Washing machine

Abstract

The invention provides a washing machine, which comprises a box body; the control circuit comprises a rectifier bridge; a filter capacitor; a three-phase inverter bridge; a servo motor; the controller is configured to control the current quadrature-axis output current and the current direct-axis output current of a current loop of the servo motor to be kept unchanged; in the kth period, first logic operation is carried out based on the difference value between the preset direct current bus voltage and the current capacitor voltage to obtain a current adjusting angle phi (k); performing second logical operation based on the kth quadrature-axis current iqref (k) and the current regulation angle phi (k) in the kth period to obtain a (k + 1) th quadrature-axis current iqref (k + 1); performing third logical operation based on the kth direct-axis current idref (k) and the current adjusting angle phi (k) to obtain a (k + 1) th direct-axis current idref (k + 1) to control the current quadrature-axis output current of a current loop of the servo motor to be adjusted to the (k + 1) th quadrature-axis current iqref (k + 1) th quadrature-axis current; and controlling the current direct-axis output current of the current loop of the servo motor to be adjusted to the (k + 1) th direct-axis current idref (k + 1).

Description

Technical Field

[0001] The invention belongs to the technical field of washing machines, and in particular relates to a washing machine. Background Art

[0002] The washing machine comprises a box body, an outer barrel, an inner barrel and a control circuit. The outer barrel is arranged in the box body, the inner barrel is arranged in the outer barrel, and the control circuit is at least used to control the rotation speed of the servo motor.

[0003] At present, the rotor of the servo motor runs at high speed during the dehydration process of the washing machine, and the stator coil in the servo motor is cut to generate back electromotive force.

[0004] During the deceleration and shutdown process of the servo motor, if the speed of the servo motor decreases too quickly, the servo motor will be equivalent to the generator state. The mechanical energy is converted into electrical energy through the servo motor and flows to the DC bus through the three-phase inverter bridge. Because the diode rectifier bridge conducts unidirectionally, the electrical energy cannot be fed back to the power grid, causing the DC bus voltage to increase, which will seriously cause overvoltage damage to electrical components such as filter capacitors, rectifier bridges, and inverters.

[0005] If the motor speed decreases too slowly, the DC bus voltage increase can be suppressed, but it will cause the deceleration stop time to be too long.

[0006] In the related art, it is impossible to simultaneously suppress the overvoltage of the DC bus voltage and reduce the deceleration downtime.

[0007] Therefore, the present application proposes a washing machine. Summary of the invention

[0008] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end,

[0009] According to an embodiment of the present disclosure, the present invention provides a washing machine, comprising:

[0010] Box;

[0011] A control circuit is disposed in the housing, and is used to control the speed of the servo motor of the washing machine. The control circuit includes:

[0012] A rectifier bridge, which is used to convert AC power into DC power for transmission to the DC bus;

[0013] A filter capacitor, one end of which is connected to the positive pole of the DC bus, and the other end of which is connected to the negative pole of the DC bus;

[0014] A three-phase inverter bridge, whose input terminal is connected to the positive pole of the DC bus and whose output terminal is connected to the negative pole of the DC bus;

[0015] A servo motor connected to the three-phase inverter bridge, the servo motor is used to drive the inner drum of the washing machine to rotate;

[0016] The controller is configured to: when the controller receives the first signal, control the current quadrature-axis output current and the current direct-axis output current of the current loop of the servo motor to remain unchanged;

[0017] The current quadrature-axis output current is defined as the first quadrature-axis current i qref(1) , the current direct-axis output current is the first direct-axis current i dref(1) ;

[0018] The controller is provided with a preset DC bus voltage, and the voltage across the filter capacitor is the capacitor voltage U d ;

[0019] In the kth cycle, based on the preset DC bus voltage and the current capacitor voltage U d The first logic operation is performed on the difference between the current adjustment angle φ (k) ;

[0020] Based on the kth quadrature-axis current i in the kth cycle qref(k) and current regulation angle φ (k) Perform a second logic operation to obtain the (k+1)th quadrature-axis current i in the (k+1)th cycle. qref(k+1) ;

[0021] Based on the kth direct-axis current i in the kth cycle dref(k) and current regulation angle φ (k) Perform the third logic operation to obtain the (k+1)th direct-axis current i in the (k+1)th cycle. dref(k+1) ; k is a positive integer;

[0022] Control the current quadrature-axis output current of the current loop of the servo motor to be adjusted to the (k+1)th quadrature-axis current i qref(k+1) ; Control the current direct axis output current of the current loop of the servo motor to adjust to the (k+1)th direct axis current i dref(k+1) .

