TW200531426A - Motor driving device - Google Patents

Abstract

To detect a motor load state in simplified sensor-less sine wave drive. AC power is converted into DC power by a rectifying circuit, a motor is driven by an inverter circuit, an output current of the inverter circuit is detected by a current detection means, a reactive current is controlled so as to reach a prescribed value in the set number of revolutions, and the load state is discriminated by an output voltage of the inverter circuit or output power.

Description

200531426 IX. Description of the invention: I: Technical field of the inventors 3 Technical field The present invention relates to a motor drive device for performing non-sense sine wave drive. L Prior Art 3 Background Art Conventionally, in such a motor drive device, a non-sense sine wave drive is performed by omitting a rotor position sensor to reduce vibration and noise of the motor and improve reliability (for example, refer to Patent Documents) 1). [Patent Document 1] Japanese Patent Laid-Open Publication No. 2000-350489 However, in the conventional structure described above, in order to estimate the position of the rotor, it is necessary to grasp the motor constant, circuit parameters, or motor load in advance, and to detect the calculated value and measurement of 15 After the error between the current values is calculated by the processor to minimize the error, the operation becomes very complicated, and a processor with high-speed and high-performance computing functions is required. In addition, when the load of the motor changes greatly, it is easy to lose synchronization (that is, out of step). [Summary of the Invention] 20 The invention discloses the problems to be solved by the invention. The invention is to solve the aforementioned conventional problems, and to provide a motor drive device without sensing sine wave drive. The motor drive device is stable even when the load changes. Ground operation, such as 5 200531426 output change and out-of-step due to load changes, can detect the load status and out-of-step condition, and restart after correcting control parameters or starting conditions, and can simplify the calculation of the processor, And stable operation even under load changes. Means for solving the problem 5 In order to solve the above problem, the motor driving device of the present invention converts AC power to DC power through a rectifier circuit, drives the motor by an inverter circuit, and detects the output current of the inverter circuit by a current detection mechanism. Then perform PWM (Pulse Width Modulation) control on the inverter circuit to achieve the set number of rotations, and control the output voltage and current phase of the inverter circuit, or the flow of reactive power 10 to a predetermined value, and according to the inverter circuit Output voltage or output power to determine the load status. ADVANTAGE OF THE INVENTION The motor driving device of the present invention judges the load state of the motor by the output voltage or output power of the inverter circuit when the number of rotations is set, that is, 15 enables the position detection group to detect out-of-step and load. The torque can be stably restarted even in the case of out-of-step conditions, and the current corresponding to the load is set. Therefore, even without a large load change, stable non-sensing sine wave drive can be realized. The motor driving device of the first invention includes: an AC power source; a rectifier circuit for converting the AC power of the parent power source described above into a DC power; an inverter circuit for converting the DC power of the aforementioned rectifier circuit into an AC power; A motor driven by the inverter circuit; a current detection device for detecting the output current of the inverter circuit; and a PWM control of the inverter circuit by the wheel output of the current detection mechanism to control The control mechanism of the aforementioned motor 200531426 to two numbers, and the aforementioned control mechanism controls the phase of the output current M and the output current of the inverter circuit or% " π_at the pre-value 'and is inverted by the foregoing The output voltage or output power of the generator circuit is used to determine the load status. In this way, even without a large load variation, a non-sense sine wave drive with stable operation can be realized. 10 15 20 The invention of the machine hibiscus is the motor driving device of the first invention, in which the aforementioned control 2 system performs v / f control, and reads the wheel output voltage of the aforementioned anti-f circuit: the phase of the output current or the invalid current is a predetermined value. Parallel value = tender state. In this way, it is easy to detect __ to _ _ turn resentment detection or load size detection. Mechanism === Anti-rule / 1 The invention of the motor driving device 'wherein the aforementioned control of the phase of the current flow, or two T: the wheel of the circuit and the output power of the circuit to change the output power > % The output phase or the ineffective current can be stable due to the situation or the load changes during operation. The situation can be stable / very dynamic. Even if the step is out of step, the torque current can be increased and the pre-movement & turn. For example, even if the load changes It can also be operated when it ’s big time ~ so it can realize the 4th invention. As the first invention, the fine-grained mechanism is based on the rotation of the inverter circuit described above, which describes the control load state and changes the motor driving conditions. The electric power detects the driving conditions such as the condition of the motor or the load changing in the middle of the operation, the number of large load changes, or the driving conditions of the motor current, so that the rotation can reduce the noise by changing the rotation. W 疋, or change the number of rotations 7 200531426 The mechanism is based on the motor driving device of the younger brother Ming Ming, in which the aforementioned control reaches the power and driving frequency of the L-phase state circuit to judge the horse control and the wheel control. Enter the number of rotations corresponding to the load torque of the motor 5 10 15 20 The mechanism system is // the motor driving device of the first invention, where the aforementioned control load is Han Tuo, and the wheel output power and driving frequency of the inverter circuit are described. Determine the negative, 1 and control the aforementioned motor according to the variation of the negative cutting torque. For example, Ma Yuaner can detect the load torque to obtain the torque current. The most appropriate motor phase can be set, so it can be executed. Sand is controlled when overloaded. The optimal mechanism for reducing the red load% to reduce the motor current to control the number of rotations is to use the aforementioned motor drive device to control the aforementioned load torque control ^^ ☆ The wheel output power and drive frequency of the circuit to determine the negative output voltage == load torque To control the load torque of the inverter circuit, such as thunder, free-of-charge, or ineffective current, the motor efficiency can be maximized by setting the current according to the torque. The mechanism is such as the motor driving device of the invention / 1, in which the previously controlled rotation c is ^ 峨 •, input ==: ^ pressure and input the most appropriate current, and stable rotation. The “moving state” can be set as the motor driving device of the ninth invention, such as the first invention, and the output voltage or output power of the Gan Ii phase is used to detect the motor. 200531426 Second, the start of the inverter circuit After the conditions, the motor is scaled again. In this way, the conditions can be set and the rotation is stabilized. ㈣ 当 的 开关 [Implementation order] Detailed description of the preferred embodiment (Implementation mode 1)

