JP2002325480A - Washing machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a washing machine which produces little noise and vibration, when a DC brushless motor for making a washing rotor unit drive is under feedback control. SOLUTION: Phase deviation is detected by the microcomputer 64 and stored in an EEPROM 65 between a phase of a sine wave voltage generated, when a microcomputer 64 controls an inverter circuit 57 and supplies a sine wave voltage with a prescribed frequency to a DC brushless motor 9 which drives a washing rotary unit for the open-loop driving, and a phase of a rotor position signal outputted from a Hall sensor 63. Furthermore, when the microcomputer 64 controls the inverter circuit 57 for driving the motor 9 under feedback control, the microcomputer 64 corrects the sine wave voltage supplied to the motor 9, according to the phase deviation stored in the EEPROM 65.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a washing machine having a DC brushless motor for driving a rotating body for washing. In particular, it relates to feedback control of a DC brushless motor.

[0002]

2. Description of the Related Art In the past, induction motors were mainly used as motors for driving a rotating body for washing of a washing machine. However, DC brushless motors are now generally used in order to reduce noise of a motor electromagnetic noise and to save energy. It has become.
In a DC brushless motor, it is necessary to supply a sinusoidal voltage to the motor in synchronization with the rotor position.

For this reason, when the number of rotations of the motor such as washing and stirring is low, feedback control (synchronous operation) for detecting the rotor position and controlling the sinusoidal voltage supplied to the DC brushless motor is performed. On the other hand, when the motor rotation speed such as dehydration is high, when the rotor position is detected and the feedback control is performed, the control timing of the sine wave voltage supplied to the DC brushless motor is shifted, so that the predetermined frequency of the preset predetermined frequency is used. In general, a sinusoidal voltage is supplied to a DC brushless motor to perform open-loop driving (asynchronous operation).

[0004]

However, if the mounting accuracy of the sensor for detecting the rotor position in the feedback control is poor, or if the sensor sensitivity varies, the detection error of the rotor position increases. If the detection error of the rotor position becomes large and the timing of commutation switching (commutation) to the stator winding shifts, the power factor between the current flowing through the stator winding and the induced voltage generated in the stator winding decreases, so that power consumption is reduced. Increases, and vibration and noise increase due to uneven motor torque,
There have been problems such as a delay in detection when a motor abnormality (motor out-of-step) occurs.

In the feedback control, the phase of the sine wave voltage supplied to the DC brushless motor is initialized each time the rotor position is detected, thereby correcting the phase shift between the rotor and the stator caused by a load change or the like.
Therefore, when a phase shift occurs between the rotor and the stator due to a load change or the like, the waveform of the sinusoidal voltage supplied to the DC brushless motor is distorted every time the rotor position is detected. If the waveform of the sinusoidal voltage supplied to the DC brushless motor is distorted, the motor torque fluctuates and hinders the maintenance of the set number of revolutions, and at the same time increases noise and vibration. In addition, noise was generated due to distortion of the waveform of the sinusoidal voltage. In particular,
In the drum washing machine, the washing power is obtained by the impact generated by lifting and dropping the laundry, so that the load fluctuation during one rotation of the motor is increased, and the waveform of the sinusoidal voltage supplied to the DC brushless motor is greatly distorted.

SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide a washing machine with less noise and vibration during feedback operation.

[0007]

In order to achieve the above object, a washing machine according to the present invention comprises:
A DC brushless motor for driving the rotating body for washing,
Position detecting means for detecting the rotor position of the motor, and control means for supplying to the motor a sinusoidal voltage having a waveform control having inverter means and storage means,
A phase shift between the phase of the sinusoidal voltage and the phase of the position signal output by the position detection means, which occurs when the control means supplies a sine wave voltage of a predetermined frequency to the motor and performs open loop driving. The amount of the sine to be supplied to the motor based on the phase shift amount when the motor is driven by performing the feedback control based on the position signal output from the position detecting unit while detecting the amount and storing the amount in the storage unit. Correct the wavy voltage. Further, the storage means may be a non-volatile memory so that the phase shift amount does not disappear even when the power is turned off.

In order to more accurately correct a detection error of the position detecting means, a plurality of the predetermined set frequencies are provided,
The phase shift amount for each of the predetermined set frequency may be detected and stored in the storage unit,
The open-loop drive for detecting the phase shift amount may be performed in a forward rotation direction and a reverse rotation direction of the motor, and the phase shift amount for each rotation direction may be detected and stored in the storage unit.

Further, from the viewpoint of increasing the motor efficiency, in the washing machine having the above-mentioned structure, the control means shifts the phase of the sinusoidal voltage supplied to the motor to the rotor position of the motor by a set value corresponding to the motor speed. Alternatively, it may be shifted.

In order to achieve the above object, a washing machine according to the present invention provides a washing rotating body, a DC brushless motor for driving the washing rotating body, and a position for detecting a rotor position of the motor. Detecting means, and control means for supplying a sine-wave-shaped voltage having waveform control to the motor having an inverter means, and performing feedback control based on a position signal output from the position detecting means to control the motor. When driving, when the phase of the sinusoidal voltage supplied to the motor is shifted with respect to the position signal when the motor speed changes due to motor load fluctuation,
The control means temporarily changes the frequency of the sinusoidal voltage from the first frequency corresponding to the motor speed before the load change to the second frequency.
After that, the frequency is set to the third frequency corresponding to the motor speed after the load change. The control means may correct the detection error of the position detection means by incorporating the configuration of the washing machine according to the present invention described above.
The phase of the voltage applied to the motor may be controlled so as to be shifted from the rotor position of the motor by a set value corresponding to the motor speed. Further, when the configuration of the washing machine according to the present invention described above is not adopted, when the phase of the sinusoidal voltage is delayed with respect to the position signal due to motor load fluctuation, the second frequency is set to the second frequency. When the phase of the sinusoidal voltage is advanced with respect to the position signal due to a motor load fluctuation, the second frequency is set to 倍 times the third frequency. Is desirable.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to the drawings. In the embodiment described below, the present invention is applied to a drum type washing machine having a horizontal drum that rotates about a substantially horizontal axis. However, the present invention applies to a vertical type washing machine that rotates about a substantially vertical axis. The present invention can also be applied to a washing machine having a water tank.

FIG. 1 is an external perspective view of a drum type washing machine according to the present invention. Body exterior part 1 forming outer wall of washing machine
Has a front surface that can be opened and closed by an opening / closing door 3. An operation panel 11 provided with operation keys and a display unit is provided on an upper part of the front surface of the main body exterior unit 1.