[0023] In some embodiments of the present invention, in the first logic operation, when the preset DC bus voltage is equal to the capacitor voltage U d When the difference is a positive value, the sine value of the current adjustment angle is a positive value;

[0024] When the preset DC bus voltage is equal to the capacitor voltage U d When the difference is a negative value, the sine value of the current adjustment angle is a negative value.

[0025] In some embodiments of the present invention, when the rotation speed of the servo motor is lower than a preset rotation speed, the controller stops controlling the quadrature-axis output current and the direct-axis output current of the current loop of the servo motor.

[0026] The first logic is operated by a PI controller to input the preset DC bus voltage and the current capacitor voltage U d The difference is calculated by the PI controller to obtain the current regulation angle φ (k) .

[0027] In some embodiments of the present invention, the second logic includes:

[0028] The kth quadrature-axis current i in the kth cycle qref(k) ;

[0029] Adjust the angle change, and adjust the angle φ through the current in the kth cycle (k) The adjustment angle variation is obtained by calculating the adjustment angle variation with the preset calibration value of the cross axis;

[0030] Based on the kth quadrature-axis current i in the kth period qref(k) The difference between the adjustment angle change and the adjustment angle change is used to obtain the (k+1)th quadrature axis current i in the (k+1)th period. qref(k+1) .

[0031] In some embodiments of the present invention, the third logic is: i qref(k+1) =i qref(k) -△I q *(1+sinφ (k) ), where i qref(k+1) is the (k+1)th quadrature-axis current in the (k+1)th cycle, i qref(k) is the kth quadrature-axis current in the kth cycle, △I q is the preset calibration value of the quadrature axis, φ (k) is the current regulation angle in the kth cycle.

[0032] In some embodiments of the present invention, the third logic includes:

[0033] The kth direct-axis current i in the kth cycle dref(k) ;

[0034] Adjust the angle change, and adjust the angle φ through the current in the kth cycle (k) The adjustment angle variation is obtained by performing calculation with the preset calibration value of the direct axis;

[0035] Based on the kth direct-axis current i in the kth period dref(k) The difference between the adjustment angle change and the adjustment angle change is used to obtain the (k+1)th quadrature axis current i in the (k+1)th period. qref(k+1) .

[0036] In some embodiments of the present invention, the third logic is: i dref(k+1) =i dref(k) -△I d *sinφ (k) ; where i dref(k+1) is the (k+1)th direct-axis current in the (k+1)th period, i dref(k) is the kth direct-axis current in the kth cycle, △I d is the preset calibration value of the direct axis, φ (k) is the current regulation angle in the kth cycle.

[0037] In some embodiments of the present invention, the quadrature-axis preset calibration value and the direct-axis preset calibration value are preset values ​​in the controller.

[0038] Another aspect of the present invention provides a washing machine, comprising:

[0039] Box;

[0040] A control circuit is disposed in the housing, and is used to control the speed of the servo motor of the washing machine. The control circuit includes:

[0041] A rectifier bridge, which is used to convert AC power into DC power for transmission to the DC bus;

[0042] A filter capacitor, one end of which is connected to the positive pole of the DC bus, and the other end of which is connected to the negative pole of the DC bus;

[0043] A three-phase inverter bridge, whose input terminal is connected to the positive pole of the DC bus and whose output terminal is connected to the negative pole of the DC bus;

[0044] A servo motor connected to the three-phase inverter bridge, the servo motor is used to drive the inner drum of the washing machine to rotate;

[0045] The controller is configured to: when the controller receives the first signal, control the current quadrature-axis output current and the current direct-axis output current of the current loop of the servo motor to remain unchanged;

[0046] The current quadrature-axis output current is defined as the first quadrature-axis current i qref(1) , the current direct-axis output current is the first direct-axis current i dref(1) ;

[0047] The controller is provided with a preset DC bus voltage, and the voltage across the filter capacitor is the capacitor voltage U d ;

[0048] In the kth cycle, based on the preset DC bus voltage and the current capacitor voltage U dThe first logic operation is performed on the difference between the current adjustment angle φ (k) ;

[0049] Based on the kth quadrature-axis current i in the kth cycle qref(k) , quadrature axis preset calibration quantity and current adjustment angle φ (k) Perform a second logic operation to obtain the (k+1)th quadrature-axis current i in the (k+1)th cycle. qref(k+1) ;

[0050] Based on the kth direct-axis current i in the kth cycle dref(k) , direct axis preset calibration quantity and current adjustment angle φ (k) Perform the third logic operation to obtain the (k+1)th direct-axis current i in the (k+1)th cycle. dref(k+1) ; k is a positive integer;

[0051] Control the current quadrature-axis output current of the current loop of the servo motor to be adjusted to the (k+1)th quadrature-axis current i qref(k+1) ; Control the current direct axis output current of the current loop of the servo motor to adjust to the (k+1)th direct axis current i dref(k+1) .