^ Section ® is a block diagram of the first driving-type evil motor driving device of the present invention. Picture 1 with power! After the AC phase rectifier circuit 2 is applied, it is converted into straight μ power, and the inverter circuit 3 is used to convert DC power into 3 intersecting currents to drive the motor 4. In the rectifier circuit 2, the capacitors ⑴ and ^ are connected in series with the DC output terminal of the full-wave rectifier circuit 20, and the connection point of the capacitors 21a and 21b is connected to one of the terminals of the input AC power to form a straight ml multiplier piezoelectric The circuit 'mentions two applied voltages applied to the inverter circuit 3. The current detection mechanism 5 is connected to the negative voltage side of the inverter circuit 3. By detecting the current flowing through the lower arms of the three phases of the inverter circuit 3, the output current of the inverter circuit 3 can be detected by 15 Current of each phase of the motor 4. The control mechanism 6 calculates the output current of the inverter circuit 3 from the output signal of the current detection mechanism 5 to apply a predetermined frequency and a predetermined voltage according to a set number of rotations to drive the motor 4 to rotate, and controls 20 to respond to the load of the motor. The output current phase or invalid current output to the output voltage can drive the motor 4 to rotate at a set synchronous speed. FIG. 2 is a detailed circuit diagram of the inverter circuit 3 of the motor driving device, which is composed of a three-phase full-bridge inverter circuit including six transistors and six diodes. In the following, the u-phase arm 30A, which is one of the three-phase arms, is described. A parallel connection body of an upper arm transistor 31al composed of 9 200531426 bipolar insulated gate transistor (hereinafter referred to as IGBT) and an anti-parallel diode 32al is connected in parallel. , Connected in series with the parallel connection system of the lower arm transistor 31a2 composed of igbt and the anti-parallel diode 32a2, the collector terminal of the upper arm transistor 31al is connected to the positive potential terminal Lp of the DC 5 power source, and the upper arm transistor The emitter terminal of 31al is connected to the output terminal U, and the emitter terminal of the lower arm transistor 3la2 is connected to the DC power source via the shunt resistor 50a constituting the current detection mechanism 5. Terminal side. The upper arm transistor 3lal is driven by the upper arm gate drive circuit 33al in response to the upper arm drive signal Up, and the lower arm transistor 3la2 is controlled by the lower arm gate drive circuit 33a2 in response to the lower arm drive 10 signal Un. . The upper arm gate drive circuit 33al is provided with an RS flip-flop circuit that is set / reset according to the differential signal. The upper arm drive signal rises to cause the upper arm transistor 31al to conduct conduction, and the upper arm drive signal Up decreases to enable the upper arm. The transistor 31a1 is turned off. In addition, the lower arm gate drive circuit does not require an RS flip-flop circuit. The applied voltage of the gate of the IGBT needs 10 ~ 5V. When the lower arm transistor 31a2 is turned on, the bootstrap capacitor 36a is performed by the + terminal B1 of the 15V DC power supply through the bootstrap resistor 3 and the bootstrap diode 35a. For charging, the stored energy of the bootstrap capacitor 36a can be used to make the upper arm transistor 31al conduct / on / load stop switching. In addition, the bootstrap capacitor 36a can be similarly charged in a case where the anti-parallel diode 32a2 of the lower arm is turned on. The V-phase arm 30B and the W-phase arm 30C are also connected in the same manner. The emitter terminals of the lower arm transistors in each arm are connected to the shunt resistors 50b and 50c and the shunt resistor 5 constituting the current detection mechanism 5. b, 50c The terminal system 10 200531426 is connected to the negative potential terminal Ln of the DC power supply. When the lower arm transistor is composed of IGBT or power MQSFET (PGWer MOSFET power metal oxide semiconductor field effect crystal officer), the switching control can be performed by controlling the gate voltage. Therefore, if the lower arm is composed of 1 (3) 3d The voltage of the shunt resistor connected to the emitter terminal 5 when the transistor is connected, and the voltage of the shunt resistor connected to the source terminal when the lower arm transistor is formed by the power MOSFET, is less than 1 ¥. The characteristic is that it will hardly affect the switching action, and can be switched on and off by voltage control, and it can detect the inverter circuit output by detecting the voltage veu, vev, vew of the shunt resistor. The current is the motor current. Figure 3 shows the timing diagram of the inverter circuit output current detection. Among them, the triangular modulation wave is used for PWM control. In order to reduce the effect of switching the beer tone, the upper and lower arms are IGBT The switching timing is staggered, and the high-speed A / D is converted, and then the power is detected by a motor control processor such as a microcomputer. In the ㈣15th, 'ck is the peak value of the two-dimensional modulated wave signal Vt, that is, between the day and night VU is the U-phase voltage control signal. The triangle modulation wave signal vt is compared with the U-phase voltage control signal ¥ 11 to generate the driving signal Up of the upper phase transistor 31al and the lower phase transistor 3U2. The driving signal of tl ~ ⑽ and t5 ~ t6 are 20 times when the upper and lower f transistors are not conducting, so it is called the dead time. The wa / d conversion timing can also be when the upper arm transistor is turned off and the lower arm transistor is turned off. The conduction time is 13 or within the range of the dead time Δt from time ^ to time [4. Figure 4 is a block diagram of the ㈣ mechanism of the present invention, which is realized by a high-speed processor such as a microcomputer or a data signal processor. Non-sensing sine wave drive. 