FIG. 2 is a side sectional view of the drum type washing machine. A bottomed water tank 4 having an opening 4a on the front surface is provided in the main body exterior part 1. As shown in FIGS. 3 and 4, the water tank 4 is elastically supported by a first suspension device 7a and a second suspension device 7b formed of a tension spring in the body exterior part 1.

An angle 29a is attached to the inner wall of the exterior body 1 at the front upper part of the water tank 4, and an angle 29b is attached to the upper part of the back wall of the exterior body 1. Angles 30a and 30b are fixed to the front and back of the water tank 4. Then, the first suspension device 7a is hung on the angles 29a and 30a, and the front part of the water tank 4 is suspended at two places on the left and right by the first suspension device 7a.

Similarly, angle 29b and angle 30b
A second suspension device 7b is mounted on the water tank 4, and the rear portion of the water tank 4 is suspended at two places on the left and right by the second suspension device 7b. The first and second suspension devices 7a and 7b are mounted to be symmetrically inclined by angles θ1 and θ2 with respect to the vertical direction, respectively. Thereby, the water tank 4 can be centered on sliding in the left-right direction. In addition, angle 30
a and 30b may be formed integrally with the water tank 4.

Further, the water tank 4 is supported on the bottom of the outer casing 1 by a damping device comprising dampers 8a and 8b. Dampers 8a are attached at two places on the left and right in front of the water tank 4, and dampers 8b are provided at two places on the left and right behind the water tank 4.
Is attached. Thereby, the swing of the water tank 4 is attenuated.

Referring again to FIG. A cushioning member 28 made of felt, rubber, or the like is fixed to the back wall of the main body exterior unit 1. Thereby, when the water tank 4 slides in the front-rear direction, the occurrence of noise due to the collision between the water tank 4 and the back wall of the main body exterior unit 1 is prevented.

A drum 5 is provided in the water tank 4.
The drum 5 is fixed to the shaft 5e, and the motor case 9
a shaft part 5 on a bearing 6 integrated with the water tank 4 through a
e is supported and is rotatable. A rotor 9b is fixed to the shaft 5e, and a stator 9c is fixed in the motor case 9a. These constitute a motor 9 for driving the drum 5. The rotational drive of the motor 9 is controlled by a microcomputer (hereinafter referred to as a microcomputer) 64 described later. In this embodiment, a three-phase 20-pole DC brushless motor is used as the motor 9.

The rotor 9b of the motor 9 has a structure as shown in FIG. 5, and is rotatably held concentrically inside a stator 9c shown in FIG. The rotor core 71 is made of laminated steel plates. Salient pole 71 of rotor core 71
Between A, a permanent magnet 72 is provided. By reversing the arrangement of the N pole 72N and the S pole 72S of the adjacent permanent magnets 72, the salient pole portions 71A of the rotor core alternate between the N pole 71N and the S pole 71S. With such a configuration, it is possible to obtain a higher magnetic force than a configuration in which a permanent magnet is circumferentially attached to a rotor core.

The motor 9 has 20 poles, and the salient pole portion 71A of the rotor core has 10 N poles and 10 S poles.
The present invention is not limited to the number of poles. Also,
The configuration of the rotor is not limited to the present invention. For example, a configuration may be employed in which a permanent magnet is circumferentially attached to the rotor.

FIG. 6 shows the stator 9c provided in the motor cover 9a. The stator 9c has 24 poles, and the stator core 73 is made of a laminated steel sheet like the rotor core 71. A winding 74 is wound around the stator core 73 in a concentrated winding manner. The concentrated winding method does not limit the present invention. For example, the winding may be wound around the stator core by a lap winding method. Also, the rotor 9b and the stator 9c
Between them, a Hall sensor (not shown in FIG. 6) is fixedly provided on the motor cover 9a, and detects the N pole and the S pole of the salient pole 71A of the rotor core.

Referring again to FIG. Although the drum type washing machine of the present embodiment is a direct drive type in which the drum 5 and the motor 9 are directly fixed, a belt drive type in which the motor rotation torque is transmitted to the drum 5 by a belt and a pulley may be used.

A small hole 5a is provided on the entire peripheral wall of the drum 5. The small holes 5a allow the washing water to flow between the water tub 4 and the drum 5 during washing. A baffle 5b is provided on the inner wall surface of the drum 5 so as to protrude therefrom. The rotation of the drum 5 causes the laundry to be hooked up, lifted, and dropped into the washing liquid for washing.

A liquid balancer 5d is provided on the outer peripheral edge of the opening 5c on the front surface of the drum 5. Liquid balancer 5d
Is filled with a liquid such as salt water. When the drum 5 rotates, the fluid moves to cancel the shift of the center of gravity due to the bias of the laundry and the washing liquid. The liquid balancer 5d may be provided on the inner peripheral edge of the drum 5.

The rotation axis y-y of the drum 5 is inclined so that the depth of the drum 5 decreases by an angle θ with respect to the horizontal axis. Thereby, when a user stands and puts in / out laundry while standing on the front side of the drum-type washing machine, the user has a better view of the inside of the drum 5 and can easily take in / out laundry.

A packing 10 made of an elastic material such as rubber or resin is attached to a periphery of the laundry inlet 1a and an opening 4a of the water tub 4 so as to form a passage. Packing 1
Reference numeral 0 denotes a structure in which the inner peripheral edge 10a is in close contact with the peripheral edge of the door 3 when the door 3 is closed. Thereby, waterproofing is performed during the washing operation. In addition, the packing 10 is adapted to bend in response to the swing of the water tank 4 due to bellows or the like, and to follow the packing.

A water supply pipe 12 connected to a water pipe is provided in an upper part of the main body exterior part 1. Water supply pipe 12
When the water supply valve 13 provided in the middle of the
Water supply nozzle 1 attached to packing 10 via 4
From 5, tap water is supplied into the water tank 4.

Drain duct 1 led out from the bottom of water tank 4
Reference numeral 6 includes a connection case 17 in which a lint filter 17a is provided in the middle of the pipe and a drainage pump 18, and has a structure in which the washing liquid from the water tub 4 is drained to the outside of the main body exterior part 1. The lint filter 17a is formed by, for example, forming a resin in a lattice shape, or forming fine fibers in a bag shape, and accumulating lint and the like in the washing liquid. , And can be detached from the lower part of the front surface of the body exterior part 1.

