JP2002165480A - Control device for brushless motor and inverter washing machine having the same - Google Patents

Abstract

(57) [Problem] To provide a control device for a brushless motor that performs operation control by correcting a detection error of a position detection means provided in a motor. SOLUTION: The microcomputer 41 calculates a voltage applied to the brushless motor 7 based on a position signal output from a Hall sensor 55 for detecting a rotor position of the motor, and the microcomputer 41 rotates the motor 7 at a constant speed. The switching means 36 a to c and 37 a to 37 c provided in the inverter circuit 35 are all turned off, and the waveform data of the induced voltage output from the induced voltage detecting means 72 is kept constant with reference to the pulse signal from the rotary encoder 70. It takes in the EEPROM 75 at the interval time,
The voltage waveform applied to the motor 7 is corrected based on the induced voltage waveform data taken into the PROM 75.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a brushless motor. The present invention also relates to an inverter washing machine having inverter means for changing the rotation speed of a brushless motor for driving a washing rotating body.

[0002]

2. Description of the Related Art An inverter washing machine changes the frequency of a voltage applied to a brushless motor (induction motor or DC brushless motor) by a control device of a brushless motor having inverter means, so that a washing rotator (rotating tub or rotating tub) can be used. The number of rotations of the agitator provided at the bottom of the rotary tank is controlled.

In such control, it is necessary to energize the stator windings of each phase in synchronization with (in synchronization with) the position of the rotating rotor. For this reason, the Hall I
A position sensor for detecting the rotor position such as C is provided in the brushless motor, and the voltage applied to the motor is controlled by detecting the rotor position based on an output signal from the position sensor.

[0004] However, if the mounting accuracy of the position sensor is poor, the rotor position detection error increases.
If the rotor position detection error becomes large and the timing of commutation switching (commutation) to the stator winding deviates, the power factor between the current flowing through the stator winding and the induced voltage generated in the stator winding decreases, and motor efficiency deteriorates. Or the motor torque becomes uneven, resulting in increased vibration and noise. Therefore, in the washing machine disclosed in Japanese Patent Application Laid-Open No. H10-15278, the deviation of the position sensor signal is automatically detected and corrected.

[0005]

SUMMARY OF THE INVENTION However, Japanese Patent Application Laid-Open
In the washing machine disclosed in JP-A-15278, it is possible to continuously detect the position of the rotor without distortion, but the value of the electric angle is not always correct, and an incorrect electric angle may be calculated. was there. Further, the sensitivity variation of the position sensor and the magnetization variation of the rotor have not been considered.

The present invention has been made in view of the above problems, and provides a brushless motor control device for performing operation control by correcting a detection error of a position detection means provided in a motor, and an inverter washing machine having the control device. Aim. Also,
An object of the present invention is to provide a brushless motor control device in which motor torque does not fluctuate due to variation in magnetization of a rotor in the motor, and an inverter washing machine including the same.

[0007]

In order to achieve the above object, a brushless motor control device according to the present invention comprises a brushless motor, position detecting means for detecting a rotor position of the motor, and inverter means. A control unit that drives the motor based on a position signal output from the position detection unit, wherein the control unit applies a voltage to the motor based on an induced voltage generated in a stator winding of the motor. Is provided. More specifically, a brushless motor, a position detection unit that detects a rotor position of the motor, a control unit that includes an inverter unit and drives the motor based on a position signal output from the position detection unit, An induced voltage detecting means for detecting an induced voltage generated in a stator winding of the motor, a reference pulse generating means for outputting a pulse signal each time the motor makes one rotation, and a storage means, and the control unit ,
The motor is rotated at a constant speed, all the switching means of the inverter means are turned off, and the waveform data of the induced voltage output from the induced voltage detecting means is fixed with reference to the pulse signal from the reference pulse generating means. Means for storing in the storage means at intervals of time and correcting the voltage applied to the motor based on the waveform data of the induced voltage stored in the storage means.

The induced voltage detecting means may be configured to detect an induced voltage generated in a stator winding of the motor based on a voltage at a connection point between stator windings of the motor. Further, an induced voltage detecting winding is provided on the stator of the motor other than the stator winding, and the induced voltage detecting means is provided on the stator winding of the motor based on an induced voltage generated in the induced voltage detecting winding. The configuration may be such that the induced voltage generated is detected. Further, the storage means may be a non-volatile memory so that the waveform data of the induced voltage does not disappear even when the power is turned off.

The induced voltage generated in the stator winding is sinusoidal, and the control unit determines a value of the induced voltage generated in the stator winding when the pulse signal is input from the reference pulse generating means. By counting the number of times that the induced voltage generated in the stator winding reaches the same value as the reference value until the time when the next pulse signal is input from the reference pulse generation means, the rotation of the motor by one rotation The period of the induced voltage generated in the stator winding may be counted.

Further, from the viewpoint of correcting the variation in magnetization of the rotor, the control unit converts the waveform data of the induced voltage output from the induced voltage detecting means from the time when the pulse signal is input from the reference pulse generating means. All the rotations of the motor for one rotation may be stored in the storage means.

From the viewpoint of correcting the variation in the mounting position of the position detecting means, the amount of deviation between the zero cross point of the induced voltage generated in the stator winding and the inversion timing of the position signal output from the position detecting means is determined. The control unit may correct the voltage applied to the motor.

From the viewpoint of correcting the sensitivity variation of the position detecting means, a zero cross point of an induced voltage generated in the stator winding and an inversion timing of a position signal output by the position detecting means for each rotation direction of the motor. And the controller may correct the voltage applied to the motor in each rotation direction in accordance with each amount of deviation.

In addition, from the viewpoint of the aging of the apparatus, the number of power-on of the control unit is stored in the storage means, and when the number of power-on of the control unit reaches a predetermined value, the storage is performed. The means may update the waveform data of the induced voltage stored and reset the number of power-on times of the control unit.

According to another aspect of the present invention, there is provided an inverter washing machine including a control device for a brushless motor having the above-described configuration, wherein the motor rotates a washing rotating body to perform washing. To In addition, before performing water supply, a capacity detection operation in which the laundry rotator is rotated to detect the amount of clothing put in, a washing operation in which the laundry rotator is rotated forward / reversely, and the laundry rotator is kept constant. In at least one of a dehydration operation for rotating in the direction and a stop operation for stopping the rotation of the washing rotator, the control unit is stored in the storage unit after inputting a pulse signal from the reference pulse generation unit. The voltage applied to the motor may be corrected based on the waveform data of the induced voltage.

[0015] From the viewpoint of increasing the efficiency of the motor, in at least one of the washing operation and the dehydrating operation, the phase of the voltage applied to the motor with respect to the rotor position of the motor depends on the motor speed. Of the voltage applied by the control unit to the motor so that
The WM duty may be controlled.

Further, from the viewpoint of stabilizing the amount of phase advance of the voltage applied to the motor with respect to the rotor position in the asynchronous operation, there is provided an applied voltage detecting means for detecting the voltage applied to the motor. When the rotation speed of the motor is equal to or greater than a predetermined value, the phase of the voltage applied to the motor with respect to the rotor position of the motor is determined according to the motor rotation speed based on the zero cross point of the voltage detected by the applied voltage detection means. Shift the set value
The control unit may control the PWM duty of the voltage applied to the motor.

From the viewpoint of keeping the motor torque during one rotation of the motor constant, the capacity detection operation, the washing operation,
In the dehydration operation, at least one operation of the stop operation, if the waveform data of the induced voltage is higher than a preset value stored in advance, the control unit reduces the voltage applied to the motor, the waveform of the induced voltage If the data is lower than a preset value stored in advance, the control unit may increase the voltage applied to the motor.