200531426 The following describes the basic control method using the control vector diagram of the present invention, which is not shown in Figure 5. Figure 5 shows the surface permanent magnet motor (SPM motor for short) with permanent magnets on the rotor surface. d—q coordinate system vector diagram, motor ϊ μ “i: Vr | 4q axis coaxial 'Induced voltage% is proportional to the induced voltage Chang Lou dagger and 5 revolutions N, which is the motor drive frequency f. In other words, Motor induction private ^ The ratio (Vr / f) to the frequency f always remains strange. ^ When the motor current 1 is controlled to be coaxial with the 9 axis, it will be in phase with the vector control 5 乂 The rotor position sensing state cannot be detected The q axis is assumed to have rotated to the angle r. The voltage equation of the motor can be calculated using the following formula. Table 10 When the driving frequency f is fixed, in the d-q coordinate system, if the current vector 1 is fixed, the motor applies a voltage vector The meaning is also fixed. Conversely, if the motor% plus the voltage vector Vi is fixed, the current vector I will be fixed. In addition, it will also be 15 ^ right when transformed into the ar axis coordinate with the motor applied voltage Vi (base axis) as the main axis. If the fixed current vector is 1, the motor induced voltage vector Vr will be fixed and replaced by 5. If the motor constants are known in advance (winding resistance R, winding inductance L, motor induced voltage constant ^), then the induced voltage% and current The phase between operations can be controlled to be fixed by the fixed current vector I, so the q-axis current Iq (that is, the torque current) can be controlled to be approximately fixed, and the same control can be performed as the vector control. 20 Formula 1: ^-(R + jco L) I + Vr Select the effective current Isinp as an appropriate value, and reduce the lead angle 7 to make the motor current 1 and the torque current (q-axis current) almost the same. High-efficiency operation can be performed to reduce the loss of the motor. Therefore, the temperature of the motor can be increased by 12 200531426 degrees, and the motor can be miniaturized. 5 10 In addition, the normal operation of the towel is as shown in Section 5®. The motor current I is set to U lead angle, so that even if the phase changes due to a sudden change in load, the phase center between 1 and the q axis will not change. Delays occur without torque being out of sync. The system is that when the number of rotations is suddenly reduced and the phase 2 is delayed for the q axis, and the phase is more than _ Qi, the possibility of uneasiness is very high. Therefore, the advanced angle control can be used to reduce the delay of the objective. , Thereby improving the stable performance of the rotation control. The external system can reduce the magnetic field strength by "lead angle control". The shaft motor is negative, which can reduce the motor induced voltage Vr and the coil width. M (assign 1) and the electric vector v. 'Therefore, it is possible to increase the torque current 4 to achieve high-speed rotation. It is stated in the above paragraph' If the motor constant (winding resistance R, winding inductance, motor induced voltage is often touched and the torque current corresponding to the motor load is known_ 15's 4 'As long as the absolute value and phase of the motor current I applied to the motor are controlled, the motor current vector can be controlled. Therefore, in the vector diagram in Figure 5, the d — q coordinate can be used to transform the base axis coordinates. The Γ-axis current k (two "dagger P") or the a-axis current ia (= Ic0s $) is controlled at a predetermined value.... In FIG. 4, the driving condition setting mechanism 60 is obtained by 20 according to the motor driving conditions. Drive rotation number, torque current, and lead angle ^ to set the driving frequency f and ..., the current Isin $, etc., and send the setting signals to the rotation number setting mechanism 61 and the thermal current setting mechanism 62. The carrier signal generating mechanism 63 Is used to generate a triangle wave for PWM modulation The signal Vt and the synchronization signal ck, and the carrier frequency (switching frequency) is set to an ultrasonic frequency of 15 kHz or more, to reduce motor noise by 13 200531426. The synchronization signal Ck is sent to each of the dike nose blocks, and the long operation block is It operates in synchronization with the synchronization signal Ck. The rotation number setting mechanism 61 obtains the carrier signal cycle Θ, and then adds it to the electric angle calculation mechanism 64, and adds the driving frequency signal / f setting mechanism 65 to obtain the set motor driving frequency f. The electric angle to the J mechanism 64 is synchronized with the synchronization signal ck to find the phase correlation, and the phase: the memory mechanism is used to memorize the sine wave list that has been standardized 6 6 ^ ^