A water level sensor 23 is provided above the connection case 17 from an air trap 22 via a dynamic pressure pipe 21. The water level sensor 23 moves the magnetic body in the coil according to the pressure change in the air trap 22. The resulting change in inductance of the coil is detected as a change in oscillation frequency, and the water level in the water tank 4 is detected. It is also possible to provide a circulation path that flows into and out of the water tank, and provide a drying unit including a blower fan and a heater in the middle of the circulation path.

A control section 2 for controlling the operation of the above-mentioned drum type washing machine is arranged on the back of the operation panel 11. The control performed by the control unit 2 will be described with reference to FIG. The commercial power supply 53, the motor 9, and the water supply valve 1 in FIG.
3, and the drain pump 18 are removed from the control unit 2.

An EEPROM 65 as a nonvolatile memory
Stores programs such as the contents of operations of each step such as washing, rinsing, and dehydration, and the order of execution of the steps (that is, a processing course). The microcomputer 64 controls opening and closing of the water supply valve 13 and ON / OFF switching of the drainage pump 18 via the drive circuit 66 according to the program.
The motor 9 is controlled. In addition, the contents of the operation of each step such as washing, rinsing, and dehydration, and the program such as the execution order of the steps (that is, the processing course) may be stored in a memory inside the microcomputer 64 instead of the EEPROM 65.

The microcomputer 64 inputs a signal such as a reservation for washing from the operation panel 11 and outputs a signal for displaying the progress of the operation to the operation panel 11. Also, the microcomputer 64
2 outputs a signal indicating the water level in the water tank 4 to the water level sensor 23 (FIG.
See)).

Next, the rotation control of the motor 9 performed by the microcomputer 64 will be described in detail with reference to FIG.
The AC voltage output from the commercial power supply 53 is
Is supplied to the rectifier circuit 55 through the rectifier circuit 55, and is converted into a pulsating DC voltage by the rectifier circuit 55. The rectifier circuit 55 uses a diode bridge.

The DC voltage rectified by the rectifier circuit 55 is smoothed by smoothing capacitors 56a and 56b. The positive side of the capacitor 56a is connected to the positive output terminal of the rectifier circuit 55. The negative side of the capacitor 56a and the positive side of the capacitor 56b are connected to the reactor 54 of the commercial power supply 53.
Connected to the side not connected to Capacitor 5
The negative side of 6b is connected to the negative output terminal of the rectifier circuit 53. Then, the DC voltage smoothed by the capacitors 56a and 56b is supplied to the inverter circuit 57. Inverter circuit 57 converts a DC voltage into a three-phase AC voltage.

The inverter circuit 57 includes six NPN transistors 58a to 58c, 59a as switching means.
59c is a three-phase full-wave bridge configuration. Then, the six transistors 58a to 58c and 59a to 59
The diodes 60a to 60c and 61a are respectively connected in parallel to c.
To 61c are connected. Transistors 58a to 58
The connection points a, b, and c between c and the transistors 59a to 59c are connected to the stator coils Lu, Lv, and Lw of each phase (U phase, V phase, and W phase) of the motor 9. The bases of the transistors 58a to 58c and 59a to 59c are connected to the drive circuit 62.

The motor 9 has Hall sensors 63a, 63b and 63c for detecting the rotational position of the rotor. The rotor position signals Hu, Hv, Hw output from the Hall sensors 63a, 63b, 63c are input to the microcomputer 64.

The microcomputer 64 outputs drive signals P1 to P6 to the drive circuit 62. The drive circuit 62 performs PWM chopping and amplifies the drive signals P1 and P2 at several to several tens of kHz and supplies the amplified and chopped signals to the bases of the transistors 58a and 59a, respectively, so that the drive signals P3 and P4 are several to several tens of kHz.
And the PWM signals are amplified and supplied to the bases of the transistors 58b and 59b, respectively. The drive signals P5 and P6 are PWM-chopped and amplified at several to several tens of kHz, and the transistors 58c and 59c, respectively.
Supply to the base.

During low-speed operation, the microcomputer 64 controls the microcomputer 64 so that the rotor position signals Hu, Hv, Hw and the sinusoidal voltages Eu, Ev, Ew supplied to the stator windings Lu, Lv, Lw are synchronized. The drive signals P1 to P6 are output to the drive circuit 62 to control the rotation of the motor 9. On the other hand, during high-speed operation, the microcomputer 64 operates the drive signal P1 such that the sinusoidal voltages Eu, Ev, and Ew have the set frequency.
To P6 to the drive circuit 62 to control the rotation of the motor 9 by open-loop driving.

Here, the feedback control performed during the low-speed rotation operation will be described. First, a voltage waveform applied to the motor 9 by the inverter circuit 57 will be described with reference to FIG. In the following description, the reference numerals given to the portions shown in FIG. 7 will be used appropriately. FIG. 8B shows the rotor position signals Hu and H shown in FIG.
A voltage Eu (hereinafter referred to as an applied voltage Eu) applied to a U-phase stator winding Lu of the motor 9 when the motor 9 is constantly driven at a constant rotation speed based on v and Hw, and a V-phase stator winding Lv Ev (hereinafter, applied voltage E
v), the voltage Ew applied to the W-phase stator winding Lw
(Hereinafter, referred to as applied voltage Ew). In order to obtain the applied voltages Eu, Ev, Ew, the microcomputer 64 operates as follows.

The microcomputer 64 generates drive signals P1 and P2 as shown in (d1) and (d2) of FIG. The drive signal P1 is amplified by the drive circuit 62 and then supplied to the base of the transistor 58a. The drive signal P2 is amplified by the drive circuit 62 and then supplied to the base of the transistor 59a. As a result, the voltage E0u applied to the U-phase stator winding Lu becomes a PWM (Pulse Wid) as shown in FIG.
th Modulation). This waveform is substantially equivalent to the applied voltage Eu shown in FIG.

As shown in FIG. 8B, when the U-phase is used as a reference, the inverter circuit 57 applies the applied voltage E delayed by 240 ° in electrical angle with respect to the applied voltage Eu.
v is applied to the V-phase stator winding Lv, and an 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 9 in this manner, the rotor of the motor 9 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 ° phase is applied 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 64 internally generates a triangular wave 42 having a constant period Tc shown in FIG. 8C, and compares the triangular wave 42 with the sine-wave-shaped drive waveform data 41, thereby obtaining the PWM shown in FIGS. 8D1 and D2. The drive signals P1 and P2 having waveforms are generated.

