washing machine.

In addition, in the drawing, the left turn driving unit 81 of the motor driving means 80 receives a left turn control signal output from the output terminal P1 of the control means 60 through the resistor R1 and turns on / turn off. Transistor TR1 and the turn-on / turn-off signal of the transistor TR1 are inputted from the gate terminal through the resistor R3 and supplied to the winding ML of the motor 21 to turn the motor 21 to the left. A triac TRIAC1 for controlling the energization of the alternating AC voltage, a resistor R2 connected to the base and emitter terminals of the transistor TR1 to maintain a constant current flowing through the base of the transistor TR1, TRIAC1

And capacitors C2 and C3 for filtering out noise components contained in the driving signal of 1).

In addition, the right turn driver 83 of the motor driving means 80 receives a right turn control signal output from the output terminal P2 of the control means 60 through the resistor R4 and performs a turn-on / turn-off operation. And a turn-on / turn-off signal of the transistor TR2.

6, the triac TRAC2 for controlling the energization of the AC voltage supplied to the winding MR of the motor 21 so as to turn the motor 21 to the right through the gate terminal, and the base of the transistor TR2. A capacitor C4 for filtering a noise component included in a resistor R5 connected to the base and emitter terminals of the transistor TR2 and a driving signal of the triac TRAC2 so as to maintain a constant current flowing through the transistor TR2; C5).

The fuzzy inference method for controlling the motor speed of the washing machine configured as described above will be described.

Here, the fuzzy logic uses the center of gravity method, the input variables include the speed deviation (v) and the speed change amount (Δv) of the motor 21, the parameters are RMX, VMX, WMX, A1X, output variables The furnace has a fuzzy result that adds or subtracts the current trigger point of the triacs TRIAC1 and TRIAC2.

The parameter RMX is four variables of RM0 to RM3 expressing the deviation of the speed in ±. The parameter VMX is four variables of VM0 to VM3 and the degree of speed change is expressed in ±. The parameter WMX is the four variables of WM0 to WM3. The parameter A1X is 4 variables of A10 ~ A13, and it is the weight of the output to give the degree of force differently according to the current output deceleration.

5 is a membership function of the speed deviation v, which is an input of the FLC applied to the present invention, and shows an input membership function showing a speed difference representing a difference between a speed desired by a user and a current speed calculated by a pulse count.

In FIG. 5, v [0] indicates that the speed deviation of the motor 21 is 'very slow', v [1] indicates that the speed deviation is 'slightly slow', and v [2] indicates that the speed deviation is 'normal'. V [3] indicates that the speed deviation is 'slightly faster', and v [4] indicates that the speed deviation is 'very fast'.

6 is a membership function of the speed change amount Δv which is the input of the FLC applied to the present invention, and is an input membership function showing a speed change amount indicating a difference between the current speed deviation and the previous speed deviation of the motor 21.

In FIG. 6, Δv [0] indicates that the speed change amount of the motor 21 is much decelerated, Δv [1] indicates that the speed change amount is “slightly slowed down”, and Δv [2] indicates that the speed change amount is maintained at normal. Δv [3] indicates that the speed change amount is a little acceleration, and Δv [4] indicates that the speed change amount is much acceleration.

If the current velocity deviation is midway between RMO and RM1, the heights of the functions v [0] and v [1] are calculated according to the input membership function of FIG. 5. (v [0] = 40, v [1] = Let's say 60)

Then, if the current velocity variation is intermediate between 0 and VM2, the heights of the functions Δv [2] and Δv [3] are calculated according to the input membership function of FIG. 6 (Δv [2] = 30, Δv [3). ] = 70)

The sum of the heights of the corresponding functions in each area is always 100.

If all the function values obtained in this way are written in the 25 columns shown in Fig. 7, the actual input / output rule table for the speed deviation v and the speed change amount Δv is completed.

In conclusion, the output FUZ_RESULT [k] is determined by v [i] and Δv [j]. (k = i + j)

If v [0] = 40, v [1] = 60, Δv [2] = 30, Δv [3] = 70, these values are substituted into the input / output rule table shown in FIG. Calculate the MIN value.

FUZ_RESULT [1] = 30

FUZ_RESULT [1] = 40 FUZ_RESULT [2] = 60

FUZ_RESULT [1] = 30

The maximum value of the calculated MIN value is taken as in the same FUZ_RESULT as follows.

FUZ_RESULT [1] = 40 FUZ_RESULT [2] = 60

When the output function value is determined as described above, the area AREA corresponding to each fuzzy variable FUC_RESULT is obtained as follows. (Hatched part of Figure 8)

AREA = S0 + S1 + S2 + S3 + S4

Then, the weight corresponding to each area is multiplied by the corresponding area, and the value multiplied by each area is obtained by subtracting a small area from the left and right large areas around the 0 axis of FIG. 8 as follows. Is added to the larger of the left and right values)

SUM = (A11 · S0 + A12 · S1)-(A13 · S3 + A14 · S4) ± S2

Divide the result (SUM) by the area (AREA) and find the center of gravity (FUZ_DATA) as follows.