Change agency, etc. & The v / f setting mechanism 65 is used to set the electric constant kvn corresponding to the driving frequency f or the negative torque, and to set the value corresponding to the number of rotations or the negative cutting torque. As described below, when using a single-motor dual-pump or single-motor single-pump square for cleaning operation in forward rotation and drainage operation for reverse rotation ^ The torque current required by the motor is different, so in the forward rotation The setting value of the applied voltage constant kvn needs to be changed during and inversion. The 15 memory mechanism 66 stores in the memory area the normalized sine wave list required to perform the trigonometric function corresponding to the phase angle. For example, it has sine wave data from phase 0 to 360 degrees and from 1 to +. As shown in the timing chart in FIG. 3, the high-speed A / D conversion mechanism 将 outputs the signal from the 20 rounds of the current detection mechanism 5 within a few microseconds when the peak value of the triangular modulated wave signal Vt is "11, vev, vew performs A / D conversion into data signals corresponding to the output current of the inverter, u, Ϊ v, and w, and then adds the instantaneous value of each phase current to the 3-phase / 2-phase base axis conversion mechanism 68. As shown in Fig. 5, the 3-phase / 2-phase base axis conversion mechanism 68 series performs a 3-phase / 2-phase conversion on the instantaneous value of the current output by the inverter circuit, and then converts the coordinates to 14 200531426. The inverter circuit rotates the voltage axis. That is, the motor's base axis (a-r axis) and absolute transformation using Equation 2 to obtain the a-axis component Ia * r-axis component Iγ. Equivalent to Isinp, which is viewed from the inverter output (bus voltage) as Reactive current component. By performing coordinate transformation, not only the reactive current component Ir can be obtained from the instantaneous value of the output current at instant 5, but also the squared average shown in Equation 3 can be used to obtain the absolute value of the output current vector Im at an instant. In addition, the output from the inverter (bus (Voltage) current phase p during observation. Therefore, compared with the phase detection method provided by the current zero-crossing detection mechanism, the responsiveness can be greatly improved. 10 Formula 2: ΊΓ-1 cos e sin 0 ~ 1 1 —1 ~ 2 ~ One Iu la __ —sin0 cos0 — 0 yfl Iv 2 2 ″ Iw