[0052] The present invention makes the DC bus voltage close to the preset DC bus voltage value through multiple cycle adjustments, thereby avoiding device damage caused by excessively high DC bus voltage and effectively reducing the deceleration downtime of the servo motor of the washing machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 is a cross-sectional view of a pulsator washing machine according to an embodiment of the present disclosure;

[0055] Figure 2 is a three-dimensional diagram of a surrounding frame of a pulsator washing machine according to an embodiment of the present disclosure;

[0056] Figure 3 is a basic principle diagram of a washing machine according to an embodiment of the present disclosure;

[0057] Figure 4 The control flow of the washing machine according to the embodiment of the present disclosure is Figure 1 ;

[0058] Figure 5The control flow of the washing machine according to the embodiment of the present disclosure is Figure 2 ;

[0059] Figure 6 The control flow of the washing machine according to the embodiment of the present disclosure is Figure 3 ;

[0060] Figure 7 The control flow of the washing machine according to the embodiment of the present disclosure is Figure 4 ;

[0061] Figure 8 The control flow of the washing machine according to the embodiment of the present disclosure is Figure 5 ;

[0062] Fig. 9 The control flow of the washing machine according to the embodiment of the present disclosure is Figure 6 ;

[0063] Fig.10 It is a hardware configuration block diagram according to one implementation mode of the present application.

[0064] In the above figures: washing machine 100; housing 1; accommodating cavity 11; housing opening 12; frame 2; installation space 20; frame panel 21; loading port 22; frame side panel 23; outer drum 3; outer drum opening 31; water storage space 32; inner drum 4; inner drum opening 41; washing machine 42; impeller 5; switch cover 6; controller 71; bus 81; memory 82; processor 83; communication interface 84. DETAILED DESCRIPTION

[0065] The present invention is described in detail below by way of exemplary embodiments. However, it should be understood that elements, structures, and features in one embodiment may also be beneficially combined in other embodiments without further description.

[0066] The present invention provides a washing machine 100, which can be configured as a pulsator washing machine or a drum washing machine. Figure 1-10 Take a pulsator washing machine as an example for explanation.

[0067] refer to Figure 1-2 The washing machine 100 is a pulsator washing machine, wherein the washing machine includes a housing 1, a frame 2, an outer tub 3, an inner tub 4, a pulsator 5 and a switch cover 6.

[0068] The direction from the top to the bottom of the box body 1 is the height direction of the box body. The box body serves as the outer shell of the pulsator washing machine and is arranged as a hollow structure. The appearance shape of the box body can be designed according to needs.

[0069] refer to Figure 1A receiving chamber 11 is formed in the box body 1, and the receiving chamber 11 is used to provide installation space for components such as the outer barrel 3 and the inner barrel 4.

[0070] A box opening 12 is formed at the top of the box body 1 , wherein the box opening 12 is communicated with the accommodating chamber 11 , and the outer barrel and the inner barrel 4 can be placed into the accommodating chamber 11 through the box opening 12 .

[0071] The frame 2 is connected to the top of the box body, wherein the frame 2 is covered at the box body opening 12, and the frame 2 and the box body 1 enclose an installation space 20, and the installation space 20 is used to provide installation space for components such as the outer barrel 3 and the inner barrel 4.

[0072] The outer tub 3 is installed in the installation space 20. The top of the outer tub 3 is formed with an outer tub opening 31. A water storage space 32 is formed in the outer tub 3. The outer tub opening 31 is connected to the water storage space. The water storage space 32 is used to store washing water.

[0073] The inner barrel 4 is arranged in the outer barrel 3. Specifically, the inner barrel 4 is arranged in the water storage space, wherein the bottom end of the inner barrel 4 passes through the opening of the outer barrel and is arranged in the water storage space.

[0074] An inner tub opening 41 is formed at the top of the inner tub 4, and a washing chamber 42 is formed in the inner tub, wherein the washing chamber is communicated with the inner tub opening.

[0075] A water permeable hole (not shown) is provided on the side wall of the inner barrel, and water can pass through the water permeable hole into and out of the washing chamber.

[0076] The washing machine also includes a servo motor, wherein the servo motor is fixedly connected to the outer barrel, a motor output shaft of the servo motor is connected to the bottom end of the inner barrel, and the servo motor drives the inner barrel to rotate relative to the outer barrel.