FUZ_DATA = │SUM / AREA│

This value is added to or subtracted from the current trigger point to control the speed of the motor 21.

8 is a membership function showing an output accuracy value for calculating the center of gravity, which is the output of the FLC applied to the present invention, and an output membership function showing the output accuracy value calculated by performing fuzzy operation.

In FIG. 8, FUZ_RESULT [0] indicates 'a lot of output', FUZ_RESULT [1] indicates 'a little increase in output', FUZ_RESULT [2] indicates 'output invariant', and FUZ_RESULT [3] shows 'low output' ', And FUZ_RESULT [4] indicates' reduced output much'.

Hereinafter, the effect of the speed control device and method of the motor configured as described above will be described.

9A and 9B are flowcharts showing the speed control operation procedure of the motor according to the present invention, in which S denotes a step (STEP) in FIGS. 9A and 9B.

When the power is supplied, in step S1 the drive voltage of 5V output from the DC power supply means 50 is inputted from the control means 60 to initialize the washing machine. When washing, the control means 60 proceeds to step S2. Through the P1 and P2, a left / right turn control signal of a high / low level is alternately output to the left turn driver 81 and the right turn driver 83.

First, the high level left turn control signal output from the output terminal P1 of the control means 60 is applied to the base terminal of the transistor TR1 through the resistor R1, thereby turning on the transistor TR1.

When the transistor TR1 is turned on, a voltage difference is generated between the gate terminal and the terminal terminal of the triac TRIAC1 and the triac TRIAC1 is turned on, and the winding ML of the motor 21 from the AC power source 101 is turned on. AC current is applied to the motor 21 to rotate left.

When the motor 21 turns left for a predetermined time, the control means 60 outputs a low level left turn control signal to the left turn driver 81 through the output terminal P1.

Accordingly, the low level left turn control signal output from the output terminal P1 of the control means 60 is applied to the base terminal of the transistor TR1 through the resistor R1 to turn off the transistor TR1. .

When the transistor TR1 is turned off, power applied to the winding ML of the motor 21 from the AC power supply terminal 11 is applied to turn off the motor 21.

When the motor 21 is turned off, the control means 60 outputs a high level right turn control signal to the right turn driver 83 through the output terminal P2 to turn the motor 21 right for a predetermined time.

Accordingly, a high level right turn control signal output from the output terminal P2 of the control means 60 is applied to the base terminal of the transistor TR2 through the resistor R4, thereby turning on the transistor TR2.

When the transistor TR2 is turned on, a voltage difference is generated between the gate terminal and the terminal terminal of the triac TRIAC2 so that the triac TRIAC2 is turned on, and the winding MR of the motor 21 from the AC power supply terminal 101 is turned on. AC current is applied to the motor 21 to turn right.

When the motor 21 rotates right for a predetermined time, the control means 60 outputs a low level right turn control signal to the right turn driver 83 through the output terminal P2.

Accordingly, the low level right turn control signal output from the output terminal P2 of the control means 60 is applied to the base terminal of the transistor TR2 through the resistor R4 to turn off the transistor TR2. .

When the transistor TR2 is turned off, the power applied to the winding MR of the motor 21 is cut off from the AC power source 101 to turn off the motor 21.

When the motor 21 is turned off, the control means 60 transmits a high level left turn control signal through the output terminal P1 to turn the motor 21 again for a predetermined time.

Output to 1).

As such, the control means 60 alternately outputs the high / low level left or right turn control signals to the left turn driver 81 and the right turn driver 83 through the output terminals P1 and P2 to wash the motor 21. Turn left → turn motor 21 off → turn right motor 21 → turn off motor 21 → turn left motor 21 to drive motor 21 repeatedly.

When the motor 21 is driven in the left turn or the right turn, the speed of the motor 21 at this time is detected by the speed sensing means 90 and output to the control means 60.

Specifically, the magnetic flux generated by the rotation of the 24-polar magnet 31 attached to the bottom of the pulley 22 of the motor 21 when the motor 21 is also driven is detected by the Hall sensor 33 and pulsed. Occurs.

Therefore, the transistor TR3 is turned on or off according to the pulses generated by the hall sensor 33 (24 in one rotation of the motor).

When the pulse generated by the hall sensor 33 is at the high level, the transistor TR3 is turned on by the pull-up resistor R7, and a low level voltage signal is input to the input terminal INT of the control unit 60.