From the viewpoint of keeping the input voltage to the inverter means constant, if the waveform data of the induced voltage is higher than a preset value stored in the stop operation, the input voltage of the inverter means is reduced. The control section shifts the phase of the voltage applied to the motor in the delay direction, and increases the input voltage of the inverter means if the waveform data of the induced voltage is lower than a preset value stored in advance. The section may shift the phase of the voltage applied to the motor in the leading direction. Further, a voltage detecting means for detecting an input voltage of the inverter means is provided, and if a detected voltage from the voltage detecting means is higher than a preset value stored in advance, the control unit changes a phase of a voltage applied to the motor. The control section may shift the phase of the voltage applied to the motor in the forward direction if the detected voltage from the voltage detecting means is lower than a preset value stored in advance.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an inverter washing machine having a control device for a brushless motor according to the present invention will be described below with reference to the drawings. FIG. 1 shows an internal schematic diagram of an inverter washing machine provided with a control device for a brushless motor according to the present invention.

The inverter washing machine 1 is a one-tub type fully automatic washing machine, and includes a rotating tub 2 also serving as a washing tub and an outer tub 3 inside a main body. The outer tub 3 is suspended from the main body by a suspension unit 4, and the rotary tub 2 is rotatably installed inside the outer tub 3. A stirring body 5 is provided at the bottom of the rotary tank 2. The main body has a lid 6 for taking in and out laundry. Further, a clutch mechanism 8 for transmitting the rotation of the motor 7 to the rotary tub 2 and / or the stirring body 5 is provided at a lower portion of the outer tub 3.

An operation unit 9, a display unit 10,
A buzzer 11, and a lid sensor 12, which detects opening and closing of the lid 6,
A lock mechanism 18 for controlling opening and closing of the lid 6 is provided, and a water level sensor 13 for detecting a water level in the outer tub 3 is provided beside the outer tub 3. In addition, a lower part of the operation unit 9 for controlling the entire operation of the inverter washing machine 1 is provided.
A main control unit 14 composed of a microcomputer is provided. In addition, a sub-control unit 15 is provided above the inner surface of the side plate 1a. The sub-control unit 15 includes an inverter circuit for supplying rotation driving of the motor 7 and a microcomputer for controlling the rotation of the motor 7 via the inverter circuit. Further, a water supply valve 16 and a drain valve 17 are provided so that the amount of water in the outer tub 3 can be adjusted.

Next, the operation of the inverter washing machine 1 will be described with reference to FIG. 2 showing a schematic circuit diagram of the inverter washing machine 1. The main control unit 14 stores, in the memory 14a, a program describing contents of operations of each step such as washing, rinsing, and dehydration, and an order of execution of the steps, that is, a processing course. In addition, the main control unit 14 receives a signal such as a reservation for washing from the operation unit 9, a signal indicating the open / closed state of the lid 6 (see FIG. 1) from the lid sensor 12, and a signal from the water level sensor 13 to the inside of the outer tub 3 (see FIG. 1). The signals representing the water levels are input. Note that the memory 14a is a nonvolatile memory.

The main control unit 14 opens and closes the water intake valve 16 and the drain valve 17 and switches the transmission destination of the rotation of the motor 7 in the clutch mechanism 8 based on the above-mentioned input signal and the program stored in the memory 14a. Control.

The main controller 14 controls the rotation of the motor 7 via the sub controller 15 by communication. That is,
The main control unit 14 transmits a control signal S1 necessary for controlling the rotation of the motor 7 to the sub control unit 15 together with the synchronization clock CLK. Further, the sub control unit 15 controls the control signal S1.
, And transmits a signal S2 synchronized with the synchronization clock CLK to the main control unit 14.

Further, the main control section 14 outputs a signal for displaying the progress of the operation and the like to the display section 10 and sounds the buzzer 11 at the end of the washing.

Next, the configuration of the sub control unit 15 will be described with reference to FIG. The AC voltage output from the commercial power supply 30 is supplied via a reactor 29 to a rectifier circuit 31 formed by bridge-connecting four diodes, and is converted into a pulsating DC by the rectifier circuit 31.

The positive output terminal of the rectifier circuit 31 is connected to the positive terminal of the electrolytic capacitor 32a, and the negative output terminal of the rectifier circuit 31 is connected to the negative terminal of the electrolytic capacitor 32b. The connection point between the negative polarity side of the electrolytic capacitor 32a and the positive polarity side of the electrolytic capacitor 32b is connected to the input terminal of the rectifier circuit 31 to which the reactor 29 is not connected. With such a configuration, the DC voltage rectified by the rectifier circuit 31 is supplied to the electrolytic capacitor 32a,
The voltage is smoothed and doubled at 32b. This smoothed and doubled voltage is supplied to the inverter circuit 35 in the sub control unit 15.

In this embodiment, since a three-phase DC brushless motor is used as the motor 7, the inverter circuit 35 has a configuration in which six switching means are connected by a three-phase full-wave bridge. As a result, the inverter circuit 35
Can be supplied with three-phase alternating current, and the motor 7 can rotate.

The six switching elements provided in the inverter circuit 35 include an NPN type power transistor 36.
a to 36c and 37a to 37c are used. Three power transistors 3 are provided on the positive side of the smoothing capacitor 32a.
6a to 36c are connected, and the smoothing capacitor 3
On the negative side of 2b, three power transistors 37a to 37a are connected.
The emitter of 37c is connected.

Then, the six power transistors 36a
To 36c and 37a to 37c, diodes 42a to 42c and 43a to 43c are connected in parallel, respectively.
Power transistor 36a and power transistor 37a
Is connected to one end of the U-phase stator winding Lu of the motor 7. A connection point b between the power transistor 36b and the power transistor 37b is connected to one end of the V-phase stator winding Lv of the motor 7. A connection point c between the power transistor 36c and the power transistor 37c is connected to one end of the W-phase stator winding Lw of the motor 7. The other ends of the stator windings Lu, Lv, Lw of the motor 7 are connected at a neutral point 71.

The motor 7 has Hall sensors 55u, 55v and 55w for detecting the rotational position of the rotor. The rotor position signals Hu, Hv, Hw output from the Hall sensors 55u, 55v, 55w are
1 (hereinafter, referred to as a microcomputer 41) is A / D converted and input. Note that in the inverter washing machine of the present embodiment, the inversion timing of the rotor position signals Hu, Hv, Hw corresponds to the induced voltage V generated in the stator windings Lu, Lv, Lw of each phase.
The Hall sensors 55u, 55v, and 55w are positioned so as to coincide with the zero cross points of u, Vv, and Vw.

The microcomputer 41 outputs the rotor position signals Hu, H
Drive signals P1 to P6 are generated based on v and Hw, and output to the drive circuit 40. The drive circuit 40 is connected to respective bases of the power transistors 36a to 36c and 37a to 37c. The drive circuit 40 turns on / off the power transistors 36a to 36c and 37a to 37c according to the drive signals P1 to P6 output from the microcomputer 41.
FF control is performed. Thereby, the inverter circuit 35 can apply an arbitrary voltage to the motor 7.