Iu

Iv

Iw

Formula 3:

Im = VTa2 + / r2 Equation 4: Φ -taxf ^ lr / la) The reactive current comparison mechanism 69 compares the output signal Ir of the 3-phase / 2-phase base-axis conversion mechanism 68 with the setting signal Ifs of the reactive current setting mechanism 62. And output its error signal AIr, and after the amplification or integration is performed by the error signal amplifying arithmetic unit 70, the applied voltage constant change signal "is output to the control 15 200531426 voltage comparison setting mechanism 71. The control voltage comparison setting mechanism 71 The output signal kvn of the / f setting mechanism 65 is compared with the output signal kv of the error signal amplifying arithmetic mechanism 70 to form an inverter output voltage control signal Va, and the inverter is controlled to output 5 voltages so that the reactive current component ^ is a predetermined value. The inverter output voltage control signal Va is added to the 2-phase / 3-phase base-axis inverse transformation mechanism 72. The 2-phase / 3-phase base-axis inverse transformation mechanism 72 generates a 3-phase sine wave using the inversely transformed end of gas shown in Equation 5. Voltage conversion number. Because the inverter output voltage is in phase with the & axis, and as long as Va is not counted, the three-phase voltages vu, vv, and vw are output to the 10 PWM control mechanism 73. [Formula 5]

Vu " —1 0 — Vv = / ϊ 1 —-— ---- 2 2 cos θ -sin 0 -Vr -Vw __ ^ \ ^ 3 _ sin 0 cos 0 Va k 2 2 ~ 74 Series By comparing the output signals of the v / fs determining mechanism 65 and the error U amplifier meter #device 7G, the load of the motor is judged to be evil. During normal operation, the motor is rotated to control the output signal kvn of the v / f setting mechanism 65 and the output of the error signal amplifying arithmetic mechanism 70. 2005 200526 There is almost no difference between the signal kv and the predetermined reactive current. Isi called. However, when the motor is out of step and the rotation is stopped, as shown in the vector diagram in Figure 6, the motor induction voltage will be zero, so the applied voltage of the motor will become smaller and become the predetermined ineffective current 'and v / f The difference between the turn-out signal kvn of the setting mechanism 65 and the output signal kv of the error signal amplifying computing mechanism 7G is considerably larger than the value of normal operation. . That is, since the output signal kvn of the v / f setting mechanism 65 is -constant ', when the output signal kv of the error signal amplifying computing device 70 is smaller than the value during normal operation, it is possible to detect the stop or abnormal rotation of the motor. . The abnormal stop and restart mechanism is based on the output signal of the load state determination mechanism 74 to announce the abnormality and stop the operation of the inverter circuit 3. The person who restarts the motor and changes the driving bar 4 by the driving condition changing mechanism 76 Set starting conditions such as starting time or starting current set by wire structure 6 (), or set values of ineffective power, and then start after narrowing. 20 If the motor out of step is due to insufficient torque current ^, or the phase t axis is out of time or is purely too high, which results in normal operation or starting, the reactive current set value Irs is too small, and it is determined as out of step. All the time, as long as the reactive current set value Irs is set again, then it can be started. When starting, if :; fast start time, the acceleration will increase 'and a larger torque electric selection method is needed. Therefore,' changing the start time 'and extending the start time is also a kind of selective _ control of various waveforms Timing diagram. EU is the slave motor induced voltage waveform and U-phase current waveform. It is more advanced than the motor induction voltage "Jingwei is a little ahead of evo, vv, vw_ 17 200531426 phase, W phase PWM control wheel-in signal, that is, 2 phase / 3 phase base The output signal 'of the wheel inverse transforming mechanism 72 is compared with the three-wavelet signal, and the shape control output signal is compared. The output phase of the U-phase signal is the same, and the U-phase current_phase is delayed compared to the phase of the signal vu. Fig. 8 is a flow chart showing the operation of the motor driving device of the present invention. Various settings such as the number of revolutions, V / f, and reactive current. Next, proceed to step 102 to determine whether to start the operation. If it is a start operation, go to step 3 and execute the start control subroutine. 10 As shown in the starting control timing chart in Fig. 11, the starting control subroutine just makes the drive frequency f rise from the frequency zero to the set frequency fs to the start time 直线, and changes the invalid current set value Irs according to the drive frequency f. When the load such as a fan blade is a fluid, the torque will be changed to 15 times by the third power of the rotation speed. Therefore, the torque current 1q corresponding to the number of rotations can be strictly obtained by experiments and other methods. After starting the work, the start control is performed through the list, so that stable starting can be achieved. However, at the time of starting, a large torque current is required to accelerate ', and the set value of the invalid current Irs needs to be set to be greater than the corresponding torque Value to prevent out-of-steps from happening ... In normal starting operation, even if the v / f setpoint and reactive current setpoint irs are started at the normal state setpoints, they can start ^ When out-of-step is detected When starting after abnormal rotation, the starting time will be changed to Ub, and the set value of the reactive current Irsb will be greater than the set value of the thermally induced current IrSa at the time of the initial start to increase the starting torque. 18 200531426 m〇4, determine whether there is a carrier signal interruption. If there is a carrier signal condition, perform the carrier signal condition subroutine of step 1G5 and the rotation number control subroutine of step 106. 5 Figure 9 shows the flow of the carrier signal interruption subroutine. The program starts from step 200. In step 201, it is judged whether the count of the carrier synchronization signal ck is the number of carriers kc in one cycle of the motor driving frequency f. If the two are equal, go to step 202 ', and then clear the carrier. Count value k. Motor drive frequency