On the other hand, when the pulse generated by the hall sensor 33 is at the low level, the transistor TR3 is turned off by the pull-up resistor R7 so that a high level voltage signal is applied to the input terminal INT of the control means 60. Is entered.

In this way, the control means 60 is the input terminal of the pulse of the waveform shown in FIG.

It is input through (INT), the period of the pulse waveform input through the input terminal (INT) is shorter the longer the speed of the motor 21, the faster.

The minimum period shown in FIG. 10 is the shortest period among the periods of the input pulse waveform per unit time (50 msec), and the maximum period is the longest period of the period of the input pulse waveform.

In addition, the control means 60 converts the frequency of the pulse signal input through the input terminal INT into a voltage using a built-in F / V converter (FREQUENCY TO VOLTAGE CONVERTER) as shown in FIG. Similarly, the rotation speed (rpm) which changes with time is measured.

In FIG. 11, the average cycle arrival time is a variation in the rotational speed when the motor 21 is operated, thereby causing vibrations up and down the target rotational speed (rpm). The descent time difference to the target speed is shown.

As described above, the pulse waveform shown in FIG. 10 is input to the input terminal INT of the control means 60 according to the pulse generated by the hall sensor 33, and the rotation of the motor 21 shown in FIG. When the water waveform is measured, in step S3, after the initial operation of the motor 21, the time when the pulse waveform input to the input terminal (INT) of the control means 60 reaches the normal period, that is, the motor 21 is a normal speed The counter reaches the time (hereinafter referred to as normal cycle arrival time) and stores it.

In the control means 60, if the number of pulse waveforms inputted to the input terminal INT is 120 (the number of pulses generated when the motor rotates 5 in the case of the 24-polar Hall sensor, the required time is about 0.1 second) The maximum and minimum periods of the pulse waveform are stored and the maximum and minimum period differences are obtained by subtracting the minimum period from the maximum period.

When the motor 21 reaches the normal period (normal speed), the average cycle reaching time showing the difference between the target rotational speed reaching time and the falling time to the target rotational speed shown in FIG. 11 is measured several times (about 10 times). The average time between these cycles is measured.

Subsequently, in step S4, it is determined whether the normal period arrival time measured in step S3 is equal to or greater than the reference value preset in the control means 60. If the normal period arrival time is not equal to or greater than the reference value (NO), the step is determined. Proceeding to S5, it is determined whether the normal cycle arrival time is less than the reference value.

As a result of the determination in step S5, when the normal period arrival time is smaller than the reference value (YES), the speed of the motor 21 is increased too fast and the initial damping is large, so the speed deviation v in step S6. The RMX parameter value is increased according to the difference from the reference value to use the entire area of the RMX as a variable.

Subsequently, in step S7, the maximum and minimum period difference measured in step S3 is controlled.

If it is smaller than the reference value set in advance at 60, it is determined. If the maximum and minimum period differences are not smaller than the reference value (NO), the flow advances to step S8 to determine whether the maximum and minimum period differences are greater than or equal to the reference value.

As a result of the discrimination in step S8, when the maximum and minimum period difference are more than the reference value (YES), the rate of change of the speed after the motor 21 reaches the normal speed, i.e., the speed change amount Δv is small, Since the acceleration or deceleration is small and the speed of the motor 21 continues to change upward or downward, that is, the speed hysteresis of the motor 21 is large, in step S9, the interval between the parameters RM0 and RM1 indicating the speed deviation v is reduced. Increase or decrease the force.

Subsequently, in step S10, it is determined whether the normal period arrival time interval measured in step S3 is equal to or greater than the reference value preset in the control means 60, and the normal period arrival time interval is not equal to or greater than the reference value (NO). In step S11, it is determined whether the time interval between normal cycle arrivals is smaller than the reference value.

As a result of the discrimination in step S11, when the normal period arrival time interval is smaller than the reference value (YES), the value of the parameter A1X indicating the weight of the output for giving the force degree differently according to the current output deceleration is large. Since the response of the speed is fast because the magnitude of the force is large, the step S12 reduces the value of the parameter A1X indicating the weight.

Subsequently, in step S13, it is determined whether the correction of the parameters RMX and A1X has been performed five times. This is for correcting the parameters at least five times since the correction of the parameters is not made correctly in one circuit.

As a result of the discrimination in step S13, if five parameter corrections have not been made (NO), the process returns to step S3 to repeat the operation of step S3 or less, and five parameter corrections have been made (YES). In step S14, the motor 21 is adjusted to the speed desired by the user while performing fuzzy inference with the values of the parameters RMX and A1X determined in the final step.

In step S15, it is determined whether the driving of the motor 21 is completed under the control of the control means 60, and when the driving of the motor 21 is not completed (NO), the process returns to the step S14 and the motor (21) The operation of step S14 is repeatedly performed while performing fuzzy inference until the driving is completed, and the operation is terminated when the driving of the motor 21 is completed (YES).