Next, a voltage waveform applied to the motor 7 by the inverter circuit 35 will be described with reference to FIG. still,
In the following description, the reference numerals assigned to the sub control unit in FIG. 3 will be used appropriately. FIG. 4B shows a U-phase stator winding of the motor 7 when the motor 7 is constantly driven at a constant rotation speed based on the rotor position signals Hu, Hv, Hw shown in FIG. Voltage Eu applied to Lu
(Hereinafter referred to as applied voltage Eu), V-phase stator winding Lv
Ev (hereinafter, referred to as applied voltage Ev), W
A voltage Ew applied to the phase stator winding Lw (hereinafter, referred to as applied voltage Ew) is shown. Applied voltage Eu, Ev, E
In order to obtain w, the microcomputer 41 operates as follows.

The microcomputer 41 generates drive signals P1 and P2 as shown in (d1) and (d2) of FIG. The drive signal P1 is amplified by the drive circuit 40 and then supplied to the base of the power transistor 36a. The drive signal P2 is amplified by the drive circuit 40 and then supplied to the base of the power transistor 37a. As a result, the voltage E0u applied to the U-phase stator winding Lu becomes equal to the PWM (Pulse Wid) shown in FIG.
th Modulation). This waveform is substantially equivalent to the applied voltage Eu shown in FIG. Therefore, the current flowing through the U-phase stator winding Lu becomes a sinusoidal current Iu shown in FIG.

As shown in FIG. 4B, when the U-phase is used as a reference, the inverter circuit 35 applies the applied voltage E delayed by 240 degrees in electrical angle with respect to the applied voltage Eu.
v is applied to the V-phase stator winding Lv, and the applied voltage Ew delayed by 120 ° is applied to the W-phase stator winding Lw. By applying a sinusoidal voltage having a phase shift to each phase of the motor 7 in this manner, the rotor of the motor 7 rotates in the normal rotation direction.

When the V phase is used as a reference, the applied voltage E
applied voltage Eu delayed by 120 ° in electrical angle with respect to v
Is applied to the U-phase stator winding Lu, and the applied voltage Ew delayed by 240 ° is applied to the W-phase stator winding Lw.
When the phase is used as a reference, the electrical angle is 2 relative to the applied voltage Ew.
The applied voltage Eu delayed by 40 ° is shifted to the U-phase stator winding L.
To u, an applied voltage Ev delayed by 120 ° is applied to the V-phase stator winding Lv.

Next, a procedure for generating the drive signals P1 and P2 shown in (d1) and (d2) of FIG. The microcomputer 41 internally generates a triangular wave 62 having a constant period Tc shown in FIG. 4C, and compares the triangular wave 62 with the sine-wave-shaped drive waveform data 61 to thereby obtain the PWM shown in FIGS. 4D1 and D2. Waveform drive signals P1 and P2 are generated.

The drive waveform data 61 is stored in the EEPROM 7 using a data pointer (NEW_DATA) described later.
5 is obtained from the sine wave data 61a stored in the sine wave data 61.

The microcomputer 41 performs data processing using a data pointer (NEW_DATA) in units of 65536 divisions of 2π radians, which is the phase of one cycle of the sine wave data 61a. Data pointer (NEW
_DATA) is a digital value, which is 65,536.
Therefore, the value obtained by multiplying the value of the data pointer (NEW_DATA) by (2π / 65536) is the phase. For example,
When the data pointer (NEW_DATA) is 0, the phase is 0 radians. In addition, the data pointer (NEW
When _DATA) is 32768, the phase is π radians.

Now, the phase angle θ [rad] of the sine wave signal at the frequency f [Hz] at time t [s] is generally θ = 2π × f × t (1), so that the period Tc [ s], the phase update amount Δθ [rad] is as follows: Δθ = 2π × f × Tc (2)

Since the value obtained by multiplying the phase by (65536 / 2π) is the value of the data pointer (NEW_DATA), the data pointer (NEW_DA) for each cycle Tc [s] is used.
The update amount (α_DATA) of TA) is a value obtained by multiplying Δθ of Expression (2) by (65536 / 2π) as shown in Expression (3) below. α_DATA = 2π × f × Tc × (65536 / 2π) (3)

For example, when driving waveform data having a cycle Tc = 63.5 [μs] and a frequency f = 60 [Hz] is output, α_DATA = 249 (4). The cycle Tc of the triangular wave 62 is determined by the resolution of a timer used by the microcomputer 41 to measure the time interval of the cycle Tc and the resolution of PWM.

The microcomputer 41 adds a new data pointer (NEW_DATA) by adding the update amount (α_DATA) obtained by the equation (3) to the data pointer (NEW_DATA) for each cycle Tc of the triangular wave 62, so that the data pointer (NEW_DTA) is NEW_DATA = NEW_DATA + α_DATA (5) is updated every cycle Tc.

For example, when driving waveform data having a frequency T = 60 [Hz] and a cycle Tc = 63.5 [μs] is output, when the value of the data pointer (NEW_DATA) starts from 0, (4) From the formula and the formula (5), the data pointer (NEW_DTA) is set to 0 every 63.5 [μs],
249, 498,... Are sequentially updated.

Next, a data pointer (NEW_DATA)
The amplitude value of the sine wave data 61a corresponding to the value is obtained.
The sine wave data 61a is data in which the phase of 2π radians is 512 bytes, and is composed of 854 basic data of (1 + 2/3) × 2π radians. These basic data include a sign bit. 2π radians is 5
12 table data (and therefore 512 addresses)
Therefore, the value of the data pointer (NEW_DATA) is set to 12
By designating the number obtained by dividing 8 (the number of data pointers for 2π radians 65536 divided by the number of addresses 512) as an address, the value corresponding to the corresponding address is read from the sine wave data 61a stored in the EEPROM 75. A value obtained by multiplying the output waveform by a modulation factor β that varies according to the operation program becomes drive waveform data 61.

When the rotation speed of the motor 7 is constant, it is only necessary to obtain the drive waveform data 61 as described above. However, when the rotation speed of the motor 7 changes, the drive waveform data 61 also depends on the rotation speed. Therefore, the drive waveform data 61 corresponding to the number of rotations of the motor 7 is created by the following procedure, and the rotation of the motor 7 is controlled.

FIG. 5 is a diagram showing a rotor position pattern and an operation mode when the sub control unit 15 rotates the motor 7 in the normal rotation direction. Note that the rotor position signals Hu, Hv, H
The signal waveform of w is the rotor position signal H shown in FIG.
u, Hv, and Hw, and the drive waveform data 61u, 6
The waveforms of 1v and 61w are the same as the waveforms of the applied voltages Eu, Ev and Ew shown in FIG.

The Hall sensors 55u, 55v and 55w can detect the rotor position even when the rotor is stopped. When starting the motor 7, the microcomputer 41 first checks the rotor position from the rotor position signals Hu, Hv, Hw to determine a start pattern. There are six types of starting patterns according to the rotor position patterns 0 to 5.

For example, when the rotor position signal Hu is at a high level,
The rotor position signal Hv is at a low level and the rotor position signal Hw is
Is low, the rotor position pattern is one. At this time, the sub control unit 15 sets the rotor position pattern 1
Focusing on the V phase at which the drive waveform data becomes 0 at the start of the operation, the operation mode is set to the mode a based on the V phase, and the initial phase of the drive waveform data 61v is set to 0 °. At this time, the data pointer (NEW_DATA) becomes 0, and EEPR
The data corresponding to the data point (NEW_DATA) 0 is fetched from the sine wave data 61a stored in the OM 75. When the motor 7 is started, f in the above equation (3)
Is 0, the update amount (α_DATA) determines an appropriate initial value from an experimental value. At the same time as the motor 7 is started, a speed detection timer for detecting the number of rotations of the motor 7 is started. This speed detection timer is controlled by the microcomputer 4
1.