[0077] The pulsator is arranged in the washing chamber, and the pulsator is arranged at the bottom of the washing chamber.

[0078] The impeller is connected to a servo motor, and the servo motor drives the impeller to rotate.

[0079] The washing machine also includes a control circuit, which is arranged in the box.

[0080] The washing machine may further include a water injection device (not shown), wherein the water injection device is used to inject water into the water storage space in the outer barrel and the inner barrel, the water wets the clothes, and the circuit board controls the driving mechanism to wash.

[0081] refer to Figure 2 The frame 2 includes a frame panel 21, wherein the frame panel 21 is located at the top of the frame, and a loading port 22 is formed on the frame panel 21, and the loading port 22 is connected to the washing cavity. Specifically, the loading port 22 is connected to the washing cavity through the inner barrel opening 41, and the loading port 22 is used to allow the items to be washed to pass through it and enter the washing cavity 42.

[0082] There is a gap between the surrounding frame panel 21 and the inner tub, so that when the inner tub rotates, the inner tub and the surrounding frame panel will not collide.

[0083] refer to Figure 2 The frame 2 further includes a frame side plate 23, wherein the frame side plate 23 is connected to the frame panel 21, and the frame side plate 23 is located on a side of the frame panel 21 close to the bottom end of the box body.

[0084] The frame side panels 23 are disposed at the outer edges of the frame panel 21 , and the frame side panels 23 are disposed in a circumferential manner.

[0085] The bottom ends of the side plates of the surrounding frame are connected to the box body, and the bottom ends of the side plates of the surrounding frame can be inserted into the box body, or the bottom ends of the side plates of the surrounding frame are connected to the top ends of the box body.

[0086] The pulsator washing machine also includes an electric control box, which is connected to the frame panel. The electric control box 82 is located on the side of the frame panel close to the cabinet. The electric control box limits the control circuit between the electric control box and the frame panel, so that the electric control box plays a certain protective role on the control circuit. The control circuit can be arranged in the electric control box.

[0087] In a conventional general-purpose frequency converter, the working principle of the conventional general-purpose controller 71 is as follows: the structure of the controller 71 is specifically as follows: the grid voltage is converted into direct current through an uncontrollable rectifier bridge composed of diodes, and is filtered and stabilized under the action of a large electrolytic capacitor C on the DC bus. The filtered and stabilized direct current is converted into an alternating current with adjustable frequency and voltage through an inverter to start and operate the power supply machine. The three-phase inverter bridge is composed of six power switching devices IGBT with six parallel freewheeling diodes to form six bridge arms, wherein the power switching devices V1 and V4 form the upper and lower bridge arms, the power switching devices V3 and V6 form the upper and lower bridge arms, and the power switching devices V5 and V2 form the upper and lower bridge arms.

[0088] During the dehydration process of the washing machine, the rotor of the servo motor runs at high speed, and the stator coil inside the servo motor is cut to generate back electromotive force.

[0089] During the deceleration and shutdown process of the servo motor, if the speed of the servo motor decreases too quickly, the servo motor will be equivalent to the generator state. The mechanical energy is converted into electrical energy through the servo motor and flows to the DC bus through the three-phase inverter bridge. Since the diode rectifier bridge conducts unidirectionally, the electrical energy cannot be fed back to the power grid, resulting in an increase in the DC bus voltage. In severe cases, overvoltage damage may be caused to electrical components such as filter capacitors, rectifier bridges, and inverters. If the motor speed decreases too slowly, the increase in the DC bus voltage can be suppressed, but it will cause the deceleration and shutdown time to be too long.

[0090] refer to Figure 3-Figure 10The control circuit of the present invention is used to control the speed of the servo motor of the washing machine. The control circuit includes: a rectifier bridge, a filter capacitor, a three-phase inverter bridge, a servo motor and a controller 71.

[0091] The controller 71 is used to control the operation of various components in the washing machine so that the various components of the washing machine can operate to achieve various predetermined functions of the washing machine. The controller 71 refers to a device that can generate an operation control signal according to the instruction operation code and the timing signal to instruct the air conditioner to execute the control instruction. For example, in response to a power-on or power-off instruction received from a user, the controller 71 can perform an operation related to the object selected by the power-on or power-off instruction.

[0092] The embodiment of the present application also provides a hardware structure diagram of a controller 71, the controller 71 includes a processor 83, and optionally, also includes a memory 82 and a communication interface 84 connected to the processor 83. The processor 83, the memory 82 and the communication interface 84 are connected via a bus 81.