On the other hand, when the determination result in step S4 indicates that the normal cycle arrival time is equal to or greater than the reference value (YES), the state in which the speed of the motor 21 is small is regarded as a small state and thus the area of RM1 to RM0 cannot be used. In step S20, the variable value of the parameter RMX indicating the speed deviation v is reduced in accordance with the difference from the reference value, and the process proceeds to step S7 above and repeats the operations of step S7 and below while using the RMO area.

As a result of the determination in step S7, when the maximum and minimum period difference are smaller than the reference value (YES), the rate of change of the speed after the motor 21 reaches the normal speed, that is, the speed change amount Δv is large. Since the force is increased or decreased, the movement to the RM0 to RM1 and RM1 to RM0 areas is repeated at a similar speed. In step S10, the operation of step S10 or less is repeated.

In addition, when the determination result in step S10 indicates that the normal cycle arrival time interval is equal to or greater than the reference value (YES), the value of the parameter A1X indicating the weight of the output for giving the force degree differently according to the current output deceleration rate is Since the response of the speed is low because the force of the acceleration and deceleration is small, the process proceeds to step S13 and repeats the steps S13 and below while increasing the value of the parameter A1X indicating the weight in step S22.

On the other hand, when the determination result in step S5 indicates that the normal period arrival time is not smaller than the reference value (NO), the process proceeds to step S7 and repeats the operations of step S7 and below.

As a result of the discrimination in step S8, when the maximum and minimum period differences are not equal to or greater than the reference value (NO), the process proceeds to step S10 and repeats the operations of step S10 or less.

As a result of the discrimination in step S11, when the normal period arrival time interval is not smaller than the reference value (NO), the process proceeds to step S13 and repeats the operations of step S13 and below.

According to the speed control apparatus and the method of the motor according to the present invention as described in the above description, it is possible to control the speed of the motor by measuring the pulse period in the unit of several μsec, variable variable according to the characteristics of the device and the number of revolutions By performing fuzzy inference using parameters, there is an excellent effect of accurately adjusting the speed of the motor.

Claims (8)

A speed control apparatus for a motor having a motor for driving washing and dehydration of laundry, and a speed sensing means for sensing a rotational speed of the motor, wherein the speed deviation and speed change amount of the motor are adjusted. A fuzzy operation is performed by inputting a weight, and further comprising a control means for variably controlling a weight variable by measuring an average value of the repetition time when the motor reaches a normal speed. A parameter input step of inputting a reference parameter of a speed variable RMX indicating a speed deviation of the motor and a weight variable A1X indicating an output weight of the motor, a time at which the motor reaches a normal speed during initial operation, and driving of the motor A pulse measurement step for measuring the maximum and minimum period difference of the pulse waveform generated at the time, and the average value of the repetition time when the motor reaches the normal speed, and a reference value preset in the control means for the normal speed arrival time measured in the pulse measurement step. A first speed variable step for varying the speed variable of the motor input in the parameter input step and a maximum and minimum period difference of the pulse waveform measured in the pulse measuring step with a reference value preset in the control means A second speed variable step of varying the speed variable of the motor input in the parameter input step, and the pulse measuring step A variable weight step for varying the output weight variable of the motor input in the parameter input step by comparing the measured normal speed arrival time interval with the reference value preset in the control means, and variable in the speed variable step and weight variable step And a fuzzy operation step of adjusting the speed of the motor by performing fuzzy operation according to the determined speed variable and the weighted variable. The speed control method of claim 2, wherein the first speed variable step reduces the speed variable according to a difference from the reference value when the normal speed arrival time measured by the pulse measuring step is equal to or greater than a reference value. The method of claim 2, wherein the first speed variable step increases the speed variable according to a difference from the reference value when the normal speed arrival time measured by the pulse measuring step is less than or equal to the reference value. The method of claim 2, wherein the second speed variable step adjusts the degree of acceleration or decrease by reducing the interval between the speed variables RM0 and RM1 when the maximum and minimum period difference of the pulse waveform measured in the pulse measuring step is greater than or equal to the reference value. Motor speed control method. The method of claim 2, wherein the second speed variable step adjusts the degree of acceleration or decrease by increasing the interval between the speed variables RM0 and RM1 when the maximum and minimum period difference of the pulse waveform measured in the pulse measuring step is less than the reference value. Motor speed control method. The speed control method of claim 2, wherein the weight variable step increases the weight variable when the time interval between steady speeds measured in the pulse measuring step is greater than or equal to a reference value. 3. The method of claim 2, wherein the weight variable step reduces the weight variable when the normal speed arrival time interval measured in the pulse measuring step is equal to or less than a reference value.