The drive waveform data 41 is stored in the EEPROM 6 using a data pointer (NEW_DATA) described later.
5 is obtained from the sine wave data 41a stored in the sine wave data.

The microcomputer 64 performs data processing using a data pointer (NEW_DATA) in units of 65536 divided 2π radians, which is the phase of one cycle of the sine wave data 41a. Data pointer (NEW
_DATA) is a digital value and has 65536 pieces.
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.

Since the phase angle θ [rad] of the sine wave signal having the frequency f [Hz] at time t [s] is generally θ = 2π × f × t (1), 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 period Tc = 63.5 [μs] and a frequency f = 60 [Hz] is output, α_DATA = 249 (4). The cycle Tc of the triangular wave 42 is determined by the resolution of a timer and the resolution of PWM used by the microcomputer 64 to measure the time interval of the cycle Tc.

The microcomputer 64 adds the update amount (α_DATA) obtained by the equation (3) to the data pointer (NEW_DATA) for each cycle Tc of the triangular wave 42 to obtain a new data pointer (NEW_DATA). 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 41a corresponding to the value is obtained.
The sine wave data 41a is data such that 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 specifying as the address the number obtained by dividing the data pointer number 65536 for 2π radians by the address number 512, the value corresponding to the corresponding address is read from the sine wave data 41a stored in the EEPROM 65. A value obtained by multiplying the output waveform by a modulation factor β that varies according to the operation program becomes drive waveform data 41.

When the rotational speed of the motor 9 is constant, it is only necessary to obtain the drive waveform data 41 as described above. However, when the rotational speed of the motor 9 changes, the drive waveform data 41 also depends on the rotational speed. Therefore, the drive waveform data 41 corresponding to the number of rotations of the motor 9 is created according to the following procedure, and the rotation of the motor 9 is controlled.

FIG. 9 is a diagram showing a rotor position pattern and an operation mode when the microcomputer 64 rotates the motor 9 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 41u,
The waveforms of 1v and 41w are the same as the waveforms of the applied voltages Eu, Ev and Ew shown in FIG.

The Hall sensors 63a, 63b, 63c can detect the rotor position even when the rotor is stopped. When starting up the motor 9, the microcomputer 64 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 microcomputer 64 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 41v is set to 0 °. At this time, the data pointer (NEW_DATA) becomes 0, and the EEPR
The data corresponding to the data point (NEW_DATA) 0 is fetched from the sine wave data 41a stored in the OM 65. When the motor 9 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 9 is started, a speed detection timer for detecting the number of rotations of the motor 9 is started. The speed detection timer is controlled by the microcomputer 6
4.

U-phase and W-phase drive waveform data 41u, 41
w is 12 for each of the V-phase drive waveform data 41v.
From the sine wave data 41a, 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. The data pointer (NEW_DATA) is set to 10923 (= 65) when the inversion timing 40c of the rotor position signal Hw, which is one of the switching of the rotor position signals Hu, Hv, and Hw, comes due to the rotation of the rotor.
536 × 60/360), reset the speed detection timer, and start measurement again.

Further, the rotation of the rotor causes the inversion timing 40d of the rotor position signal Hu to come. At this time, the microcomputer 64 focuses on 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, when the inversion timing 40d of the rotor position signal Hw comes, the operation mode is switched from the V-phase reference mode a to the U-phase reference mode b, and the data pointer (N
EW_DATA) is reset to 0 and the drive waveform data 4
Find 1u. V-phase and W-phase drive voltage data 41v, 4
1w is a data pointer (NE) delayed from the sine wave data 41a 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 64 corrects the drive voltage data sequentially at the six inversion timings 40a to 40f. Further, since the rotation speed of the motor 9 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 revolutions at each inversion timing of the position signal.

Thus, the U-phase drive waveform data 41u
Becomes a sine wave, and becomes zero at the inversion timings 40a and 40d of the rotor position signal Hu. The V-phase drive waveform data 41v has a sine wave shape, and becomes zero at the inversion timings 40b and 40e of the rotor position signal Hv. Also, W
The phase drive waveform data 41w has a sine wave shape, and becomes zero at the inversion timings 40c and 40f of the rotor position signal Hw.

In order to rotate the motor 9 in the reverse direction, the drive voltage data 41u, 41v, 41
Since the phase of w need only be delayed by 180 °, the microcomputer 64 determines that the phase of the rotation in the normal direction is 180 °.
Data corresponding to the data pointer (NEW_DATA) with a delayed phase is fetched from the sine wave data 41a to generate drive waveform data. According to such a control procedure, the microcomputer 64 drives the motor in the washing rotation range by performing feedback for correcting the motor in the inversion timing of the rotor position signal.

When the motor is driven at a rotation speed exceeding the washing rotation range, the above-described feedback control is performed up to the predetermined rotation speed after the motor is started. However, when the motor reaches the predetermined rotation speed, the open loop drive is performed. Do. In the open-loop driving, the data pointer (NEW_DATA) is not reset at the inversion timing of the position signals of the six Hall sensors, and the update amount (α_DATA) of the data pointer is obtained based on the set frequency to obtain the driving voltage data 4.
1 and the motor 9 is rotated.

In an ideal case where there is no error in the mounting positions or the sensitivities of the Hall sensors 63a, 63b, 63c, the applied voltages Eu, Ev, E
The phase of w is synchronized with the rotor position. However, actually, there are variations in the mounting positions and the sensitivities of the Hall sensors 63a, 63b, 63c. Therefore, the drum-type washing machine according to the first embodiment of the present invention has a configuration in which an error in the rotor position signal output from the Hall sensor is detected, and the drive waveform data 41 is corrected according to the detected error. Hereinafter, the procedure of the correction will be described.

First, a position signal error detection mode is set by pressing a switch on the operation panel 11 of FIG.
In FIG. 10, the same portions as those in FIG. 2 are denoted by the same reference numerals, and description thereof will be omitted. For example, power supply "on / off" switch 8
After the power is turned on by 3, the switch is set to the position signal error detection mode by performing a switch operation that is not performed in normal use, such as simultaneously pressing two “dry switching” switch 81 and “my family flow” switch 82. Good.

After the position signal error detection mode, for example, when the "course" switch 84 is pressed, an error detection operation is started. After activating the motor by feedback control, the microcomputer 64 shifts to open loop control at a preset number of rotations to rotate the motor. The update amount (α_DATA) is gradually increased to the detected rotation speed, and when the rotation speed of the motor reaches the detected rotation speed, the phase shift amount between the inversion timing of the rotor position signal Hu and the zero cross point of the drive voltage waveform data 41u is calculated. I do.