[0093] The processor 83 may be a central processing unit 83 (CPU), a general processor 83, a network processor 83 (NP), a digital signal processor 83 (DSP), a microprocessor 83, a microcontroller 718, a programmable logic device (PLD), or any combination thereof. The processor 83 may also be any other device having a processing function, such as a circuit, a device, or a software module. The processor 83 may also include multiple CPUs, and the processor 83 may be a single-CPU processor 83 or a multi-CPU processor 83. The processor 83 here may refer to one or more devices, circuits, or processing cores for processing data (such as computer program instructions).

[0094] The memory 82 may be a read-only memory 82 (ROM) or other types of static storage devices that can store static information and instructions, a random access memory 82 (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory 82 (EEPROM) read-only compact disc (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage medium or other magnetic storage device or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, and the present embodiment of the application does not impose any restrictions on this. The memory 82 may exist independently or be integrated with the processor 83. Among them, the memory 82 may contain computer program code. The processor 83 is used to execute the computer program code stored in the memory 82, so as to realize the control method of the washing machine provided in the embodiment of the present application.

[0095] The communication interface 84 can be used to communicate with other devices or communication networks (such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc. The communication interface 84 can be a module, a circuit, a transceiver or any device that can achieve communication.

[0096] The bus 81 may be a peripheral component interconnect (PCI) bus 81 or an extended industry standard architecture (EISA) bus 81, etc. The bus 81 may be divided into an address bus 81, a data bus 81, a control bus 81, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus 81 or one type of bus 81.

[0097] The rectifier bridge is configured as a diode rectifier bridge, which is composed of four diodes and is used to convert alternating current into direct current to transmit to a direct current bus.

[0098] Before using the diode rectifier bridge, the four diodes need to be tested for insulation to ensure the safety and reliability of the diode rectifier bridge.

[0099] One end of the filter capacitor is connected to the positive pole of the DC bus, and the other end of the filter capacitor is connected to the negative pole of the DC bus. The filter capacitor filters out the AC component used in the control circuit, making the DC output smoother.

[0100] The three-phase inverter bridge is connected in parallel with the filter capacitor, the input end of the three-phase inverter bridge is connected to the positive pole of the DC bus, and the output end of the three-phase inverter bridge is connected to the negative pole of the DC bus.

[0101] The servo motor adopts a BLDC motor, which is connected to a three-phase inverter bridge. The motor output shaft of the servo motor is connected to the inner barrel of the washing machine. The servo motor is used to drive the inner barrel of the washing machine to rotate, so as to control the rotation speed of the servo motor to control the rotation of the inner barrel of the washing machine, and then control the start or stop of the inner barrel of the washing machine.

[0102] The controller 71 is configured to: when the controller 71 receives the first signal, control the current quadrature-axis output current and the current direct-axis output current of the current loop of the servo motor to remain unchanged;

[0103] The controller 71 is provided with a preset DC bus voltage U d -Ref, the voltage across the filter capacitor is the capacitor voltage U d ;

[0104] In the kth cycle, based on the preset DC bus voltage U d -Ref and current capacitor voltage U d The first logic operation is performed on the difference between the current adjustment angle φ (k) ;

[0105] Based on the kth quadrature-axis current i in the kth cycle qref(k) and current regulation angle φ (k) Perform a second logic operation to obtain the (k+1)th quadrature-axis current i in the (k+1)th cycle. qref(k+1) ;

[0106] Based on the kth direct-axis current i in the kth cycle dref(k) and current regulation angle φ (k) Perform the third logic operation to obtain the (k+1)th direct-axis current i in the (k+1)th cycle. dref(k+1) ; k is a positive integer;

[0107] The current output current of the current loop of the servo motor is adjusted to the (k+1)th quadrature axis current i qref(k+1) ; Control the current loop of the servo motor to adjust the current direct axis output current to the (k+1)th direct axis current i dref ( k+1 ).

[0108] In the present invention, when the dehydration program of the washing machine ends, the inner drum needs to be operated from a high-speed rotation state to a stop state, and the inner drum and the drive shaft of the drive motor rotate simultaneously. When the dehydration program of the washing machine ends, the controller 71 receives a first signal of a stop state instruction, and the controller 71 controls the washing machine to stop, that is, the controller 71 controls the servo motor and the inner drum of the washing machine to stop running.

[0109] At this time, the servo motor vector control switches from the dual closed-loop control mode of speed loop and current loop to the dual current loop closed-loop control mode of only AC and DC current loop.

[0110] When the controller 71 receives the first signal, the quadrature-axis output current and the direct-axis output current of the current loop of the servo motor are controlled to be periodically adjusted, so that the DC bus voltage can be stabilized at the preset DC bus voltage U d -Ref value, avoiding device damage caused by excessive DC bus voltage, and effectively reducing the deceleration downtime of the servo motor of the washing machine.

