WO2015165349A1 - Variable frequency impeller washing machine and controlling method therefor - Google Patents

Variable frequency impeller washing machine and controlling method therefor Download PDF

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Publication number
WO2015165349A1
WO2015165349A1 PCT/CN2015/077124 CN2015077124W WO2015165349A1 WO 2015165349 A1 WO2015165349 A1 WO 2015165349A1 CN 2015077124 W CN2015077124 W CN 2015077124W WO 2015165349 A1 WO2015165349 A1 WO 2015165349A1
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WIPO (PCT)
Prior art keywords
permanent magnet
washing machine
magnet motor
rotor position
feedback device
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PCT/CN2015/077124
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French (fr)
Chinese (zh)
Inventor
韦炳
盛纯
徐彭城
Original Assignee
合肥美的洗衣机有限公司
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Publication date
Priority claimed from CN201420221612.9U external-priority patent/CN204231242U/en
Priority claimed from CN201410182912.5A external-priority patent/CN105099293A/en
Application filed by 合肥美的洗衣机有限公司 filed Critical 合肥美的洗衣机有限公司
Publication of WO2015165349A1 publication Critical patent/WO2015165349A1/en

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    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F17/00—Washing machines having receptacles, stationary for washing purposes, wherein the washing action is effected solely by circulation or agitation of the washing liquid
    • D06F17/06—Washing machines having receptacles, stationary for washing purposes, wherein the washing action is effected solely by circulation or agitation of the washing liquid by rotary impellers
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements

Definitions

  • the invention relates to the technical field of electrical appliances, in particular to a frequency conversion wave washing machine driven by a permanent magnet motor and a control method thereof.
  • variable frequency washing machine driven by the permanent magnet motor shown in FIG. 4 adopts a control mode with rotor position feedback information, and uses three Hall sensors to feed back rotor position information, and the control of the rotor position feedback information is controlled.
  • the mode cost is low, but the position information, that is, the electrical angle can feedback the rotor position of the motor every 60°, and can not provide the continuous angle information required in the process of using the field oriented control.
  • the encoder feedback method although it can provide accurate position information, it is costly and should not be accepted by the market.
  • the object of the present invention is to solve at least one of the above technical problems to some extent.
  • an object of the present invention is to provide a variable frequency pulsator washing machine, which can determine the rotor position by detecting the phase current and the terminal voltage of the permanent magnet motor of the rotorless position feedback device, thereby effectively solving the rapid start and stop of the pulsator washing machine. Reverse the technical challenges of fast switching.
  • Another object of the present invention is to provide a control method for a variable frequency pulsator washing machine.
  • an embodiment of the present invention provides a variable frequency pulsator washing machine including a permanent magnet motor without a rotor position feedback device, and a detecting unit for detecting a phase of the permanent magnet motor of the rotorless position feedback device. a current and a terminal voltage to obtain rotor position information of the permanent magnet motor; and a control system for controlling the quick start or stop of the washing machine according to the rotor position information of the permanent magnet motor of the rotorless position feedback device obtained by the detecting unit Switch to fast switching.
  • the detection unit further comprises a rotor position observer of the permanent magnet motor controller.
  • the detecting unit is further configured to detect a DC bus voltage of the permanent magnet motor driver.
  • another embodiment of the present invention provides a control method of a variable frequency pulsator washing machine, which includes a permanent magnet motor without a rotor position feedback device, and the control method includes detecting the absence a phase current and a terminal voltage of the permanent magnet motor of the rotor position feedback device to obtain rotor position information of the permanent magnet motor of the rotorless position feedback device; and the permanent magnet motor of the rotorless position feedback device obtained according to the detecting Rotor position Information, control the variable frequency pulsator washing machine to quickly start or stop or forward and reverse fast switching.
  • control method further includes detecting a DC bus voltage of the permanent magnet motor driver.
  • the invention removes the rotor position of the motor by using the phase current detection and the terminal voltage detection of the permanent magnet motor of the rotorless position feedback device, that is, the existing pulsator frequency conversion washing machine of the permanent magnet motor using the rotorless position feedback device.
  • Feedback devices such as Hall sensors improve product quality, reduce costs, and increase manufacturing efficiency.