The rate f is in one cycle. The number of carriers ke can be obtained in advance when setting the drive frequency. 0 1 10 For example, the drive frequency f when the number of rotations of an 8-pole motor is 4G4Grpm is 269.3Hz, and the cycle T is 3.712ms. When the carrier period Tc464 "s (the carrier frequency is 15.6 Hz), the number of pulses kc_. If the period of the driving frequency section is 2ττ, the phase of one carrier period Tc is △ (9 = 2; r / kc. 15 Good After incrementing the count of the carrier synchronization signal in step 203, the process proceeds to step 204, and then the number of carriers] ^ is used to calculate the electrical angle < 9 with the phase Δ θ within a period of one carrier. Next, the process proceeds to step 205 to detect the current from The signal of the detection mechanism ， detects the inverter output currents "~ ^ and ^. Next, it proceeds to step 206 'and performs the 3-phase / 2-phase base axis coordinate transformation according to formula 2 to obtain the invalid 20 current 1Γ and the effective current 1a. Then proceed to step 207 and memorize lr and Ia. Next, proceed to step 208, find the vector absolute value Im of the motor current from Formula 3, and then proceed to step 209 to determine whether the calculated value Im is above the current set value Imax. If the calculated value is 1 in the overcurrent setting Above Imax, go to step 19 200531426 210, and stop driving the power semiconductor in the inverter circuit 3 to stop the motor drive, and then go to step 211 to establish an overcurrent abnormal flag. If the calculated value Im is lower than the overcurrent setting If the value is Imax, go to step 212, and find the inverter output control signal 5 Va from the rotation number control subroutine. Then go to step 213, and perform 2 phase / 3 phase base axis coordinate inverse Mann 'conversion according to formula 5 The phase control signals ¥ 11, vv, and vw in the inversion phase, then, go to step 214 'for PWM control, and finally, go to step 215 and return. • Figure 10 shows the flowchart of the rotation number control subroutine. Because It is not necessary to execute the rotation number control subroutine for the mother carrier ##, but it can also be performed once every 2 carriers 10 #. When the carrier frequency is equal to the ultrasonic frequency, there will be a problem of the program processing time in the carrier cycle, so It is divided into processes in which phase difference, current detection calculation, or pWM control must be performed for each carrier, and coordinate conversion or processing that does not have to be performed for each carrier shown in FIG. 10 , And divides the processing that is not necessary for each carrier into multiple 15 for processing, so that the sequence program of the dishwasher other than the motor 可执行 can be executed. • The rotation number control subroutine is started from step 300. In step Find the drive frequency set value fs in 3〇1, then go to step 302, find the invalid current set value Irs corresponding to the frequency set value fs, and then go to step 303 to find the 3-phase / 2-phase base axis The invalid current Ir obtained by the coordinate transformation is then entered to step 304 to find the applied electric dust constant setting value v / f. Next, ^ and Ir are compared in step 305, and the applied voltage constant kv is calculated from the error signal Air, and then it proceeds to step 306, where the difference Δkv between the applied voltage constant set value v / f and the applied voltage constant dk is determined. Next, go to step 307, apply the voltage signal% from the calculation base shaft and memorize it, and then go to step 308 to compare △ kv with the set value △ 20 200531426 kvmax. If Akv is greater than △ kvma, go to step 309 to determine the step loss and establish Out-of-step flag, and then proceeds to step 310 to return to the subroutine. Return to the motor driver program shown in Fig. 8 again, and determine whether there is a step-out flag in step 107. If there is a step-out flag, proceed to step 108, and stop the drive of the motor driver, and in step 1〇 9 After changing the invalid current Isin0, proceed to step 110, execute the restart subroutine, and then proceed to step 111 to return to the motor drive subroutine. (Embodiment Mode 2) The second embodiment mode of the present invention will be described below with reference to Figs. 12, 13, 14, and 15. 10 FIG. 12 is a cross-sectional view of a motor / driving device of a dishwasher according to a second embodiment of the present invention. The pump motor is a single-motor single-pump method. Among them, the tap water is added to the washing tank 7 from the water supply valve 8, and the washing water 9 is stored in the washing tank 7. The lower part of the cleaning tank 7 is provided with a DC (direct current) brushless motor 4a which is vertical and flat. The lower part of the motor 4a is provided with a pump casing 10. By rotating the impeller 11 by 15, the axial direction can be applied to the centrifugal direction. pressure. When rotating in the forward direction, the washing water is sprayed from the spray wing 12b having the nozzle 12a to the dishes (not shown) for washing. During forward rotation, the internal pressure of the pump casing 10 becomes high, and the drain valve 13 provided on the side of the pump casing 10 is closed, so the direction of the water machine is on the jet wing 12b side. When the impeller 11 is rotated in the reverse direction, pressure is applied from the side of the impeller 201 to the vertical direction, and the drain valve 13 is opened, and the water flow in the vertical direction flows to the direction of the drain pipe 14. Therefore, single motor and single chestnut can be used for cleaning and drainage. Even if the impeller and the pump casing are separately provided as a single motor and dual pump method for cleaning and drainage, the cleaning can be performed in the forward rotation and the drainage operation can be reversed. 21 200531426 However, the height of the pump will increase, and the cleaning tank cannot be reduced. 7 lower volume. The single-motor, single-pump type drainage pump is extremely inefficient, so when the drainage water is drained, the voice is loud when the air is sucked in. In the cleaning operation, the drainage valve is caused by debris.丨 When the 3 cannot be completely closed for 5 hours, the washing water will be gradually discharged, and finally there is no washing water, and the heating heater (not shown) for the washing water will be in a no-load state. In any of the above cases, the load will be lightened suddenly because there is no water in the pump, so the motor input or load torque can be detected to change the number of square revolutions of the motor, or the motor can be stopped and water supplied to solve the problem. 10 Fig. 13 is a block diagram of the control mechanism of the motor driving device of the second embodiment. The basic idea of the present invention is to calculate the load state or load torque from the inverter output, that is, the motor input. The motor input pin is expressed by the product of the inverter output voltage Va and the motor current I and cos $, multiplied by the motor The efficiency 々 is the motor output Po. The motor efficiency knife is basically determined by the number of rotations. 15 and the motor torque T is represented by the product of the torque constant kt and the torque current Iq, and the following formula 6 is established. [Formula 6] 20 In other words, if the torque current Iq is divided into the rotation number ωΓ and the motor input (two V Icosp), it can be calculated by Formula 6. Since Ia = Ic〇Sp, & Equation 2 is obtained, even if the phase deviation from q vehicles is not known, the motor torque can be obtained by a general calculation. In addition, the mountain # 'can also be transported to Yutianshan A moment current Iq, so you can reverse the phase deviation from the q axis and go out. Figure 13 is a change of the block diagram in Figure 4. And only the section 22 200531426 will be explained. Other poses and caps! The implementation modes are the same, and their operations and uses are also the same. Therefore, the description is omitted here. Operation 10 15 20 After applying the applied voltage signal Va and the 3-phase / 2-phase base axis conversion mechanism _a round number la to the output power calculation mechanism of the inverter, the inverter output is calculated, that is, the motor is turned on. The motor input signal and the driving frequency signal are added to the load state judging mechanism 7 to calculate the load torque and determine the load state of the motor. If the driving frequency is constant, the load change can be judged by the motor input. The control signal is sent to the driving condition changing mechanism ^, and the driving condition changing mechanism 78 sends a rotation number signal to the driving bar check setting 78 to control the set rotation number. This can reduce the load torque, thereby reducing the rotation number and reducing noise. The driving condition changing mechanism 78 can change not only the number of driving revolutions' but also various conditions of the reactive current Isin < ^ or at the time of starting. The figure shows the change over time after the drainage operation of the dishwasher starts. The motor input W and the number of motor rotations _ change. When the washing tank memory = wash # water, the motor input is approximately constant, but when the wash water drain: ^ sucks air, the motor input and torque will drop sharply. : This 'Detects whether air is being drawn in by the motor input or torque change. When the water fixed wheel * (Wl) drops to a predetermined value (w3)', it is judged that the air is sucked in and can be rotated at time t3 The number decreases from N1 to N2, thereby reducing the noise of inhaling air when draining water. Figure 15 shows the situation in which the drain valve of the dishwasher is not completely closed: the change of the motor wheel W over time during the cleaning operation. When the two-pump motor is used, if the washing water is discharged from the drain, the suction will be disrupted and the load on the motor will become lighter. Therefore, when the inverter turns out, that is, 23 200531426, the motor input is less than the predetermined value Wd. The leakage of washing water is detected, and the drive motor can be stopped and the water can be replenished. Fig. 16 shows an example of a rotation number control subroutine for detecting a change in motor input. The steps from step 300 to step 306a are basically the same as those in the tenth embodiment of the fifth embodiment, so the description is omitted here. In step 311, find the effective current Ia obtained in the carrier signal interruption subroutine. Next, go to step 312 to find the motor input Pin, and then go to step 323. If it is determined that the motor input has fallen and the motor input is lower than If the value is predetermined, the descent flag is established and then returns to the subroutine. 10 15