U-phase and W-phase drive waveform data 61u, 61
w is 12 for each of the V-phase drive waveform data 61v.
From the sine wave data 61a, the driving signals are delayed by 120 ° and 240 °, respectively, so that the driving signals are delayed by 0 ° and 240 °.
° The data corresponding to the data pointer (NEW_DATA) with a delayed phase is fetched and created. This causes the rotor to start rotating. Due to the rotation of the rotor, an inversion timing 53c of the rotor position signal Hw, which is one of the switching of the rotor position signals Hu, Hv, Hw, comes. At this time, the microcomputer 41 assumes that the rotor is delayed and the data pointer (NEW_DATA). ) Is 10923 (phase 6
(Corresponding to 0 °), the data pointer (NEW__) is detected until the inversion timing 53c of the rotor position signal Hw is detected.
DATA) without waiting for the same data. Then, the inversion timing 53c of the rotor position signal Hw is actually calculated.
When the time comes, the updating of the data pointer (NEW_DATA) is restarted, the speed detection timer is reset, and the measurement is started again.

Further, the inversion timing 53d of the rotor position signal Hu comes due to the rotation of the rotor. At this time, the microcomputer 41 pays attention to the U phase and sets the operation mode from the mode a based on the V phase to the U phase. Switch to mode b. Also at this time, the microcomputer 41 assumes that the rotor is delayed and sets the data pointer (NEW_DATA) to 21.
When 845 (corresponding to a phase of 120 °) is reached, the data pointer (NEW_DATA) is not updated until the inversion timing 53d of the rotor position signal Hu is detected, and the same data is waited. When the inversion timing 53d of the rotor position signal Hw actually arrives, the operation mode is switched from the V-phase reference mode a to the U-phase reference mode b, and the data pointer (NEW_DATA) is set to 0 to set the drive waveform data 6
Find 1u. V-phase and W-phase drive voltage data 61v, 6
1w is a data pointer (NE) delayed from the sine wave data 61a by 240 ° and 120 ° with respect to the U phase, respectively.
W_DATA) is created by fetching data corresponding to the respective data.

As described above, the microcomputer 41 corrects the drive voltage data sequentially at six inversion timings 53a to 53f. Further, since the rotation speed of the motor 7 can be obtained from the value of the speed detection timer, the update amount (α_DAT
A) is changed in accordance with the above-described equation (3) so as to follow a change in the number of rotations at each inversion timing of the position signal.

Thus, the U-phase drive waveform data 61u
Is sinusoidal, and becomes zero at the inversion timings 53a and 53d of the rotor position signal Hu. The V-phase drive waveform data 61v has a sine wave shape, and becomes zero at the inversion timings 53b and 53e of the rotor position signal Hv. Also, W
The phase drive waveform data 61w has a sine wave shape, and becomes zero at the inversion timings 53c and 53f of the rotor position signal Hw.

In order to rotate the motor 7 in the reverse direction, the drive voltage data 61u, 61v, 61
Since the phase of w may be delayed by 180 °, the microcomputer 41 rotates the phase by 180 ° relative to the rotation in the normal rotation direction.
Data corresponding to the data pointer (NEW_DATA) with a delayed phase is fetched from the sine wave data 61a to generate drive waveform data.

There is no error in the mounting positions of the Hall sensors 55u, 55v, 55w, and the inversion timing of the position signals Hu, Hv, Hw coincides with the zero cross point of the induced voltage generated in each phase stator winding Lu, Lv, Lw. In an ideal case, the applied voltages Eu, Ev, E
The phase of w is synchronized with the rotor position. However, actually, there is an error in the mounting position of the Hall sensors 55u, 55v, and 55w. Further, the Hall sensors 55u, 55v, 5
There is also a 5 w sensitivity variation and a rotor magnetization variation. Therefore, in the present embodiment, the induced voltage detecting means 72 is provided as shown in FIG. 3, and the correction is performed based on the signal. Hereinafter, the correction will be described.

The induced voltage detecting means 72 detects the voltage at the connection point 71 between the stator windings Lu, Lv, Lw of each phase. For example, the specification of the induced voltage of the motor 7 is 200 mV / rpm.
Then, when the induced voltage at 120 rpm is measured, the peak value becomes 67.88V. If this value is left as it is, the voltage value is too large to be input to the microcomputer 41.
The induced voltage means 72 converts the detected voltage into a resistance (not shown).
And then output to the microcomputer 41. The motor 7 is provided with a rotary encoder 70.
The rotary encoder 70 generates a pulse signal each time the rotor makes one rotation, and outputs the pulse signal to the microcomputer 41.
Output to

Since the microcomputer 41 has a built-in timer, the rotation speed of the motor 7 can be calculated from the pulse signal output from the rotary encoder 70. The microcomputer 41 rotates the motor 7 in the forward direction, for example, and when the rotation speed reaches 120 rpm, the power transistors 36 a to 36 c and 37 a to 37
37c are turned off, and the signal output from the induced voltage detecting means 72 is changed to A / A every 97 μs, for example, by using the rising edge 70a of the pulse signal S1 output from the rotary encoder 70 as shown in FIG.
D converted to the rising edge 70b of the pulse signal S1
Is stored in the EEPROM 75 until is detected. That is, data of the induced voltage Vu generated in the stator winding Lu for one rotation of the motor 7 as shown in FIG. 6 is stored. At this time, since the rotation is performed at 120 rpm, the sinusoidal data is divided into 512 and taken in.

The microcomputer 41 includes a rotary encoder 70
The rising edge 70a of the pulse signal output from the microcomputer 41 is detected, the data of the induced voltage Vu at that position is used as the reference data 81, and the next time data having the same value as the reference data 81 is input to the microcomputer 41, It is determined that the position has advanced by 180 electrical degrees. This determination is made based on the pulse signal S
By repeating this until the next rising edge 70b of 1 is detected, the cycle of the induced voltage Vu for one rotation of the motor can be counted. Further, since the data of the induced voltage Vu is stored in the EEPROM 75, which is a nonvolatile memory, the induced voltage Vu is maintained even when the power of the inverter washing machine 1 is turned off.
Data does not disappear. Therefore, it is not necessary to detect the induced voltage again every time the power is turned on. It is desirable that the data of the induced voltage be stored in the EEPROM 75 in advance at a production line site or the like.

The induced voltage detecting means 72 may be configured as shown in FIG. In FIG. 7, the same parts as those of the sub-control unit shown in FIG. 3 are denoted by the same reference numerals, and description thereof will be omitted. The stator winding Lu is connected to the U-phase stator of the motor 7.
And another winding 74 is provided. By making the number of turns of the winding 74 the same as the number of turns of the stator winding Lu, an induced voltage having the same waveform as the U-phase stator winding Lu is generated in the winding 74. Therefore, the microcomputer 41 can detect the induced voltage generated in the U-phase stator winding Lu by the microcomputer 41 taking in the induced voltage generated in the winding 74 by resistance division by the induced voltage detecting means 72. . By reducing the number of turns of the winding 74, the resistance voltage division at the induced voltage detecting means 72 becomes unnecessary, and the induced voltage generated at the winding 74 can be directly connected to the microcomputer 41.