  • the invention can collect the continuous angle information required in the field oriented control process by the phase current detection and the terminal voltage detection of the permanent magnet motor through the rotorless position feedback device, and can realize the angle control of ⁇ 2°, which is much higher than
  • the control accuracy of the Hall sensor used in the existing permanent magnet motor is 60°, which realizes the efficient control of the motor and achieves the control effect of energy saving and noise reduction.
  • Figure 1 is a block diagram showing the control principle of the inverter pulsator washing machine of the present invention
  • FIG. 2 is a schematic diagram of a terminal voltage and a DC bus voltage detecting circuit according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a phase current detecting circuit according to an embodiment of the present invention.
  • FIG. 4 is a block diagram showing the control principle of a pulsator washing machine using a Hall sensor in the prior art.
  • variable frequency pulsator washing machine according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
  • the variable frequency pulsator washing machine comprises a permanent magnet motor without a rotor position feedback device; and the detecting unit is configured to detect a phase current and a terminal voltage of the permanent magnet motor of the rotorless position feedback device to obtain a permanent magnet motor The rotor position information; and the control system, according to the rotor position information of the permanent magnet motor of the rotorless position feedback device obtained by the detection system, the control system controls the quick start or stop of the washing machine or the fast switching of the forward and reverse rotation.
  • the “permanent magnet motor without rotor position feedback device” refers to the rotor position feedback device that has been eliminated from the permanent magnet motor, so it is defined as “the permanent magnet without rotor position feedback device”. Motor”.
  • the detection system includes a rotor position observer of a permanent magnet motor controller.
  • the detection system is further operative to detect the DC bus voltage of the permanent magnet motor driver.
  • electronic rotor position detection is implemented by phase current, phase voltage detection, and rotor position observer of a motor controller, eliminating the prior art permanent magnet motor self-rotating rotor position feedback device such as a Hall sensor.
  • the hardware performs rotor position detection.
  • the rotor position information of the permanent magnet motor is obtained by detecting the phase current and the terminal voltage of the permanent magnet motor of the rotorless position feedback device, and such a method can be collected in the field oriented control process.
  • the required continuous angle information can realize the angle control of ⁇ 2°.
  • the permanent magnet motor adopts the Hall sensor, and the control method of the rotor position feedback information such as the Hall sensor is adopted, and the position information is the electric angle.
  • the rotor position of the motor can be fed back every 60°.
  • variable frequency pulsator washing machine of the embodiment of the present invention removes the phase current detection and the terminal voltage detection of the permanent magnet motor of the rotorless position feedback device, and eliminates the rotor position feedback of the motor in the permanent magnet motor of the prior art variable frequency pulsator washing machine.
  • the hardware such as Hall sensor greatly reduces the cost and hardware resource consumption, and also greatly improves the control precision, realizes the efficient control of the motor, and achieves the control effect of energy saving, cost reduction and noise reduction.
  • control method of the variable frequency pulsator washing machine comprises: detecting the phase current and the terminal voltage of the permanent magnet motor of the rotorless position feedback device to obtain the rotor position information of the permanent magnet motor; and the rotor of the permanent magnet motor of the rotorless position feedback device obtained according to the detection Position information, control the variable frequency pulsator washing machine to quickly start or stop or forward and reverse fast switching.
  • control method further includes detecting a DC bus voltage of the permanent magnet motor driver.
  • FIG. 2 is a schematic diagram of a terminal voltage and DC bus voltage detecting circuit according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a phase current detecting circuit according to an embodiment of the present invention.
  • the initial position of the rotor is found by injecting a high-frequency pulse current to the phase line of the permanent magnet motor of the rotorless position feedback device and detecting the phase current;
  • the phase current is detected during the running of the motor, and the rotor position is continuously detected by the phase voltage;
  • phase voltage signal is used to determine the most appropriate control waveform that the motor should give. Control torque ripple to reduce noise;
  • phase current sampling and DC bus voltage are also used, but these multiple applications are used in long-term single-direction operation, or in applications where the motor is switching between forward and reverse.
  • the rotation stop ratio reaches the minimum of 0.3S, and it is difficult to satisfy the positive and negative rotation of the pulsator washing machine only by using the phase current and the bus voltage sampling mode.
  • the main difference between the common phase current and the bus voltage control mode in the present invention is that the detection of the terminal voltage of each phase line of the motor is increased. And the terminal voltage is passively observed.
  • the rotor position can be observed more accurately, and the initial position of the rotor can be accurately positioned by a special high-frequency injection method in a stationary state.
  • the rotor position error of the current model can be corrected multiple times during operation.