[0111] Specifically, when the controller 71 receives the first signal, the current quadrature-axis output current and the current direct-axis output current of the current loop of the servo motor are controlled to remain unchanged.

[0112] Define the current quadrature-axis output current as the initial first quadrature-axis current i qref(1) , that is, the quadrature-axis output current initially input in the first cycle is the first quadrature-axis current i qref(1) ; Define the current direct-axis output current as the initial first direct-axis current i dref(1) , that is, the direct-axis output current initially input in the first cycle is the first direct-axis current i dref(1) .

[0113] In the first cycle, based on the preset DC bus voltage U d -Ref and current capacitor voltage U d The first logic operation is performed on the difference between the current adjustment angle φ (k) Based on the first quadrature-axis current i in the first cycle qref(1) and current regulation angle φ (k) Perform a second logic operation to obtain a second quadrature axis current i in a second cycle qref(2) .

[0114] The controller 71 controls the current loop of the servo motor to adjust the current quadrature axis output current to the second quadrature axis current i qref(2) ; Control the current loop of the servo motor to adjust the current direct axis output current to the second direct axis current i dref(2) Thus, the adjustment of the first cycle is completed, so that the DC bus voltage is close to the preset DC bus voltage U d-Ref value, avoiding device damage caused by excessive DC bus voltage, and effectively reducing the deceleration downtime of the servo motor of the washing machine.

[0115] Similarly, based on the kth quadrature-axis current i in the kth cycle qref(k) and current regulation angle φ (k) Perform a second logic operation to obtain the (k+1)th quadrature-axis current i in the (k+1)th cycle. qref(k+1) ; Based on the kth quadrature-axis current i in the kth cycle qref(k) and current regulation angle φ (k) Perform a second logic operation to obtain the (k+1)th quadrature-axis current i in the (k+1)th cycle. qref(k+1) ; k is a positive integer.

[0116] The present invention makes the DC bus voltage close to the preset DC bus voltage U through multiple cycle adjustments. d -Ref value, avoiding device damage caused by excessive DC bus voltage, and effectively reducing the deceleration downtime of the servo motor of the washing machine.

[0117] In some embodiments of the present invention, in the first logic operation, in the kth cycle, when the preset DC bus voltage U d -Ref and capacitor voltage U d When the difference is positive, the sine value of the current regulation angle is positive, that is, sinφ (k) > 0. The controller 71 runs the second logic to calculate the (k+1)th quadrature-axis current i in the (k+1)th cycle. qref(k+1) The controller 71 controls and adjusts the quadrature axis output current of the current loop of the servo motor to the (k+1)th quadrature axis current i qref(k+1) .

[0118] In the first logic operation, in the kth cycle, when the preset DC bus voltage U d -Ref and capacitor voltage U d When the difference is negative, the sine value of the current adjustment angle is negative, that is, sinφ (k) <0. The controller 71 runs the second logic to calculate the (k+1)th direct-axis current i in the (k+1)th cycle. dref(k+1) The controller 71 controls and adjusts the direct-axis output current of the current loop of the servo motor to the (k+1)th direct-axis current i dref(k+1) .

[0119] In some embodiments of the present invention, when the rotation speed of the servo motor is lower than the preset rotation speed, the controller 71 stops controlling the quadrature-axis output current and the direct-axis output current of the current loop of the servo motor, that is, the controller 71 stops controlling the shutdown of the washing machine and ends the shutdown process. At this time, the rotation speed of the output shaft and the inner drum of the servo motor will not cause the DC bus voltage to be too high, and the controller 71 can exit the control of the quadrature-axis output current and the direct-axis output current of the current loop of the servo motor, saving shutdown time.

[0120] In some embodiments of the present invention, the first logic is operated by the PI controller 71 to input the preset DC bus voltage and the current capacitor voltage U d The difference is calculated by the PI controller to obtain the current regulation angle φ (k) Specifically, the PI controller 71 receives a preset DC bus voltage U d -Ref and current capacitor voltage U d The control logic of the PI controller is the conventional control logic, which can be obtained from the current technology and will not be described here.

[0121] In some embodiments of the present invention, the second logic includes: the kth quadrature-axis current i in the kth cycle qref(k) And the change of the adjustment angle. The angle φ is adjusted by the current in the kth cycle (k) The adjustment angle change is calculated by calculating the preset quadrature axis calibration value, based on the kth quadrature axis current i in the kth cycle. qref(k) The difference between the adjustment angle change and the (k+1)th quadrature axis current i in the (k+1)th cycle is obtained. qref(k+1) The quadrature axis preset calibration quantity is a preset value in the controller 71. The quadrature axis preset calibration quantity can be set to the kth quadrature axis current i qref(k) Half of the value.