20 When the motor input descending flag is established, it is determined that air is sucked in. If it is a cleaning operation, the motor drive is stopped and the water is replenished. If several times of operation are performed and air intake is still detected, it is determined that there is an abnormality, and the operation will be suspended or the motor will be reversed, and operations such as removing foreign objects in the drain valve will be performed to prevent the heater from becoming empty.载 效应。 Load phenomenon. On the right is drainage operation ', it is judged that the air is sucked in by a predetermined input drop, and the noise during drainage can be reduced by controlling the number of rotations. Since the present invention can instantly detect motor load fluctuations such as motor input and torque fluctuations, it is very suitable for detecting torque fluctuations to detect an unbalanced state of laundry when a washing machine or a washer-dryer performs a dehydration operation. (Implementation Mode 3) Fig. 17 is a block diagram of the control mechanism of the motor driving device in the third embodiment mode. After detecting the motor torque, the reactive current Isinp can be controlled to maximize efficiency. Fig. 17 is a partial change of the block diagram of Fig. 13 in the second embodiment 24 200531426 In addition, the following only describes the changes. The inverter output power calculation mechanism 77 calculates the inverter output power from the inverter output voltage Va and the effective current Ia, that is, the motor input power, and adds the motor input signal and the driving frequency signal to the torque current calculation. The mechanism 79 calculates the torque current Iq of the motor 5 according to the formula 6. The effective current calculation mechanism 80 calculates the absolute value of the motor current vector Im from Formula 2, and compares the torque current 1 () [with the absolute value of the motor current vector lm by the motor current comparison mechanism 81. The invalid current change mechanism 82 responds to The difference signal between Iq and Iq changes the set value of the invalid current Isinp. When 10 is increased to 1 (1, the set value of Isinp is decreased, and when Im is decreased from 1 (1, the set value of Isinp is increased, Control the sum and ^ to be approximately the same. Since Isinp is controlled so that I and iq shown in Figure 5 are approximately equal, it means that the I and q axes are coaxial and can be operated with maximum efficiency in the same way as vector control. 15 When the absolute value of the motor current vector and the torque current Iq are controlled to be approximately the same, it will be difficult to control during the high torque operation at the time of starting. Therefore, it should be stopped at the time of starting and the number of rotations is approximately fixed. Control cycle. Compared with a dishwasher pump motor with a large load torque fluctuation, the present invention is more suitable for controlling the compressor of an air conditioner or a fan motor, etc., or the drum rotation of a drum type washing machine In summary, the present invention controls the reactive current of the motor by detecting the output current of the 3 phase inverters and performing coordinate transformation on the base axis of the output voltage of the inverter circuit after performing 3 phase / 2 phase conversion. Or current phase, and can enter the rdc (straight machine) and brush the motor (permanent magnet synchronous motor) of the non-inductive side sine wave drive 25 200531426, and then the load status can be detected by the inverter output power or output voltage. According to the present invention, the “inverter output power can be detected in an instant, that is, the motor input and the load of the motor are sad”. Therefore, the same control as the vector control can be performed, so that the maximum efficiency operation can be performed or the load can be adjusted according to the load. In addition, the present invention can detect the instantaneous load fluctuation, and can detect the air suction condition of the pump, or detect the imbalance of the load of the dehydration and washing tank of the washing machine and the rotating drum by the torque fluctuation of the motor. It is also easy to detect the out-of-step of the motor, so in the case of out-of-step it can be reported abnormally or by changing the invalid current and other driving bars. After restarting, the rotation drive can be stabilized. In addition, in the conventional non-sensing sine wave drive, the 5 δ difference of the estimated position is very complicated, which causes a large burden on the processor. Various tests of the motor parameters required for entering and exiting the position estimation operation also require f time. However, according to the present invention, since the position estimation is not required, the processing of the "2" juice can be reduced, and the number of digits of the operation data can be reduced. (Also: the motor parameters are required, and the maximum operating efficiency can be automatically realized) 0 protection: Emperor ... has reduced the burden on the processing state, and achieves the same as vector control. Wear = cheap and can realize the non-sensory sine Wave-driven motor drive Λ Washer-dryer or dishwasher motor control and program skin / = To be a complicated program, in addition, 'the carrier frequency must be set to supersonic', '; ,,, and 喿 g' so ' If it is the conventional non-sensing sine wave drive method, the method of 200531426, the burden of controlling the program amount and computing performance of the processor is very large, and an expensive processor is required. The processor achieves the same performance as the sensorless vector control, thus enabling inexpensive washer-dryers and dishwashers. 5 In addition, although the present invention is described mainly with an SPM motor, it is apparent that the present invention can also be applied to an IPM motor having a permanent magnet in a core rotor. In addition, the same effect can be achieved by controlling the phase of the inverter output voltage and the output current or the effective current Icos φ to be constant. 10 As described above, the motor driving device of the present invention converts AC power to DC power through a rectifier circuit, drives the motor with an inverter circuit, detects the output current of the inverter circuit by a current detection mechanism, and performs PWM on the inverter circuit. Control to achieve the set number of rotations, and control the inverter circuit output voltage and current phase or reactive current to a predetermined value. The inverter circuit outputs 15 voltage or output power to determine the load status. Therefore, the motor can be easily detected Abnormal rotation and torque change, and it can be applied not only to the pump motor of the dishwasher shown in the embodiment, but also to the compressor motor, fan motor of the air conditioner, or dehydration in the washing machine and washer-dryer. It also controls the rotation of the washing tub and the rotating drum. 20 [Brief description of the drawings] Fig. 1 is a block diagram showing a first embodiment of the motorized driving device of the present invention. Fig. 2 is a circuit diagram showing an inverter of the motor driving device. Fig. 3 is a timing chart showing the current detection of the motor driving device. 27 200531426 Figure 4 is a block diagram showing the control mechanism of the motor drive device. Fig. 5 is a control vector diagram showing the motor driving device. Fig. 6 is a control vector diagram when the motor driving device is out of step. Fig. 7 shows various waveforms 5 and timing charts of the control mechanism of the motor driving device. Fig. 8 is a flowchart showing a motor control program of the motor driving device. Fig. 9 is a flowchart showing a carrier signal interrupt subroutine of a motor control program of the motor driving device. Fig. 10 is a flowchart showing a subroutine for controlling the rotation of the motor control program of the motor driving device. Fig. 11 is a timing chart showing the start control of the motor driving device. Fig. 12 is a sectional view showing a motor driving device of a dishwasher according to a second embodiment of the present invention. FIG. 13 is a block diagram showing a control mechanism of the motor driving device. 15 Fig. 14 is a timing chart showing the control of the intake air detection by the motor driving device during the drainage operation. Fig. 15 is a timing chart showing the control of the intake air detection during the cleaning operation of the motor driving device. Fig. 16 is a flowchart showing the rotation number control subroutine of the motor driving device. Fig. 17 is a block diagram showing a control mechanism of a motor drive device according to a third embodiment of the present invention. 28 200531426 [Description of symbols of main components] 1 ... parent current power supply 32al, 32a2 ... anti-parallel diode 2 ... rectifier circuit 33al ... upper arm gate drive circuit 3 ... inverter circuit 33a2. .. lower arm gate drive circuit 4 ... motor 34a ... bootstrap resistor 4a ... DC (direct current) brushless motor 35a ... bootstrap diode 5 ... current detection mechanism 36a .. .Boot capacitor 6 ... Control mechanism 50a, 50b, 50c ... Shunt resistor 7 ... Washing tank 60, 60a ... Drive condition setting mechanism 8 ... Water supply valve 61 ... Rotation number Setting mechanism 9 ... washing water 62 ... ineffective current setting mechanism 10 ... fruit shell 63 ... carrier signal generating mechanism 11 ... impeller 64 ... electrical angle computing mechanism 12a ... jet nozzle 65 ... V / f setting mechanism 12b ... · jet wing 66 ... memory mechanism 13 ... drain valve 67 ... high-speed A / D conversion mechanism 14 ... drain pipe 68 ... 3-phase / 2-phase base shaft Conversion mechanism 20 ... Full-wave rectifier circuit 69 ... Reactive current comparison mechanisms 21a, 21b ... Capacitor 70 ... Error signal amplification calculation mechanism 30A ... U-phase arm 71 ... Control voltage comparison setting mechanism 30B ... V-phase arm 72 .. .2-phase 3-phase base axis inverse transformation mechanism 30C ... W-phase 73 ... PWM control mechanism 31al ... upper arm transistor 74,74a ... load state discrimination mechanism 31a2 ... lower arm transistor 75 ... abnormal stop and restart mechanism 29 200531426 76 ... driving condition changing mechanism 77 .. output power calculation mechanism 78 .. driving condition change mechanism 79 .. torque current calculation mechanism 80 .. effective current calculation mechanism 81 ... motor current comparison mechanism 82 .. invalid current change mechanism