  • variable frequency pulsator washing machine and the control method thereof since the phase current detection and the terminal voltage detection of the permanent magnet motor through the rotorless position feedback device can collect the continuous angle information required in the field oriented control process,
  • the angle control of ⁇ 2° is much higher than the control accuracy of 60° of the Hall sensor used in the existing permanent magnet motor or the built-in Hall sensor, which realizes the efficient control of the motor and achieves the control effect of energy saving and noise reduction;
  • hardware such as a motor rotor position feedback device such as a Hall sensor is eliminated, which improves product quality, reduces cost, and improves manufacturing efficiency.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Textile Engineering (AREA)
  • Control Of Washing Machine And Dryer (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

A variable frequency impeller washing machine and controlling method therefor. The washing machine comprises a permanent magnet motor having no rotor position feedback device; a measurement unit for measuring the phase current and the terminal voltage of the motor so as to obtain the rotor position; a control system for controlling the rapid starting/stopping or forward/backward switching of the washing machine motor according to the position of the rotor obtained by the measurement unit. By determining the position of the rotor, the technical problem of rapid starting/stopping and forward/backward switching of impeller washing machines is effectively solved.

Description

变频波轮洗衣机及其控制方法Frequency conversion wave washing machine and control method thereof 技术领域Technical field
本发明涉及电器技术领域，特别涉及采用永磁电机进行驱动的变频波轮洗衣机及其控制方法。The invention relates to the technical field of electrical appliances, in particular to a frequency conversion wave washing machine driven by a permanent magnet motor and a control method thereof.
背景技术Background technique
现有技术中，如图4所示的采用永磁电机驱动的变频洗衣机，是采用有转子位置反馈信息的控制方式，采用三个霍尔传感器反馈转子位置信息，这种转子位置反馈信息的控制方式成本较低，但其位置信息即电角度每60°才能反馈一次电机转子位置，无法提供在采用磁场定向控制过程中所需的连续角度信息。在其它控制方式中，如编码器反馈方式，虽然能够提供精确的位置信息，但成本较高，不宜被市场接受。In the prior art, the variable frequency washing machine driven by the permanent magnet motor shown in FIG. 4 adopts a control mode with rotor position feedback information, and uses three Hall sensors to feed back rotor position information, and the control of the rotor position feedback information is controlled. The mode cost is low, but the position information, that is, the electrical angle can feedback the rotor position of the motor every 60°, and can not provide the continuous angle information required in the process of using the field oriented control. In other control methods, such as the encoder feedback method, although it can provide accurate position information, it is costly and should not be accepted by the market.
发明内容Summary of the invention
本发明的目的旨在至少在一定程度上解决上述的技术问题之一。The object of the present invention is to solve at least one of the above technical problems to some extent.
为此，本发明的一个目的在于提供一种变频波轮洗衣机，通过检测无转子位置反馈装置的永磁电机的相电流和端电压来判断转子位置，可有效解决波轮洗衣机快速启停、正反转快速切换的技术难题。Therefore, an object of the present invention is to provide a variable frequency pulsator washing machine, which can determine the rotor position by detecting the phase current and the terminal voltage of the permanent magnet motor of the rotorless position feedback device, thereby effectively solving the rapid start and stop of the pulsator washing machine. Reverse the technical challenges of fast switching.
本发明的另一个目的在于提出一种变频波轮洗衣机的控制方法。Another object of the present invention is to provide a control method for a variable frequency pulsator washing machine.
为达到上述目的，本发明的一方面实施例提出一种变频波轮洗衣机，包括无转子位置反馈装置的永磁电机；检测单元，用于检测所述无转子位置反馈装置的永磁电机的相电流与端电压，以获得永磁电机的转子位置信息；和控制***，根据所述检测单元获得的所述无转子位置反馈装置的永磁电机的转子位置信息，控制洗衣机快速启停或正反转快速切换。In order to achieve the above object, an embodiment of the present invention provides a variable frequency pulsator washing machine including a permanent magnet motor without a rotor position feedback device, and a detecting unit for detecting a phase of the permanent magnet motor of the rotorless position feedback device. a current and a terminal voltage to obtain rotor position information of the permanent magnet motor; and a control system for controlling the quick start or stop of the washing machine according to the rotor position information of the permanent magnet motor of the rotorless position feedback device obtained by the detecting unit Switch to fast switching.