Here, for example, a motor 7 as shown in FIG.
Of the induced voltage Vu for one rotation of the EEPROM 75
, The inversion timing of the position signal Hu of the Hall sensor 55u is delayed by 10 ° with respect to the zero cross point of the induced voltage Vu. Originally, the induced voltage V
The Hall sensor 55u should be positioned so that the zero cross point of u coincides with the inversion timing of the position signal Hu, but such a shift occurs because of an error in the mounting position. Thus, the Hall sensor 55u
In the case where there is an error in the mounting position of the drive signal data, the data pointer (NEW_DATA) is corrected at the inversion timings 53a and 53d among the corrections of the drive voltage data performed at the inversion timings 53a to 53f of the six position signals as described above. Next, the data pointer (N
EW_DATA) is converted to sine wave data 61
a. Thus, even when there is an error in the mounting position of the Hall sensor, an applied voltage synchronized with the rotor position can be supplied to the motor 7.

In each of the actual washing operation, dehydration operation, and stop operation, when the motor 7 has multiple poles at the start of the operation, the reference point of the motor 7 is not known, and it is not possible to synchronize the induced voltage data. Therefore, the microcomputer 41 creates the drive waveform data without using the induced voltage data from the start of each operation until the pulse signal S1 is input from the rotary encoder 70, but after the pulse signal S1 is input from the rotary encoder 70, EEPROM75
The drive waveform data is corrected using the data of the induced voltage Vu stored in the.

By the way, in the operation of the inverter washing machine,
Normally, in order to increase the efficiency and torque of the motor, the phases of the applied voltages Eu, Ev, and Ew with respect to the rotor position are shifted in accordance with the motor speed. Therefore, for example, when the rotation speed of the motor 7 is 30 rpm, the phases of the applied voltages Eu, Ev, Ew are advanced by 10 ° with respect to the rotor position, and the motor 7
Is 60 rpm, the phases of the applied voltages Eu, Ev, and Ew are advanced by 20 ° with respect to the rotor position.

In order to perform such control, the microcomputer 4
As described above, when the data pointer (NEW_DATA) is corrected at each inversion timing of the position signal of the Hall sensor as described above, the inversion timing 53a of the position signal Hu is changed to the zero cross point of the induced voltage Vu as shown in FIG. Of the drive voltage data performed at the inversion timings 53a to 53f of the six position signals when the data pointer (NEW_DATA) is corrected at the inversion timings 53a and 53d. 10 ° when there is no error in the mounting position of the Hall sensor
It is necessary to advance the phase, and if the rotation speed of the motor 7 is 30 rpm, it is necessary to advance by 10 °. Therefore, the data corresponding to the data pointer (NEW_DATA) advanced by a total of 20 ° is fetched from the sine wave data 61a. On the other hand, at the inversion timings 53b, 53c, 53e, and 53f, when correcting the data pointer (NEW_DATA), it is necessary to advance by 10 ° when the rotation speed of the motor 7 is 30 rpm. NE
W_DATA) is converted to sine wave data 61a.
From each. Also, when the rotation speed of the motor 7 is 60
At the time of rpm, the data corresponding to the data pointer (NEW_DATA) advanced by 30 ° at the inversion timings 53a and 53d is fetched from the sine wave data 61a, and the data advanced by 20 ° at the inversion timings 53b, 53c, 53e, and 53f. Pointer (NEW_D
Data corresponding to ATA) is fetched from the sine wave data 61a.

In the spin-drying operation, when the number of rotations of the normal motor 7 exceeds a predetermined value, the above-described correction is not performed for each inversion timing of the position signals of the six Hall sensors. That is, assuming that the rotor is delayed, when the data pointer (NEW_DATA) reaches a predetermined value, the data pointer (N_DATA) is detected until the inversion timing of the rotor position signal is detected.
EW_DATA) Does not implement waiting on the same data without updating. Such operation is called asynchronous operation. As a result of performing the asynchronous operation, the phase lead amounts of the applied voltages Eu, Ev, and Ew with respect to the rotor position of the motor 7 may not be the values set according to the motor speed.

In order to prevent such a problem, the sub-control unit 15 shown in FIG. 3 or FIG. 6 is provided with an applied voltage detecting means for detecting the voltage at the connection point u. / D conversion and input. As a result, the microcomputer 41 can recognize the applied voltage Eu, and can also recognize the shift amount δ1 between the zero cross point of the applied voltage Eu and the inversion timing 53d of the position signal Hu as shown in FIG. In FIG. 8, the same reference numerals are given to the same waveforms as those in FIG. In this case, the mounting position error of the Hall sensor 55u is obtained by using the data of the induced voltage Vu, and the shift amount δ1 is corrected accordingly, and then the corrected shift amount δ2 becomes a value set according to the motor speed. Is determined. Deviation δ after correction
2 is not the set value, the microcomputer 41 sets the drive waveform data 61 so that the corrected deviation amount δ2 becomes the set value.
Correct u. For example, if the post-correction shift amount δ2 is smaller than the set value, the motor torque is insufficient, so that the modulation factor β is increased and the drive voltage waveform data 61u is increased. As a result, the PWM on duty of the voltage E0u applied to the U-phase stator winding Lu increases,
The applied voltage Eu increases. Further, the applied voltages Ev, Ew
Is also increased similarly to the applied voltage Eu. As a result, the motor torque shortage is resolved, and the corrected deviation amount δ2 can be set to the set value.

Next, the correction of the variation in the magnetization of the rotor of the motor 7 will be described. When the motor 7 has multiple poles and the magnetization of the rotor varies, as shown in FIG. 9, the peak values of the induced voltage Vu for one rotation of the motor 7 become uneven. In FIG. 9, the same signals as those in FIG. 6 are denoted by the same reference numerals. Further, the position signals Hu, Hv, H shown in FIG.
w indicates a position signal when there is no mounting position error of the Hall sensor.

In this case, for example, when the peak value of the induced voltage Vu is higher than the set value by 10%, the modulation factor β is reduced so that the voltage applied to the motor 7 drops by 10% from the set value according to the operation program. The PWM on duty of the voltage applied to each phase stator winding is reduced. On the other hand, for example, when the peak value of the induced voltage Vu is lower than the set value by 10%, the modulation factor β is increased so that the voltage applied to the motor 7 is increased by 10% from the set value according to the operation program, and the stator winding of each phase is increased. Increase the PWM on duty of the voltage applied to the line.

As a result, it is possible to eliminate torque unevenness during one rotation caused by variations in the magnetization of the rotor of the motor 7 and to smoothly rotate the motor. Further, since the torque as set can always be given, it is possible to eliminate the variation in the motor torque performance of each inverter washing machine caused by the variation in the magnetization of the rotor. In addition, such a correction can be applied not only to the washing operation and the dehydration operation, but also, for example, the stirrer 5 is alternately rotated forward and backward for a certain period of time in a state where water is not contained in the rotary tank 2. The number of switching of the Hall sensor at that time is counted, and the rotating tank 2 is determined based on the number of switching.
The present invention can also be applied to a capacity detection operation for detecting the amount of clothing in the vehicle. By applying the correction of the magnetization variation of the rotor to the capacity detection operation, torque unevenness is eliminated, and the capacity measurement can be performed accurately.

Next, the correction for the sensitivity variation of the Hall sensor will be described. For example, the Hall sensor 55u
When there is a variation in the position signal, the relationship between the position signal and the induced voltage is as shown in FIG. In FIG. 10, the same signals as those in FIG. 6 are denoted by the same reference numerals. The induced voltage Vu shown in FIG. 10 shows a waveform when there is no variation in the magnetization of the rotor of the motor 7. When the motor 7 is rotating in the normal rotation direction, as shown in FIG.
The inversion timing 53d of the position signal Hu of the u
Delay by 10 ° with respect to the zero cross point of u. On the other hand, when the motor 7 is rotating in the reverse direction, as shown in FIG. 10B, the inversion timing 53d of the position signal Hu of the Hall sensor 55u is shifted from the zero cross point of the induced voltage Vu by 7 degrees.
° go.