As shown in FIG. 11A, the rotor position signal H comes before the zero cross point of the drive voltage waveform data 41u.
When the inversion timing of u comes, if the data pointer of the drive voltage waveform data 41u at that time is, for example, 60074, the rotor is about 330 ° (= 360 × 60074/6).
It can be seen that the inversion timing of the rotor position signal Hu was input when the robot was at the position 5536). FIG.
(B), when the inversion timing of the rotor position signal Hu comes after the zero cross point of the drive voltage waveform data 41u, if the data pointer of the drive voltage data 41u at that time is, for example, 5461, the rotor is about 30 °
It can be seen that the inversion timing of the rotor position signal Hu was input when the vehicle was at the position (= 360 × 5461/65536).

Here, when the appropriate power is supplied and the open loop control drive is performed, the motor always rotates at the phase (the optimum phase of the rotor stator) at which the motor efficiency is maximized as shown in FIG. If there is an error in sensitivity, the rotor position signal does not accurately indicate the rotor position. Therefore, the phase shift amount between the inversion timing of the rotor position signal and the zero-cross point of the drive voltage waveform data shown in FIG.
2 does not match the optimum phase of the rotor stator shown in FIG.

The optimum phase of the rotor stator is EEPROM
The microcomputer 64 calculates the detection error of the rotor position by comparing the inversion timing of the rotor position signal with the phase shift amount between the zero cross point of the drive voltage waveform data, and stores the calculation result in the EEPROM 65. Remember.

For example, at 300 rpm, the optimal phase of the motor is 0 °, so when the phase shift amount between the inversion timing of the rotor position signal Hu and the zero cross point of the drive voltage waveform data 41u is + 30 °, the Hall sensor 63a is used. , The detection error of the rotor position becomes + 30 °, and the inversion timing of the rotor position signal Hu and the drive voltage waveform data 41u
When the amount of phase shift from the zero-cross point is −30 °, the detection error of the rotor position by the Hall sensor 63a is also −30 °.
°.

Since the sensitivity of the Hall sensor differs depending on the number of rotations of the motor, it is preferable to set a plurality of rotations to be detected.
For example, if the detection is performed at 200 rpm in addition to 300 rpm, the optimum phase of the rotor stator becomes -1 at 200 rpm.
Since the phase shift amount between the inversion timing of the rotor position signal Hu and the zero cross point of the drive voltage waveform data Hu is + 30 °, the detection error of the rotor position by the Hall sensor 63a is + 40 °, and the rotor position signal Hu is + 40 °. Position signal H
When the phase shift amount between the inversion timing of u and the zero-cross point of the drive voltage waveform data 41u is −30 °, the Hall sensor error becomes −20 °.

As a matter of course, the detection errors of all the sensors in each of the three phases are corrected by the above procedure. As a result, EEPRO
For example, a data table as shown in FIG. 13 is stored in M65. However, the content actually stored in the EEPROM 65 is not an electrical angle but a data pointer (NE).
W_DATA).

As described above, when there is an error in the rotor position detection, as described above, in the correction of the drive voltage data performed at the inversion timings 40a to 40f of the six position signals,
At the inversion timings 40a and 40d, when correcting the data pointer (NEW_DATA), correction was made by the amount of the table data compared to when there was no error in the rotor position detection (for example, it was delayed by 10 ° due to an error in the rotor position detection). In this case, data corresponding to the data pointer (NEW_DATA) is fetched from the sine wave data 40a and created. This allows
Even if there is an error in the rotor position signal output from the Hall sensor, the applied voltages Eu, Ev, E synchronized with the rotor position
w can be supplied to the motor 9. Therefore, the commutation timing does not shift. As a result, the power factor between the current flowing through the stator winding of the motor and the induced voltage generated in the stator winding increases, so that unnecessary power can be reduced, the motor efficiency is improved, and the motor torque is not uneven.
Generation of noise, noise, and vibration are reduced. further,
Since there may be an error in rotor position detection, it is not necessary to adjust the position of the position detecting means with high accuracy in manufacturing the motor, so that cost reduction can be achieved. In addition, it is possible to suppress performance variation for each motor.

In the above-described control, the inversion timing of the position signal and the zero-cross point of the applied voltage are matched during the feedback control. However, in order to increase the efficiency and torque of the motor, the inversion timing of the position signal and the applied voltage are applied. Control for shifting the zero-cross point according to the motor speed may be performed. In this case, for example, when the rotation speed of the motor 7 is 30 rpm, the phases of the applied voltages Eu, Ev, and Ew are advanced by 10 ° with respect to the rotor position, and when the rotation speed of the motor 7 is 60 rpm, the applied voltage is applied to the rotor position. Voltage E
The phase of u, Ev, Ew is advanced by 20 °.

In order to perform such control, the microcomputer 6
As described above, when the data pointer (NEW_DATA) is corrected at each inversion timing of the position signal of the Hall sensor, the phase shift amount of the U phase is 30 rpm and 6
When the phase shift amount of the V-phase and the W-phase is 0 ° at 30 rpm and 60 rpm at −10 ° at 0 rpm, the driving voltage data of the six position signals shown in FIG. Of the correction,
At the inversion timings 40a and 40d, when correcting the data pointer (NEW_DATA), it is necessary to advance the phase by 10 ° with respect to the case where there is no error in the rotor position detection, and further advance by 10 ° when the rotation speed of the motor 7 is 30 rpm. Therefore, the data pointer (N
EW_DATA) is converted to sine wave data 41
a respectively. On the other hand, the inversion timing 40
In b, 40c, 40e, and 40f, when correcting the data pointer (NEW_DATA), if the rotation speed of the motor 7 is 30 rpm, it is necessary to advance by 10 °, so the data pointer (NEW_DATA) advanced by 10 °
Is taken from the sine wave data 41a. When the rotation speed of the motor 9 is 60 rpm, the data corresponding to the data pointer (NEW_DATA) advanced by 30 ° at the inversion timings 40a and 40d is fetched from the sine wave data 61a, respectively, and the inversion timings 40b, 40c, 40e, and At 40f,
Data corresponding to the data pointer (NEW_DATA) advanced by 20 ° is fetched from the sine wave data 41a.