在本发明的一些具体实施例中，所述检测单元进一步包括永磁电机控制器的转子位置观测器。In some embodiments of the invention, the detection unit further comprises a rotor position observer of the permanent magnet motor controller.
在本发明的一些具体实施例中，所述检测单元还用于检测永磁电机驱动器的直流母线电压。In some embodiments of the invention, the detecting unit is further configured to detect a DC bus voltage of the permanent magnet motor driver.
为达到上述目的，本发明的另一方面实施例提出一种变频波轮洗衣机的控制方法，所述变频波轮洗衣机包括无转子位置反馈装置的永磁电机，所述控制方法包括检测所述无转子位置反馈装置的永磁电机的相电流与端电压，以获得所述无转子位置反馈装置的永磁电机的转子位置信息；根据所述检测获得的所述无转子位置反馈装置的永磁电机的转子位置 信息，控制变频波轮洗衣机快速启停或正反转快速切换。In order to achieve the above object, another embodiment of the present invention provides a control method of a variable frequency pulsator washing machine, which includes a permanent magnet motor without a rotor position feedback device, and the control method includes detecting the absence a phase current and a terminal voltage of the permanent magnet motor of the rotor position feedback device to obtain rotor position information of the permanent magnet motor of the rotorless position feedback device; and the permanent magnet motor of the rotorless position feedback device obtained according to the detecting Rotor position Information, control the variable frequency pulsator washing machine to quickly start or stop or forward and reverse fast switching.
在本发明的一些具体实施例中，所述控制方法还包括检测永磁电机驱动器的直流母线电压。In some embodiments of the invention, the control method further includes detecting a DC bus voltage of the permanent magnet motor driver.
与已有技术相比，本发明有益效果体现在：Compared with the prior art, the beneficial effects of the present invention are embodied in:
1、本发明通过对无转子位置反馈装置的永磁电机的相电流检测、端电压检测，即在现有采用无转子位置反馈装置的永磁电机的波轮变频洗衣机中去除了电机的转子位置反馈装置如霍尔传感器，提高了产品品质，降低成本，提高制造效率。1. The invention removes the rotor position of the motor by using the phase current detection and the terminal voltage detection of the permanent magnet motor of the rotorless position feedback device, that is, the existing pulsator frequency conversion washing machine of the permanent magnet motor using the rotorless position feedback device. Feedback devices such as Hall sensors improve product quality, reduce costs, and increase manufacturing efficiency.
2、本发明由于通过无转子位置反馈装置的永磁电机的相电流检测、端电压检测，可采集到磁场定向控制过程中需要的连续角度信息，可实现±2°的角度控制，远高于现有永磁电机采用的霍尔传感器60°的控制精度，实现了电机的高效控制，并达到节能降耗和降低噪音的控制效果。2. The invention can collect the continuous angle information required in the field oriented control process by the phase current detection and the terminal voltage detection of the permanent magnet motor through the rotorless position feedback device, and can realize the angle control of ±2°, which is much higher than The control accuracy of the Hall sensor used in the existing permanent magnet motor is 60°, which realizes the efficient control of the motor and achieves the control effect of energy saving and noise reduction.
附图说明DRAWINGS
本发明上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from
图1为本发明变频波轮洗衣机控制原理方框图；Figure 1 is a block diagram showing the control principle of the inverter pulsator washing machine of the present invention;
图2为本发明之一个实施例端电压与直流母线电压检测电路原理图；2 is a schematic diagram of a terminal voltage and a DC bus voltage detecting circuit according to an embodiment of the present invention;
图3为本发明之一个实施例相电流检测电路原理图；3 is a schematic diagram of a phase current detecting circuit according to an embodiment of the present invention;
图4为现有技术中采用霍尔传感器的波轮洗衣机控制原理方框图。4 is a block diagram showing the control principle of a pulsator washing machine using a Hall sensor in the prior art.
具体实施方式detailed description
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.