In such a case, when the motor 7
The EEPROM 75 stores not only the induced voltage data when the motor 7 is rotating at 20 rpm but also the induced voltage data when the motor 7 is rotating at 120 rpm in the reverse rotation direction. In the forward rotation direction, of the correction of the drive voltage data performed at the inversion timings 53a to 53f of the six position signals, the inversion timings 53a and 53d include
When correcting the data pointer (NEW_DATA),
The data corresponding to the data pointer (NEW_DATA) advanced by 10 ° with respect to the case where there is no error is fetched and created from the sine wave data 61a. On the other hand, in the reverse rotation direction, among the corrections of the drive voltage data performed at the inversion timings 53a to 53f of the six position signals, when the data pointer (NEW_DATA) is corrected at the inversion timings 53a and 53d, there is no error. Data pointer (NEW_
DATA) corresponding to the sine wave data 61a.

Thus, even in the case where there is an error in the sensitivity of the Hall sensor, an applied voltage synchronized with the rotor position can be supplied to the motor 7 in any rotation direction in the washing operation in which the normal rotation and the reverse rotation are alternately performed. .

The correction of the mounting position error of the Hall sensor and the correction of the magnetization variation of the rotor of the motor described above can be applied to the stop operation. When applied to the stop operation, data corresponding to the data pointer (NEW_DATA) delayed by 180 ° from the sine wave data 61a is further fetched from the data pointer (NEW_DATA) obtained in the washing operation and the dehydration operation, respectively, and 18
A sine wave voltage delayed by 0 ° may be applied to the motor 7.

Next, the input voltage of the inverter circuit 35 will be described. As shown in FIGS. 3 and 6, on the input side of the inverter circuit 35, there is provided an inverter input voltage detecting means 38 formed by connecting a resistor R1 and a resistor R2 in series. The inverter input voltage detecting means 38 outputs to the microcomputer 41 the voltage at the connection node between the resistors R1 and R2, that is, the divided voltage of the input voltage of the inverter circuit 35. Thereby, the microcomputer 41 can recognize the input voltage of the inverter circuit 35.

In the stop operation, the regenerative energy generated by the motor 7 is stored in the capacitors 32a and 32b.
The input voltage of the inverter circuit 35 will increase.
When the induced voltage Vu is high, the amount of increase in the input voltage of the inverter circuit 35 due to regenerative energy increases, and in the worst case, the power transistor 3 in the inverter circuit 35
6a-36c and 37a-37c will be destroyed.

For this reason, when the data of the induced voltage Vu is higher than the set value, when shifting from the spin-drying operation to the stop operation, when correcting the data pointer (NEW_DATA) at the first inversion timing of the position signal, the inverter circuit Data corresponding to a data pointer (NEW_DATA) whose phase is delayed with respect to when the input voltage of 35 is a set value is fetched from the sine wave data 61a to generate drive waveform data 61. Here, it is assumed that the stop operation is started when the rotor position pattern shown in FIG. 11 is 3 or 4. For example, in the stop operation when the input voltage of the inverter circuit 35 is at the set value as shown in FIG. 11, the microcomputer 41 controls the drive waveform data 61u from the point 99 at which the position signal Hu is advanced by 8 ° in phase. To start. When the induced voltage Vu is high, the input voltage of the inverter circuit 35 becomes larger than the set value at the start of the stop operation. Therefore, the microcomputer 41 determines that the drive waveform data 61u ′ has a point advanced by 4 ° with respect to the position signal Hu. The control is started from 100 to prevent the input voltage of the inverter circuit 35 from excessively increasing.

Thereafter, the inverter input voltage detecting means 38
The microcomputer 41 detects the input voltage of the inverter circuit 35, and if the input voltage of the inverter circuit 35 is still large, the microcomputer 41 controls to further delay the phase angle of the drive waveform data 61u '. Thereby, the input voltage of the inverter circuit 35 can be reduced. FIG. 11 shows the position signal Hu, when there is no mounting position error of the Hall sensor.
Hv and Hw are shown.

On the other hand, in the stop operation, the inverter circuit 35
If the input voltage does not rise to the set value, the stop time will be extended. Therefore, when the induced voltage Vu is lower than the set value, when shifting from the spin-drying operation to the stop operation, at the first inversion timing of the position signal, the data pointer (NEW) is used.
_DATA), the data corresponding to the data pointer (NEW_DATA) advanced in phase with respect to when the input voltage of the inverter circuit 35 is the set value is fetched from the sine wave data 61a, and the drive waveform data 61 is obtained. create. Here, it is assumed that the stop operation is started when the rotor position pattern shown in FIG. 11 is 3 or 4. For example, in the stop operation when the input voltage of the inverter circuit 35 is at the set value as shown in FIG. 11, the microcomputer 41 controls the drive waveform data 61u from the point 99 at which the position signal Hu is advanced by 8 ° in phase. To start. When the induced voltage Vu is low, the input voltage of the inverter circuit 35 becomes smaller than the set value at the start of the stop operation, so that the microcomputer 41 advances the drive waveform data 61u ″ by 10 ° in phase with respect to the position signal Hu. Starting control from point 101,
The input voltage of the inverter circuit 35 is prevented from dropping too much.

Thereafter, the inverter input voltage detecting means 38
The microcomputer 41 detects the input voltage of the inverter circuit 35, and if the input voltage of the inverter circuit 35 is still small, the microcomputer 41 performs control to further advance the phase angle of the drive waveform data 61u ″. Thus, the input voltage of the inverter circuit 35 can be increased.

Further, the power of the microcomputer 41 may be obtained from the input voltage of the inverter circuit 35. With such a configuration, since the input voltage of the inverter circuit 35 is controlled so as not to drop, even if the outlet is disconnected during the spin-drying operation, control can be performed until the rotary tub 2 safely stops.

The induced voltage V used in the above-described correction
The data of u may be updated in response to aging. For example, the number of times the power switch is turned on is E
It is stored in the EPROM 75. When the number of times the power is turned on exceeds, for example, 50 times, the microcomputer 41 uses the induced voltage detecting means 72 to newly detect the data of the induced voltage Vu, update the data of the induced voltage Vu, and reduce the number of times of power-on. Reset. This makes it possible to cope with aging of the inverter washing machine itself. Another form of updating the data of the induced voltage Vu in response to aging includes, for example, a form of updating the data of the induced voltage Vu every predetermined time.

In the above embodiment, the stator winding L
Although the voltage applied to the motor is corrected based on the induced voltage Vu generated in u, the voltage applied to the motor may be corrected based on the induced voltage generated in the V-phase and W-phase stator windings.

The present invention is not limited to an inverter washing machine that directly controls a rotary tub and a stirring body to control the rotary tub and the stirring body, but drives the rotary tub and the stirring body using a belt, a pulley, and a gear. An inverter washing machine to be controlled may be used. That is, the present invention is not limited by the driving mechanism.

Further, in this embodiment, an inverter washing machine in which the washing rotator includes a rotating tub and a stirring body has been described. However, an inverter washing machine in which the washing rotator includes only the rotating tub, a so-called pulsator. The present invention can also be applied to an inverter washing machine having a less structure. Further, the present invention can be applied to an inverter washing machine having another structure such as a drum type washing machine. Furthermore, the voltage applied to the brushless motor is not limited to a sinusoidal voltage. For example, even when a rectangular voltage is used, it is possible to eliminate variations in the mounting position and sensitivity of the position detecting means and variations in the magnetization of the rotor. In this embodiment, a DC motor is used as the brushless motor, but the same effect can be obtained by using an induction motor.