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Claims (1)

200531426 10. Scope of patent application: 1 · A motor driving device, including: AC power source; rectifier circuit, which is used to convert the AC power of the AC power source to 5 DC power, 1 inverter, so as to convert the aforementioned rectifier circuit The direct current is converted into alternating current; the 'motor' is driven by the aforementioned inverter circuit; the current detection mechanism is used to detect the current of the inverter circuit by 10 currents; and the control mechanism is based on the aforementioned current detection The output signal of the mechanism performs PWM control on the inverter circuit to control the motor to achieve a set number of rotations, and the control mechanism controls the phase of the 15 output voltage and output current of the inverter circuit. Or the reactive current is at a predetermined value. 2 · If the scope of patent application is the first! The motor driving device of the above item, wherein the aforementioned control mechanism performs V / f control so that the phase of the output voltage of the inverter circuit and the phase of the output current or the ineffective current is a predetermined value, and the load state is judged by the V / f control value . 203 · The motor driving device according to claim 1 of the patent scope, wherein the aforementioned control mechanism detects the load state of the motor by using the output electromigration or output power of the inverter circuit, and changes the output of the inverter circuit Phase of voltage and wheel current, or reactive current. 4. If the motor driving device according to the scope of the patent application, the aforementioned control mechanism is based on the output voltage or output power of the aforementioned inverter circuit to detect the motor load status and change the motor driving conditions. 5. For the motor driving device of the first scope of the patent application, the aforementioned control mechanism judges the motor load torque based on the output power and driving frequency of the inverter circuit. 6. For example, the motor driving device of the scope of patent application, wherein the aforementioned control mechanism judges the load torque based on the output power of the inverter circuit and the driving frequency, and controls the motor according to the change of the load torque. 10 7. The motor driving device according to item 1 of the scope of patent application, wherein the aforementioned control mechanism judges the load torque based on the output power and driving frequency of the inverter circuit, and controls the inversion according to the load torque. The phase of the output voltage of the converter circuit and the output current, or the reactive current. 8. For the motor driving device according to item 1 of the patent application scope, wherein the aforementioned control mechanism 15 detects the abnormal rotation of the motor by using the output voltage or output power of the inverter circuit, and is changing the output voltage of the inverter circuit After the phase with the output current or the reactive current, the motor is restarted. 9. The motor driving device according to the first item of the patent application, wherein the aforementioned control mechanism 20 detects the abnormal rotation of the motor by using the output voltage or power of the inverter circuit, and after changing the starting conditions of the inverter circuit To restart the motor. 32