下面参考附图来详细描述根据本发明实施例的变频波轮洗衣机。A variable frequency pulsator washing machine according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
在本发明的实施例中，变频波轮洗衣机包括无转子位置反馈装置的永磁电机；检测单元，用于检测无转子位置反馈装置的永磁电机的相电流与端电压，以获得永磁电机的转子位置信息；和控制***，根据检测***获得的所述无转子位置反馈装置的永磁电机的转子位置信息，控制***控制洗衣机快速启停或正反转快速切换。需要注意的是，这里的“无转子位置反馈装置的永磁电机”指的是永磁电机中已剔除其自带的转子位置反馈装置，故在此定义为“无转子位置反馈装置的永磁电机”。In an embodiment of the invention, the variable frequency pulsator washing machine comprises a permanent magnet motor without a rotor position feedback device; and the detecting unit is configured to detect a phase current and a terminal voltage of the permanent magnet motor of the rotorless position feedback device to obtain a permanent magnet motor The rotor position information; and the control system, according to the rotor position information of the permanent magnet motor of the rotorless position feedback device obtained by the detection system, the control system controls the quick start or stop of the washing machine or the fast switching of the forward and reverse rotation. It should be noted that the “permanent magnet motor without rotor position feedback device” refers to the rotor position feedback device that has been eliminated from the permanent magnet motor, so it is defined as “the permanent magnet without rotor position feedback device”. Motor".
在本发明一些具体实施例中，检测***包括永磁电机控制器的转子位置观测器。 In some embodiments of the invention, the detection system includes a rotor position observer of a permanent magnet motor controller.
在本发明的一些具体实施例中，检测***还用于检测永磁电机驱动器的直流母线电压。In some embodiments of the invention, the detection system is further operative to detect the DC bus voltage of the permanent magnet motor driver.
在本发明至少一些实施例中，通过相电流、相电压检测和电机控制器的转子位置观测器实现电子转子位置检测，剔除了现有技术永磁电机自带转子位置反馈装置如霍尔传感器等硬件进行转子位置检测。In at least some embodiments of the present invention, electronic rotor position detection is implemented by phase current, phase voltage detection, and rotor position observer of a motor controller, eliminating the prior art permanent magnet motor self-rotating rotor position feedback device such as a Hall sensor. The hardware performs rotor position detection.
需要注意的是，在本发明实施例中，通过检测无转子位置反馈装置的永磁电机的相电流及端电压来获得永磁电机的转子位置信息，这样的方法可采集到磁场定向控制过程中需要的连续角度信息，可实现±2°的角度控制，而现有技术中永磁电机采用的是霍尔传感器，采用霍尔传感器这种转子位置反馈信息的控制方式，其位置信息即电角度每60°才能反馈一次电机转子位置。It should be noted that, in the embodiment of the present invention, the rotor position information of the permanent magnet motor is obtained by detecting the phase current and the terminal voltage of the permanent magnet motor of the rotorless position feedback device, and such a method can be collected in the field oriented control process. The required continuous angle information can realize the angle control of ±2°. In the prior art, the permanent magnet motor adopts the Hall sensor, and the control method of the rotor position feedback information such as the Hall sensor is adopted, and the position information is the electric angle. The rotor position of the motor can be fed back every 60°.
同时，本发明实施例的变频波轮洗衣机通过对无转子位置反馈装置的永磁电机的相电流检测、端电压检测，剔除现有技术变频波轮洗衣机永磁电机内还设有电机转子位置反馈装置如霍尔传感器等硬件，大大降低了成本与硬件资源消耗，同时也大大提高了控制精确，实现了电机的高效控制，达到了节能降耗、降成本、降低噪音的控制效果。At the same time, the variable frequency pulsator washing machine of the embodiment of the present invention removes the phase current detection and the terminal voltage detection of the permanent magnet motor of the rotorless position feedback device, and eliminates the rotor position feedback of the motor in the permanent magnet motor of the prior art variable frequency pulsator washing machine. The hardware such as Hall sensor greatly reduces the cost and hardware resource consumption, and also greatly improves the control precision, realizes the efficient control of the motor, and achieves the control effect of energy saving, cost reduction and noise reduction.
本发明的另外一些实施例提出一种变频波轮洗衣机的控制方法。变频波轮洗衣机的控制方法包括检测无转子位置反馈装置的永磁电机的相电流与端电压，以获得永磁电机的转子位置信息；根据检测获得的无转子位置反馈装置的永磁电机的转子位置信息，控制变频波轮洗衣机快速启停或正反转快速切换。Further embodiments of the present invention provide a method of controlling a variable frequency pulsator washing machine. The control method of the variable frequency pulsator washing machine comprises: detecting the phase current and the terminal voltage of the permanent magnet motor of the rotorless position feedback device to obtain the rotor position information of the permanent magnet motor; and the rotor of the permanent magnet motor of the rotorless position feedback device obtained according to the detection Position information, control the variable frequency pulsator washing machine to quickly start or stop or forward and reverse fast switching.