Next, a drum type washing machine of a second embodiment will be described. Consider a case where there is no error in the rotor position detection in the drum type washing machine of the above-described first embodiment, and the phase of the applied voltage is not shifted with respect to the inversion timing of the rotor position signal according to the motor rotation speed. When there is no load fluctuation, the inversion timing of the rotor position signal Hu coincides with the zero-cross point of the applied voltage as shown in FIG. When the motor rotation speed changes instantaneously due to a load change, and when the motor rotation speed increases, the inversion timing of the rotor position signal appears earlier. Therefore, the applied voltage is the entire sinusoidal waveform as shown in FIG. Is in a compressed state. Conversely, when the motor speed decreases, the inversion timing of the rotor position signal appears later, so that the applied voltage is in a state where the entire sine waveform is expanded as shown in FIG. 14 (c). As described above, when the rotor speed does not reach the set speed due to the load fluctuation,
At the inversion timing of the position signal, the waveform of the applied voltage is distorted, which leads to noise and noise.

Therefore, in the drum type washing machine of the second embodiment, in order to eliminate the distortion of the applied voltage that appears at each inversion timing of the rotor position signal when the rotation speed changes instantaneously, the following is performed. Perform control. The drum-type washing machine of the second embodiment has the same configuration as the drum-type washing machine of the first embodiment. However, in the drum type washing machine of the second embodiment, since there is no error in rotor position detection, the phase is not corrected,
In addition, the phase of the applied voltage is not shifted with respect to the inversion timing of the position signal according to the number of rotations.

First, a case where the rotor speed instantaneously increases due to a load change will be described with reference to FIG. For example, a case will be described in which the rotation speed of the motor 9 has changed from 60 rpm to 67.5 rpm in the section T1 due to a load change.

The frequency of the drive waveform data corresponding to the motor rotation speed of 60 rpm is f = (60 [rpm] / 60 [s]) × (2
0 [pole] / 2), which is 10 Hz. In this case, the cycle of the drive waveform data is 100 ms. On the other hand, the frequency of the drive waveform data corresponding to the motor rotation speed of 67.5 rpm is f = (67.5 [rpm] / 60 [s]) × (20 [poles] / 2), which is 11.25 Hz. In this case, the cycle of the drive waveform data is 88.8 ms. Therefore, when viewed in a half cycle, 5.6 ms ｛= (10
0-88.8) / 2}.

In the section T1, the frequency of the drive waveform data 41u is set to 1 according to the motor rotation speed of 60 rpm before the section T1.
It is set to 0 Hz. Therefore, at the end of the section T1, the drive waveform data 41u has an electrical angle of 20 ° (= 360 [°] × 5.6 [m]) with respect to the inversion timing of the rotor position signal Hu.
s] / 100 [ms]), and the rotor position signal H
The data pointer at the inversion timing of u is 6189
4 ｛= 65535/360 [°] × (360 [°] -20
[°])｝

In the case of the conventional drum type washing machine, the data pointer (NEW_DATA) is reset to 0 at the inversion timing of the rotor position signal Hu to forcibly invert the rotor position signal Hu and the drive waveform data 41.
The frequency of the drive waveform data 41u in the section T2 and thereafter is set to 11.25 Hz based on the motor rotation speed of 67.5 rpm in the section T1 by matching the zero cross point of u. Therefore, at the end of the section T2 advanced by 20 electrical degrees from the inversion timing of the rotor position signal Hu, the data pointer (NEW_DATA) is 3641 (= 65535/36).
0 [°] × 20 [°]). Assuming that the cycle Tc of the triangular wave generated internally by the microcomputer 64 is 63.5 μs, the update amount (α_DATA) of the data pointer in the section T2 is 47 according to the above equation (3), so the data pointer (NEW_DATA) in the section T2 Is 7
It is updated seven times (= 3641/47).

In the drum type washing machine of this embodiment, the drive voltage waveform data 41u in the section T2 is generated without resetting the data pointer (NEW_DATA) to 0 at the inversion timing of the rotor position signal Hu. Since the data pointer (NEW_DATA) is updated every cycle Tc of the triangular wave, the data pointer (NEW_D
ATA) is updated 77 times as described above. Section T2
Since the data pointer (NEW_DATA) at the start of the period is not reset, the data pointer (NEW_DATA) at the end of the section T2 is 3641. Then, the update amount of the data pointer (α_DA
TA) is 94 ° = (65535-6894 + 364)
1) / 77 °, and the frequency f is 22.5 Hz from the above equation (3). Therefore, in the section T2, the frequency of the drive voltage waveform data 41u is set to 22.5 Hz. Then, after the section T3, the frequency of the drive waveform data 41u is set to 11.25 Hz according to the motor rotation speed of 67.5 rpm. That is, the driving waveform data 41 in the section T2
It is assumed that the frequency of u is twice the frequency of the drive waveform data 41u in the section T3. The microcomputer 64 performs the same control at each reversal timing of the rotor position signals Hu, Hv, Hw to generate the drive waveform data 41u, 41v, 41w.

Next, a case where the rotor speed instantaneously decreases due to load fluctuation will be described with reference to FIG. For example, a case will be described in which the rotation speed of the motor 9 has changed from 60 rpm to 54 rpm in the section T4 due to a load change.

The frequency of the drive waveform data corresponding to the motor rotation speed of 60 rpm is f = (60 [rpm] / 60 [s]) × (2
0 [pole] / 2), which is 10 Hz. In this case, the cycle of the drive waveform data is 100 ms. On the other hand, the frequency of the drive waveform data corresponding to the motor rotation speed of 54 rpm is f =
(54 [rpm] / 60 [s]) x (20 [pole] / 2) and 9H
z. In this case, the period of the drive waveform data is 111.
1 ms. Therefore, when viewed in a half cycle, 5.6 ms ｛= (111.1-10)
0) / 2}.

In the section T4, the frequency of the drive waveform data 41u is set to 1 according to the motor speed 60 rpm before the section T4.
It is set to 0 Hz. Therefore, at the end of the section T4, the drive waveform data 41u has an electrical angle of 20 ° (= 360 [°] × 5.6 [m]) with respect to the inversion timing of the rotor position signal Hu.
s] / 100 [ms]) and the rotor position signal Hu
The data pointer at the inversion timing of
(= 65535/360 [°] × 20 [°]).