[0122] In some embodiments of the present invention, the second logic is: i qref(k+1) =i qref(k) -△I q *(1+sinφ (k) ), where i qref(k+1) is the (k+1)th quadrature-axis current in the (k+1)th cycle, i qref(k) is the kth quadrature-axis current in the kth cycle, △I q is the cross-axis preset calibration quantity, φ (k) is the current regulation angle in the kth cycle.

[0123] The (k+1)th quadrature-axis current i in the (k+1)th period of the present invention is obtained by the second logic operation. qref(k+1) The controller 71 adjusts the quadrature axis output current of the current loop of the servo motor to reach the (k+1)th quadrature axis current iqref(k+1) , so that the DC bus voltage is close to the preset DC bus voltage U d -Ref value, avoiding device damage caused by excessive DC bus voltage, and effectively reducing the deceleration downtime of the servo motor of the washing machine.

[0124] In some embodiments of the present invention, the third logic includes: the kth direct-axis current i in the kth cycle dref(k) And the change of the adjustment angle. The angle φ is adjusted by the current in the kth cycle (k) The adjustment angle change is calculated by calculating the preset calibration value of the direct axis. dref(k) The difference between the adjustment angle change and the (k+1)th quadrature axis current i in the (k+1)th cycle is obtained. qref(k+1) The direct axis preset calibration value is a preset value in the controller 71. The direct axis preset calibration value can be set to the kth direct axis current i dref(k) Half of the value.

[0125] In some embodiments of the present invention, the third logic is: dref(k+1) =i dref(k) -△I d *sinφ (k) ; where i dref(k+1) is the (k+1)th direct-axis current in the (k+1)th period, i dref(k) is the kth direct-axis current in the kth cycle, △I d is the preset calibration value of the direct axis, φ (k) is the current regulation angle in the kth cycle.

[0126] The (k+1)th direct-axis current i in the (k+1)th period of the present invention is obtained by the third logical operation. dref(k+1) The controller 71 adjusts the direct axis output current of the current loop of the servo motor to reach the (k+1)th direct axis current i dref(k+1) , so that the DC bus voltage is close to the preset DC bus voltage U d -Ref value, avoiding device damage caused by excessive DC bus voltage, and effectively reducing the deceleration downtime of the servo motor of the washing machine.

[0127] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0128] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0129] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

[0130] In the present invention, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", "third", and "fourth" may explicitly or implicitly include one or more of the features.

[0131] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0132] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0133] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A washing machine, characterized in that: include: Box; A control circuit is disposed in the housing, and is used to control the speed of the servo motor of the washing machine. The control circuit includes: A rectifier bridge, which is used to convert AC power into DC power for transmission to the DC bus; A filter capacitor, one end of which is connected to the positive pole of the DC bus, and the other end of which is connected to the negative pole of the DC bus; A three-phase inverter bridge, whose input terminal is connected to the positive pole of the DC bus and whose output terminal is connected to the negative pole of the DC bus; A servo motor connected to the three-phase inverter bridge, the servo motor is used to drive the inner drum of the washing machine to rotate; The controller is configured to: when the controller receives the first signal, control the current quadrature-axis output current and the current direct-axis output current of the current loop of the servo motor to remain unchanged; The current quadrature-axis output current is defined as the first quadrature-axis current i qref(1) , the current direct-axis output current is the first direct-axis current i dref(1) ; A preset DC bus voltage is set in the controller, and the voltage across the filter capacitor is the capacitor voltage Ud; In the kth cycle, based on the preset DC bus voltage and the current capacitor voltage U d The first logic operation is performed on the difference between the current adjustment angle φ (k) ; Based on the kth quadrature-axis current i in the kth cycle qref(k) and current regulation angle φ (k) Perform a second logic operation to obtain the (k+1)th quadrature-axis current i in the (k+1)th cycle. qref(k+1) ; Based on the kth direct-axis current i in the kth cycle dref(k) and current regulation angle φ (k) Perform the third logic operation to obtain the (k+1)th direct-axis current i in the (k+1)th cycle. dref(k+1) ; k is a positive integer; Control the current quadrature-axis output current of the current loop of the servo motor to be adjusted to the (k+1)th quadrature-axis current i qref(k+1) ; Control the current direct axis output current of the current loop of the servo motor to adjust to the (k+1)th direct axis current i dref(k+1) .