The electric equipment on which the brushless motor control device according to the present invention is mounted is not limited to an inverter washing machine, but may be any electric equipment using a brushless motor such as an air conditioner or a refrigerator. Good.

[0085]

According to the present invention, since the control unit has means for correcting the voltage applied to the motor based on the induced voltage, variations in the mounting position of the position detecting means, the sensitivity of the position detecting means, and the magnetization of the rotor. Can be corrected. As a result, the motor can be made more efficient and quieter. In addition, it is possible to suppress performance variations for each motor.

Further, according to the present invention, since the apparatus is provided with the induced voltage detecting means, the reference pulse generating means, and the storage means, the induced voltage can be detected and stored in synchronization with the position of the rotor.

Further, according to the present invention, the induced voltage detecting means detects the induced voltage generated in the stator winding of the motor based on the voltage at the connection point between the stator windings of the motor. And the induced voltage can be detected without the need. Thus, the configuration of the motor does not become complicated.

Further, according to the present invention, an induced voltage detecting winding is provided on the stator of the motor in addition to the stator winding, and the induced voltage detecting means detects the stator winding based on the induced voltage generated in the induced voltage detecting winding. Since the induced voltage generated in the motor is detected, by adjusting the number of windings of the induced voltage detecting winding provided on the stator of the motor in addition to the stator winding,
The control unit can directly take in the induced voltage generated in the induced voltage detecting winding.

Further, according to the present invention, since the storage means is a non-volatile memory, it is not necessary to detect the induced voltage every time the power is turned on, thereby shortening the washing time. Further, the data of the induced voltage can be stored in the storage means at the time of production.

Further, according to the present invention, the value of the induced voltage at the time when the control unit inputs the pulse signal from the reference pulse generating means is used as the reference data, and the time until the next pulse signal is input from the reference pulse generating means is used as the reference data. The number of times the induced voltage reaches the same value as the reference value is counted, so even if the number of motor poles is not determined, the period of the induced voltage per motor rotation can be determined and the motor rotation controlled regardless of the number of poles can do.

According to the present invention, the waveform data of the induced voltage is stored in the storage means for one rotation of the motor.
It is possible to correct torque unevenness during one rotation. Thus, even when the magnetization of the rotor has a variation, the rotation of the motor can be made smooth and the noise can be reduced.

Further, according to the present invention, the voltage waveform applied to the motor is corrected according to the amount of deviation between the zero-cross point of the induced voltage and the inversion timing of the position signal output by the position detecting means. Can be corrected. This makes it possible to use an inexpensive position detecting means having a large mounting position error, and to reduce the cost.

According to the present invention, the amount of deviation between the zero-cross point of the induced voltage generated in the stator winding and the inversion timing of the position signal output by the position detection means is determined for each rotation direction of the motor, and The controller corrects the voltage applied to the motor according to the amount of each shift in the rotation direction,
Even if the sensitivity of the position detecting means varies, the variation can be corrected. Thus, commutation can be performed at an accurate rotor position in both the forward and reverse rotation directions.

According to the present invention, the number of power-on times of the control unit is stored in the storage means, and when the number of power-on times of the control unit reaches a predetermined value, the induced voltage stored in the storage means is stored. Since the data is updated and the number of power-on times of the control unit is reset, the data of the induced voltage is updated according to the number of times of use. Thus, even if the air gap or the like of the motor changes due to a change in the tightening or the like due to aging of the mechanical portion of the washing machine, a correction corresponding to the change can be performed.

Further, according to the present invention, a control device for a brushless motor for correcting a voltage applied to a motor based on waveform data of an induced voltage stored in a storage means controls a motor for rotating a rotating body for washing. Therefore, the efficiency and the noise of the inverter washing machine can be improved. In addition, it is possible to suppress performance variations between individual inverter washing machines.

According to the present invention, the control unit corrects the voltage applied to the motor based on the waveform data of the induced voltage stored in the storage unit after the pulse signal is input from the reference pulse generation unit. Detection operation, washing operation,
After a pulse signal is input in each of the dehydrating operation and the stop operation, high efficiency and low noise can be achieved.

Further, according to the present invention, the phase of the voltage applied to the motor is shifted from the rotor position by a set value corresponding to the number of rotations of the motor. In addition to correcting the variation in magnetization, lead angle control or delay angle control of the voltage applied to the motor can be performed. Thereby, higher efficiency can be achieved. Further, the motor torque can be further increased.

Further, according to the present invention, there is provided an applied voltage detecting means for detecting a voltage applied to the motor, and when the rotation speed of the motor is equal to or more than a predetermined value in the dehydrating operation, the voltage detected by the applied voltage detecting means is provided. Based on the zero-cross point of the motor, the control unit controls the PW of the voltage applied to the motor so that the phase of the voltage applied to the motor is shifted by a set value corresponding to the motor rotation speed with respect to the rotor position of the motor.
Since the M duty is controlled, the lead angle control of the voltage applied to the motor can be accurately performed in the so-called asynchronous operation performed during the spin-drying operation. As a result, higher efficiency and lower noise can be achieved.

Further, according to the present invention, the magnitude of the voltage applied to the motor is controlled according to the magnitude of the induced voltage data, so that variations in the magnetization of the rotor can be corrected, and the motor torque as set can be obtained. be able to. Thereby, in the capacity detection operation, the amount of the put clothes can be accurately measured. In the washing operation, the dehydration operation, and the stop operation, the motor rotates smoothly, so that noise can be reduced. In addition, in the dehydration operation, it is possible to prevent torque shortage. Also, in the stop operation, since the rotating body for washing can be stopped in a certain time,
Safety is improved. Further, it is possible to suppress individual variations of the washing machine with respect to the motor torque performance.

Further, according to the present invention, if the waveform data of the induced voltage is higher than the set value, the control unit shifts the phase of the voltage applied to the motor in the delay direction, so that the input voltage of the inverter means jumps during the stop operation. Can be suppressed in advance, and the destruction of the power device due to an increase in the inverter input voltage can be eliminated. On the other hand, if the waveform data of the induced voltage is lower than the set value, the control unit shifts the phase of the voltage applied to the motor in the leading direction, so that the stop time of the washing rotator due to a decrease in the input voltage of the inverter means during the stop operation. Can be suppressed, and safety is improved. In addition, by employing a configuration in which the power of the control unit is obtained from the input voltage of the inverter circuit, even if the outlet is disconnected during the spin-drying operation, control can be performed so that the input voltage of the inverter means does not decrease. It can be controlled until it stops safely.

Further, according to the present invention, since the voltage detecting means for detecting the input voltage of the inverter means is provided, and the control section controls the phase of the voltage applied to the motor in accordance with the detected voltage from the voltage detecting means. If the input voltage of the inverter means becomes too high or too low, the control is immediately performed so that the input voltage of the inverter means becomes the set value. Thus, it is possible to prevent a problem that occurs when the input voltage of the inverter means is not the set value.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of an internal configuration of an entire inverter washing machine according to an embodiment of the present invention.

FIG. 2 is a circuit block diagram of the inverter washing machine shown in FIG.

FIG. 3 is a circuit block diagram of a sub-control unit provided in the inverter washing machine shown in FIG.

FIG. 4 is a diagram illustrating a voltage applied to a motor with respect to a position signal of a hall sensor of the inverter washing machine.

FIG. 5 is a diagram illustrating a voltage applied to a motor in a forward rotation direction and an operation mode with respect to a position signal of a hall sensor of the inverter washing machine.