In the case of the conventional drum type washing machine, the data pointer (NEW_DATA) is reset to 0 at the inversion timing of the rotor position signal Hu to forcibly invert the rotor position signal Hu and the drive waveform data 41.
The frequency of the drive waveform data 41u in the section T5 and thereafter is set to 9 Hz based on the motor rotation speed of 54 rpm in the section T4 by matching the zero cross point of u. Therefore, at the end of the section T5 advanced by 40 electrical degrees from the inversion timing of the rotor position signal Hu, the data pointer (NEW_D
ATA) is 7282 (= 65535/360 [°] × 40)
[°]). Assuming that the period Tc of the triangular wave generated internally by the microcomputer 64 is 63.5 μs, the update amount (α_DATA) of the data pointer in the section T5 is 37 from the above equation (3), so the data pointer (NEW_DATA) in the section T5 Is 196 times (= 7
282/37) Updated.

In the drum type washing machine of this embodiment, the drive voltage waveform data 41u in the section T5 is created without resetting the data pointer (NEW_DATA) to 0 at the inversion timing of the rotor position signal Hu. Since the data pointer (NEW_DATA) is updated every cycle Tc of the triangular wave, the data pointer (NEW_D
ATA) is updated 196 times as described above. Section T
The data pointer (NEW_DATA) at the start of the period 5 is 3641 because it is not reset, and the data pointer (NEW_DATA) at the end of the section T5 is 7282. Then, the update amount of the data pointer (α_DA
TA) is 19 ° = (7282-3641) / 196 °, and the frequency f is 4.5 Hz from the above equation (3). Therefore, in the section T5, the frequency of the drive voltage waveform data 41u is set to 4.5 Hz. Then, after the section T6, the drive waveform data 41u is set in accordance with the motor rotation speed 54rpm.
Is set to 9 Hz. That is, it is assumed that the frequency of the drive waveform data 41u in the section T5 is １ ／ times the frequency of the drive waveform data 41u in the section T6.
The microcomputer 64 performs the same control for each inversion timing of the rotor position signals Hu, Hv, Hw, and
1u, 41v, and 41w are created.

By performing such control, the sinusoidal voltage can be made to have a smooth waveform even when the motor load fluctuates, and a stable rotation speed can be obtained without a sudden fluctuation of the motor rotation. Since the change in motor torque is also minimized, noise and vibration can be reduced. Further, since the distortion of the sinusoidal voltage is small, the generation of noise is also reduced, and the number of components for noise suppression can be reduced.

Here, in the drum type washing machine of the second embodiment, there is an error in the rotor position detection and the phase is corrected.
The case where the phase of the applied voltage is shifted with respect to the inversion timing of the rotor position signal in accordance with the motor rotation speed will be described. The procedure for performing the phase correction when there is an error in the rotor position detection and the procedure for shifting the phase of the applied voltage with respect to the inversion timing of the rotor position signal according to the motor speed are the same as those of the drum type washing machine of the first embodiment. Since there is, description is omitted. Here, when the phase correction amount when correcting the error in the rotor position detection and the phase shift amount when shifting the phase of the applied voltage with respect to the inversion timing of the rotor position signal according to the motor rotation speed are matched, the rotor position signal the phase of the driving waveform data and those that will be advanced by theta ₁ at the inversion timing.

The rotor speed instantaneously increases due to the load fluctuation, and the drive waveform data is shifted by θ _{2 with} respect to the rotor position signal.
If it is only a delay, the data pointer is not reset at the inversion timing of the rotor position signal, and the frequency of the drive waveform data is made (2 × θ ₂ + θ ₁ ) / θ ₂ times. Then, the data pointer (NEW_DAT) up to the delay phase (θ ₂ )
When A) is updated, the frequency of the drive waveform data is made to correspond to the rotor rotation speed detected by the rotor position signal.

On the other hand, when the rotor speed instantaneously decreases due to the load fluctuation and the drive waveform data is ahead of the rotor position signal by θ ₃ , the data pointer is not reset at the inversion timing of the rotor position signal. The frequency of the drive waveform data is multiplied by θ ₃ / (2 × θ ₃ −θ ₁ ). Then, the data pointer (N) reaches twice the advance phase (θ ₃ ).
When EW_DATA) is updated, the frequency of the drive waveform data is made to correspond to the rotor rotation speed detected by the rotor position signal.

By performing such control, even if the error in the rotor position detection is corrected and the phase of the applied voltage is shifted with respect to the inversion timing of the rotor position signal in accordance with the motor rotation speed, the motor load fluctuation does not occur. Even if there is, a sinusoidal voltage can be made into a smooth waveform, a stable rotation speed can be obtained without sudden fluctuation of motor rotation, and a change in motor torque can be minimized, so noise and vibration can be reduced. be able to. Further, since the distortion of the sinusoidal voltage is small, the generation of noise is also reduced, and the number of components for noise suppression can be reduced.

[0091]

According to the present invention, the phase of the sinusoidal voltage generated when the control means supplies a motor with a sinusoidal voltage of a predetermined set frequency to perform open loop driving and the position signal output by the position detecting means are determined. The amount of phase deviation from the phase is detected and stored in the storage means, and is supplied to the motor based on the amount of phase deviation when the motor is driven by performing feedback control on the motor based on the position signal output from the position detection means. Therefore, even if there is an error in rotor position detection, the commutation timing does not shift. If the commutation timing does not shift, the power factor between the current flowing through the stator windings of the motor and the induced voltage generated in the stator windings increases, so that unnecessary power can be reduced, motor efficiency improves, and motor torque becomes uneven. Does not occur, the generation of noise and the generation of noise and vibration are reduced. Further, since there may be an error in the rotor position detection, it is not necessary to adjust the position of the position detecting means with high accuracy in the manufacture of the motor, and the cost can be reduced. In addition, it is possible to suppress performance variation for each motor.

Further, according to the present invention, since the storage means is a non-volatile memory, it is not necessary to detect the amount of phase shift every time the power is turned on, thereby shortening the washing time. Also,
The phase shift amount can be stored in the storage means during production.

Further, according to the present invention, since a plurality of predetermined set frequencies are provided, and the amount of phase shift with respect to each of the predetermined set frequencies is detected and stored in the storage means, the error of the rotor position detection changes according to the rotation speed. In this case, the commutation timing does not shift.

According to the present invention, the open loop drive for detecting the phase shift amount is performed in the forward rotation direction and the reverse rotation direction of the motor, and the phase shift amount for each rotation direction is detected and stored in the storage means. The commutation timing does not shift in any of the forward and reverse rotation directions.

Further, according to the present invention, the control means shifts the phase of the sinusoidal voltage supplied to the motor with respect to the position of the rotor by a set value corresponding to the motor speed, thereby further improving the motor efficiency. be able to.