在本发明的一些具体实施例中，控制方法还包括检测永磁电机驱动器的直流母线电压。In some embodiments of the invention, the control method further includes detecting a DC bus voltage of the permanent magnet motor driver.
请参考图2和图3，图2为本发明之一个具体实施例端电压与直流母线电压检测电路原理图；图3为本发明之一个实施例相电流检测电路原理图。Please refer to FIG. 2 and FIG. 3. FIG. 2 is a schematic diagram of a terminal voltage and DC bus voltage detecting circuit according to an embodiment of the present invention; FIG. 3 is a schematic diagram of a phase current detecting circuit according to an embodiment of the present invention.
具体而言，见图2，通过对无转子位置反馈装置的永磁电机相线注入高频脉冲电流，通过相电流检测,，发现转子初始位置；Specifically, as shown in FIG. 2, the initial position of the rotor is found by injecting a high-frequency pulse current to the phase line of the permanent magnet motor of the rotorless position feedback device and detecting the phase current;
见图1和图2，通过电机运转过程中检测相电流，和相电压连续检测转子位置；Referring to FIG. 1 and FIG. 2, the phase current is detected during the running of the motor, and the rotor position is continuously detected by the phase voltage;
见图1，通过相电压信号实现电机应该给与的最恰当控制波形。控制转矩脉动，降低噪音；See Figure 1. The phase voltage signal is used to determine the most appropriate control waveform that the motor should give. Control torque ripple to reduce noise;
通过相电流信号实现电机的dq轴控制电流解耦控制，d轴电流＝0，实现最高效率控制，实现电机节能。The dq axis control current decoupling control of the motor is realized by the phase current signal, and the d-axis current=0, to achieve the highest efficiency control and realize the energy saving of the motor.
在现有一些电机驱动设计方案中也有采用相电流采样和直流母线电压采用的方法，但这些多应用在长时间单方向运行，或者电机正反转切换的时间比较长的应用场合。本发明中，由于波轮洗衣机正反转频繁切换，且正反转切换的时间很短，转停比最短达到0.3S，仅采用相电流和母线电压采样方式很难满足波轮洗衣机正反转高速切换的特点。本发明中与普通相电流和母线电压控制方式的主要差异，在于增加了电机各相线的端电压的检测， 并且端电压是被动方式观测，通过电压相位的差异信息与电流采样信息，相结合可以较为精确的观测到转子位置，并能够在静止状态下通过特别的高频注入法，精确定位转子初始位置。运行过程中可以多频次修正电流模型的转子位置误差。In some existing motor drive design schemes, phase current sampling and DC bus voltage are also used, but these multiple applications are used in long-term single-direction operation, or in applications where the motor is switching between forward and reverse. In the invention, since the pulsator washing machine rotates frequently and frequently, and the switching time of the forward/reverse rotation is short, the rotation stop ratio reaches the minimum of 0.3S, and it is difficult to satisfy the positive and negative rotation of the pulsator washing machine only by using the phase current and the bus voltage sampling mode. Features of high speed switching. The main difference between the common phase current and the bus voltage control mode in the present invention is that the detection of the terminal voltage of each phase line of the motor is increased. And the terminal voltage is passively observed. By combining the difference information of the voltage phase and the current sampling information, the rotor position can be observed more accurately, and the initial position of the rotor can be accurately positioned by a special high-frequency injection method in a stationary state. The rotor position error of the current model can be corrected multiple times during operation.
可以理解的是，通过实时测量相电流、端电压、及母线电压这些实时信息，通过电机模型算法，短时停机特别算法，实现转子角度全过程实时监控，实现正负2度的转子角度误差，实现电机正反转高速切换，低噪高效控制。It can be understood that by real-time measurement of phase current, terminal voltage, and bus voltage, real-time information through motor model algorithm and short-time shutdown special algorithm can realize real-time monitoring of rotor angle in real time, achieving rotor angle error of plus or minus 2 degrees. Realize high-speed switching of motor forward and reverse, low noise and high efficiency control.