2. The washing machine according to claim 1, characterized in that: In the first logic operation, when the preset DC bus voltage is equal to the capacitor voltage U d When the difference is a positive value, the sine value of the current adjustment angle is a positive value; When the preset DC bus voltage is equal to the capacitor voltage U d When the difference is a negative value, the sine value of the current adjustment angle is a negative value.

3. The washing machine according to claim 1, characterized in that: When the rotation speed of the servo motor is lower than a preset rotation speed, the controller stops controlling the quadrature-axis output current and the direct-axis output current of the current loop of the servo motor.

4. The washing machine according to claim 1, characterized in that: The first logic is operated by a PI controller to input the preset DC bus voltage and the current capacitor voltage U d The difference is calculated by the PI controller to obtain the current regulation angle φ (k) .

5. The washing machine according to claim 1, characterized in that: The second logic includes: The kth quadrature-axis current i in the kth cycle qref(k) ; Adjust the angle change, and adjust the angle φ through the current in the kth cycle (k) The adjustment angle variation is obtained by calculating the adjustment angle variation with the preset calibration value of the cross axis; Based on the kth quadrature-axis current i in the kth period qref(k) The difference between the adjustment angle change and the adjustment angle change is used to obtain the (k+1)th quadrature axis current i in the (k+1)th period. qref(k+1) .

6. The washing machine according to claim 5, characterized in that: The first logic is: qref(k+1) =i qref(k) -△I q *(1+sinφ (k) ), where i qref(k+1) is the (k+1)th quadrature-axis current in the (k+1)th cycle, i qref(k) is the kth quadrature-axis current in the kth cycle, △I q is the preset calibration value of the quadrature axis, φ (k) is the current regulation angle in the kth cycle.

7. The washing machine according to claim 5, characterized in that: The third logic includes: The kth direct-axis current i in the kth cycle dref(k) ; Adjust the angle change, and adjust the angle φ through the current in the kth cycle (k) The adjustment angle variation is obtained by performing calculation with the preset calibration value of the direct axis; Based on the kth direct-axis current i in the kth period dref(k) The difference between the adjustment angle change and the adjustment angle change is used to obtain the (k+1)th quadrature axis current i in the (k+1)th period. qref(k+1) .

8. The washing machine according to claim 7, characterized in that: The third logic is: dref(k+1) =i dref(k) -△I d *sinφ (k) ; where i dref(k+1) is the (k+1)th direct-axis current in the (k+1)th period, i dref(k) is the kth direct-axis current in the kth cycle, △I d is the preset calibration value of the direct axis, φ (k) is the current regulation angle in the kth cycle.

9. The washing machine according to claim 7 or 8, characterized in that: The quadrature-axis preset calibration value and the direct-axis preset calibration value are preset values ​​in the controller.

10. A washing machine, characterized in that: include: Box; A control circuit is disposed in the housing, and is used to control the speed of the servo motor of the washing machine. The control circuit includes: A rectifier bridge, which is used to convert AC power into DC power for transmission to the DC bus; A filter capacitor, one end of which is connected to the positive pole of the DC bus, and the other end of which is connected to the negative pole of the DC bus; A three-phase inverter bridge, whose input terminal is connected to the positive pole of the DC bus and whose output terminal is connected to the negative pole of the DC bus; A servo motor connected to the three-phase inverter bridge, the servo motor is used to drive the inner drum of the washing machine to rotate; The controller is configured to: when the controller receives the first signal, control the current quadrature-axis output current and the current direct-axis output current of the current loop of the servo motor to remain unchanged; The current quadrature-axis output current is defined as the first quadrature-axis current i qref(1) , the current direct-axis output current is the first direct-axis current i dref(1) ; The controller is provided with a preset DC bus voltage, and the voltage across the filter capacitor is the capacitor voltage U d ; In the kth cycle, based on the preset DC bus voltage and the current capacitor voltage U d The first logic operation is performed on the difference between the current adjustment angle φ (k) ; Based on the kth quadrature-axis current i in the kth cycle qref(k) , quadrature axis preset calibration quantity and current adjustment angle φ (k) Perform a second logic operation to obtain the (k+1)th quadrature-axis current i in the (k+1)th cycle. qref(k+1) ; Based on the kth direct-axis current i in the kth cycle dref(k) , direct axis preset calibration quantity and current adjustment angle φ (k) Perform the third logic operation to obtain the (k+1)th direct-axis current i in the (k+1)th cycle. dref(k+1) ; k is a positive integer; Control the current quadrature-axis output current of the current loop of the servo motor to be adjusted to the (k+1)th quadrature-axis current i qref(k+1) ; Control the current direct axis output current of the current loop of the servo motor to adjust to the (k+1)th direct axis current i dref(k+1) .

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