Further, according to the present invention, when the motor is driven by performing feedback control based on the position signal output from the position detecting means, the phase of the sinusoidal voltage applied to the motor due to the motor load fluctuation changes. If the control frequency is shifted from the first frequency, the control means changes the frequency of the sinusoidal voltage from the first frequency corresponding to the motor speed before the load change to the second frequency once and then corresponds to the motor speed after the load change. Therefore, the sinusoidal voltage can be made a smooth waveform even when the motor load fluctuates. As a result, a stable rotation speed can be obtained without a sudden change in motor rotation, and a change in motor torque can be minimized, so that noise and vibration can be reduced. Further, since the distortion of the sinusoidal voltage is small, the generation of noise is also reduced, and the number of components for noise suppression can be reduced.

In addition, an error can be corrected in the rotor position detection,
If the phase of the applied voltage is not shifted with respect to the inversion timing of the rotor position signal according to the motor speed,
If the phase of the sinusoidal voltage lags behind the position signal due to the motor load fluctuation, the second frequency is set to twice the third frequency, and the phase of the sinusoidal voltage becomes the position signal due to the motor load fluctuation. On the other hand, when a leading edge is reached, the sinusoidal voltage can be made a smooth waveform by setting the second frequency to １ ／ times the third frequency.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a drum type washing machine according to the present invention.

FIG. 2 is a side sectional view showing the drum type washing machine of FIG. 1;

FIG. 3 is a front view showing a suspended state of the drum type washing machine of FIG. 1;

FIG. 4 is a rear view showing a suspended state of the drum type washing machine of FIG. 1;

FIG. 5 is a diagram showing a configuration of a rotor of a motor provided in the drum type washing machine of FIG. 1;

FIG. 6 is a diagram showing a configuration of a stator of a motor provided in the drum type washing machine of FIG. 1;

FIG. 7 is a diagram illustrating a configuration of a control unit that controls the operation of the drum-type washing machine in FIG. 1;

FIG. 8 is a diagram showing a voltage applied to a motor with respect to a position signal of a Hall sensor.

FIG. 9 is a diagram showing driving waveform data in the forward rotation direction and a driving mode with respect to a position signal of a Hall sensor.

FIG. 10 is a view showing an operation panel provided in the drum type washing machine of FIG. 1;

FIG. 11 is a diagram showing a position signal and drive waveform data at the time of open loop control when the Hall sensor has a detection error.

FIG. 12 is a diagram illustrating a relationship between a motor rotation speed and an optimal phase in open loop control.

FIG. 13 is a diagram showing table data stored in an EEPROM provided in the control unit in FIG. 7;

FIG. 14 is a diagram illustrating a waveform of a voltage applied to a motor when a load fluctuates during feedback control in a conventional drum-type washing machine.

FIG. 15 is a diagram showing drive waveform data when a load change occurs during feedback control in the drum type washing machine according to the second embodiment of the present invention.

[Explanation of symbols]

 9 Motor 41 Drive waveform data 41a Sine wave data 42 Triangle wave 57 Inverter circuit 62 Drive circuit 63 Hall sensor 64 Microcomputer 65 EEPROM Hu, Hv, Hw Rotor position signal Eu, Ev, Ew Applied voltage

Continued on the front page F-term (reference) 3B155 AA10 BA03 BA04 BB02 BB05 CA02 CB06 GC06 HB10 KA36 KB11 LA03 LC15 LC28 MA01 MA02 MA05 MA07 MA08 MA10 5H560 AA10 BB04 BB07 BB12 DA02 DC12 EB01 EB05 EC02 EC10 RR01 RR04 SS07 UA04 X07

Claims (9)

[Claims] 1. A waveform control comprising a washing rotator, a DC brushless motor for driving the washing rotator, position detecting means for detecting a rotor position of the motor, inverter means and storage means. A control means for supplying a sinusoidal voltage to the motor, wherein the control means supplies a sinusoidal voltage of a predetermined set frequency to the motor and drives the motor to perform open loop driving. A phase shift amount between the phase of the voltage and the phase of the position signal output by the position detection means is detected and stored in the storage means, and feedback control based on the position signal output from the position detection means is performed. A washing machine wherein a sine wave voltage supplied to the motor is corrected based on the phase shift amount when the motor is driven. 2. The washing machine according to claim 1, wherein said storage means is a nonvolatile memory. 3. The washing machine according to claim 1, wherein a plurality of the predetermined set frequencies are provided, and the phase shift amount for each of the predetermined set frequencies is detected and stored in the storage means. 4. The open loop drive for detecting the phase shift amount is performed in a forward rotation direction and a reverse rotation direction of the motor, and the phase shift amount in each rotation direction is detected and stored in the storage unit. The washing machine according to any one of claims 1 to 3. 5. The motor according to claim 1, wherein the control means shifts the phase of the sinusoidal voltage supplied to the motor by a set value corresponding to the motor speed with respect to the rotor position of the motor. Washing machine. 6. A sinusoidal voltage controlled by a waveform, comprising a rotating body for washing, a DC brushless motor for driving the rotating body for washing, position detecting means for detecting a rotor position of the motor, and inverter means. And a control means for supplying the motor to the motor.When the motor is driven by performing feedback control based on a position signal output from the position detection means, a motor rotation speed is changed by a motor load fluctuation. When the phase of the sinusoidal voltage supplied to the motor changes and deviates from the position signal, the control means sets the frequency of the sinusoidal voltage to a first value corresponding to the motor speed before the load change. Once from the frequency of
A washing machine having a third frequency corresponding to the motor speed after the load is changed after the frequency of the washing machine. 7. When the phase of said sinusoidal voltage is delayed with respect to said position signal due to motor load fluctuation,
The second frequency is set to twice the third frequency, and when the phase of the sinusoidal voltage is advanced with respect to the position signal due to motor load fluctuation, the second frequency is set to the third frequency. The washing machine according to claim 6, wherein the frequency is set to 1/2 of the frequency of the washing machine. 8. The method according to claim 1, wherein said control means corrects a detection error of said position detecting means, and corrects a phase shift of said sinusoidal voltage with respect to said position signal caused by said motor load fluctuation. The washing machine according to claim 6, wherein the washing machine is a crab. 9. The motor control apparatus according to claim 1, wherein said control means corrects a detection error of said position detecting means and shifts a phase of a voltage applied to said motor by a set value corresponding to a motor rotation speed with respect to a rotor position of said motor. 7. The washing machine according to claim 5, wherein the washing machine controls and corrects a phase shift of the sinusoidal voltage with respect to the position signal caused by the motor load fluctuation.