根据本发明实施例的变频波轮洗衣机及其控制方法，由于通过无转子位置反馈装置的永磁电机的相电流检测、端电压检测，可采集到磁场定向控制过程中需要的连续角度信息，可实现±2°的角度控制，远高于现有永磁电机中采用或自带的霍尔传感器60°的控制精度，实现了电机的高效控制，并达到节能降耗和降低噪音的控制效果；并且在现有波轮变频洗衣机剔除了电机转子位置反馈装置如霍尔传感器等硬件，提高了产品品质，降低成本，提高制造效率。According to the variable frequency pulsator washing machine and the control method thereof according to the embodiment of the present invention, since the phase current detection and the terminal voltage detection of the permanent magnet motor through the rotorless position feedback device can collect the continuous angle information required in the field oriented control process, The angle control of ±2° is much higher than the control accuracy of 60° of the Hall sensor used in the existing permanent magnet motor or the built-in Hall sensor, which realizes the efficient control of the motor and achieves the control effect of energy saving and noise reduction; Moreover, in the existing pulsator frequency conversion washing machine, hardware such as a motor rotor position feedback device such as a Hall sensor is eliminated, which improves product quality, reduces cost, and improves manufacturing efficiency.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means a specific feature described in connection with the embodiment or example. A structure, material or feature is included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms is not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, various embodiments or examples described in the specification, as well as features of various embodiments or examples, may be combined and combined.
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。 Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims (5)

  1. 一种变频波轮洗衣机，其特征在于，包括：A variable frequency pulsator washing machine, comprising:
    无转子位置反馈装置的永磁电机；Permanent magnet motor without rotor position feedback device;
    检测单元，用于检测所述无转子位置反馈装置的永磁电机的相电流与端电压，以获得所述永磁电机的转子位置信息；a detecting unit, configured to detect a phase current and a terminal voltage of the permanent magnet motor of the rotorless position feedback device to obtain rotor position information of the permanent magnet motor;
    控制***，根据所述检测单元获得的所述无转子位置反馈装置的永磁电机的转子位置信息，控制洗衣机快速启停或正反转快速切换。The control system controls the quick start/stop or the fast reverse switching of the washing machine according to the rotor position information of the permanent magnet motor of the rotorless position feedback device obtained by the detecting unit.
  2. 如权利要求1所述的变频波轮洗衣机，其特征在于，所述检测单元进一步包括永磁电机控制器的转子位置观测器。A variable frequency pulsator washing machine according to claim 1, wherein said detecting unit further comprises a rotor position observer of the permanent magnet motor controller.
  3. 如权利要求1所述的变频波轮洗衣机，其特征在于，所述检测单元还用于检测永磁电机驱动器的直流母线电压。The variable frequency pulsator washing machine according to claim 1, wherein said detecting unit is further configured to detect a DC bus voltage of the permanent magnet motor driver.
  4. 一种应用于权利要求1的变频波轮洗衣机的控制方法，所述变频波轮洗衣机包括无转子位置反馈装置的永磁电机，其特征在于，所述控制方法包括：A control method for a variable frequency pulsator washing machine according to claim 1, wherein the variable frequency pulsator washing machine comprises a permanent magnet motor without a rotor position feedback device, wherein the control method comprises:
    检测所述无转子位置反馈装置的永磁电机的相电流与端电压，以获得所述无转子位置反馈装置的永磁电机的转子位置信息；Detecting a phase current and a terminal voltage of the permanent magnet motor of the rotorless position feedback device to obtain rotor position information of the permanent magnet motor of the rotorless position feedback device;
    根据所述检测获得的所述无转子位置反馈装置的永磁电机的转子位置信息，控制变频波轮洗衣机快速启停或正反转快速切换。And according to the rotor position information of the permanent magnet motor of the rotorless position feedback device obtained by the detecting, controlling the fast start/stop or the fast switching of the inverter washing machine.
  5. 如权利要求4所述的变频波轮洗衣机的控制方法，其特征在于，所述控制方法还包括检测永磁电机驱动器的直流母线电压。 A control method of a variable frequency pulsator washing machine according to claim 4, wherein said control method further comprises detecting a DC bus voltage of the permanent magnet motor driver.
PCT/CN2015/077124 2014-04-30 2015-04-21 Variable frequency impeller washing machine and controlling method therefor WO2015165349A1 (en)

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CN201420221612.9U CN204231242U (en) 2014-04-30 2014-04-30 Frequency-changing rotary drum washing machine
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CN201410182912.5A CN105099293A (en) 2014-04-30 2014-04-30 Inverter pulsator washing machine and control method thereof

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