FIG. 6 is a diagram showing a position signal and an induced voltage when there is a mounting position error in the Hall sensor.

FIG. 7 is a circuit block diagram of another configuration of the sub control unit provided in the inverter washing machine shown in FIG.

FIG. 8 is a diagram showing the voltage applied to the motor with respect to the position signal when the phase of the voltage applied to the motor is advanced.

FIG. 9 is a diagram showing a position signal and an induced voltage when the magnetization of the rotor varies.

FIG. 10 is a diagram illustrating position signals and induced voltages in forward and reverse directions when the sensitivity of the Hall sensor varies.

FIG. 11 is a diagram illustrating a voltage applied to a motor with respect to a position signal in a stop operation.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Inverter washing machine 2 Rotating tub 5 Stirrer 7 Motor 15 Sub-control part 32a, 32b Electrolytic capacitor 35 Inverter circuit 41 Microcomputer 55u, 55v, 55w Hall sensor 70 Rotary encoder 71 Neutral point 72 Induced voltage detecting means 74 Winding 75 EEPROM Lu, Lv, Lw Stator winding

Continued on the front page F term (reference) 3B155 AA01 AA06 AA10 BA01 BA03 BB05 BB08 BB16 CB06 KA02 KA19 KA36 KB01 KB08 KB11 LA04 LA11 LA14 LB19 LB25 LC07 LC28 LC33 5H560 AA10 BB04 BB12 DA02 DA13 DA19 EB01 GG03 SS07

Claims (17)

[Claims] A brushless motor, a position detecting means for detecting a rotor position of the motor, and a control unit having an inverter means for driving the motor based on a position signal output from the position detecting means. A control apparatus for a brushless motor, comprising: a control unit for correcting a voltage applied to the motor based on an induced voltage generated in a stator winding of the motor. 2. A brushless motor, a position detecting means for detecting a rotor position of the motor, and a control unit having an inverter means for driving the motor based on a position signal output from the position detecting means. A control device for a brushless motor, comprising: an induced voltage detecting means for detecting an induced voltage generated in a stator winding of the motor; a reference pulse generating means for outputting a pulse signal each time the motor makes one rotation; ,
The control unit rotates the motor at a constant speed, turns off all the switching means of the inverter means, and converts the waveform data of the induced voltage output from the induced voltage detecting means to the reference pulse generating means. And a means for storing in the storage means at a fixed interval time with reference to the pulse signal from the storage means, and for correcting the voltage applied to the motor based on the waveform data of the induced voltage stored in the storage means. Control device for brushless motor. 3. The control of a brushless motor according to claim 2, wherein said induced voltage detecting means detects an induced voltage generated in a stator winding of the motor based on a voltage at a connection point between stator windings of the motor. apparatus. 4. An induction voltage detecting winding is provided on a stator of the motor in addition to the stator winding, and the induced voltage detecting means detects a stator of the motor based on an induced voltage generated in the induced voltage detecting winding. 3. The control device for a brushless motor according to claim 2, wherein the induced voltage generated in the winding is detected. 5. The control device for a brushless motor according to claim 2, wherein said storage means is a nonvolatile memory. 6. An induced voltage generated in said stator winding has a sine wave shape, and said control unit determines a value of the induced voltage generated in said stator winding when a pulse signal is inputted from said reference pulse generating means. By counting the number of times that the induced voltage generated in the stator winding reaches the same value as the reference value until the time when the next pulse signal is input from the reference pulse generation means, the rotation of the motor by one rotation The brushless motor control device according to any one of claims 2 to 5, wherein the period of the induced voltage generated in the stator winding is counted. 7. The motor according to claim 1, wherein the control unit outputs waveform data of an induced voltage output from the induced voltage detecting means from a point in time when a pulse signal is input from the reference pulse generating means.
7. The brushless motor control device according to claim 2, wherein all rotations are stored in said storage means. 8. The control unit corrects a voltage applied to the motor according to a deviation amount between a zero crossing point of an induced voltage generated in the stator winding and an inversion timing of a position signal output by the position detection means. A control device for a brushless motor according to any one of claims 2 to 7. 9. An amount of deviation between a zero crossing point of an induced voltage generated in the stator winding and an inversion timing of a position signal output by the position detection means is determined for each rotation direction of the motor. The control device for a brushless motor according to claim 8, wherein the controller corrects a voltage applied to the motor in accordance with each deviation amount. 10. A waveform of an induced voltage stored in said storage means when the number of power-on times of said control unit reaches a predetermined value. The control device for an inverter motor according to any one of claims 2 to 9, wherein data is updated and the number of power-on times of the control unit is reset. 11. An inverter washing machine comprising the control device for a brushless motor according to any one of claims 1 to 10, wherein the motor rotates a washing rotating body to perform washing. 12. An inverter washing machine comprising the control device for a brushless motor according to any one of claims 2 to 10, wherein the motor rotates a washing rotator to perform washing. A capacity detection operation for detecting the amount of clothes input by rotating the laundry rotator, a washing operation for rotating the laundry rotator in a normal direction and a reverse direction, and a dehydrating operation for rotating the laundry rotator in a fixed direction. In at least one of the stop operations for stopping the rotation of the washing rotator, the control unit may be configured to input a pulse signal from the reference pulse generation unit to generate the induced voltage waveform data stored in the storage unit. An inverter washing machine that corrects a voltage applied to the motor based on the inverter. 13. An inverter washing machine comprising the control device for a brushless motor according to any one of claims 2 to 10, wherein the motor rotates a washing rotator to perform washing. In at least one operation of the dehydration operation, the control unit applies a voltage applied to the motor such that a phase of a voltage applied to the motor is shifted by a set value corresponding to a motor rotation speed with respect to a rotor position of the motor. Inverter washing machine that controls the PWM duty. 14. An apparatus according to claim 1, further comprising an applied voltage detecting means for detecting a voltage applied to said motor, wherein, in said dehydrating operation, when the number of revolutions of said motor is equal to or more than a predetermined value, the applied voltage detected by said applied voltage detecting means is detected. Based on the zero crossing point, the control unit controls the P of the voltage applied to the motor such that the phase of the voltage applied to the motor is shifted from the rotor position of the motor by a set value corresponding to the motor rotation speed.
14. The WM duty is controlled.
Inverter washing machine according to claim 1. 15. In at least one of the capacity detection operation, the washing operation, the dehydration operation, and the stop operation, if the waveform data of the induced voltage is higher than a preset value stored in advance, the control unit causes the control unit to execute the operation. The voltage applied to the motor is reduced, and if the waveform data of the induced voltage is lower than a previously stored set value, the control unit increases the voltage applied to the motor. Inverter washing machine. 16. In the stop operation, if the waveform data of the induced voltage is higher than a pre-stored set value, the phase of a voltage applied to the motor by the control unit so as to decrease the input voltage of the inverter means. Is shifted in the delay direction, and if the waveform data of the induced voltage is lower than a preset value stored in advance, the control unit shifts the phase of the voltage applied to the motor in the forward direction so as to increase the input voltage of the inverter means. The inverter washing machine according to any one of claims 12 to 15, wherein: 17. A voltage detecting means for detecting an input voltage of said inverter means, and a voltage applied by said control section to said motor when a detected voltage from said voltage detecting means is higher than a preset value stored in advance. And shifting the phase of the voltage applied to the motor by the controller in the leading direction if the detected voltage from the voltage detecting means is lower than a preset value stored in advance.
17. The inverter washing machine according to any one of 2 to 16.