Washing machine and motor control method

Abstract

The invention provides a washing machine capable of realizing a new mode of washing and dewatering. The washing machine is provided with a water tub, a rotating tub rotating relative to the water tub, a pulsator arranged in the rotating tub, a shaft extending in the axial direction and rotating at least one of the pulsator and the rotating tub, a rotor connected to the shaft and rotating in the circumferential direction, and a motor installed on a stator of the water tub. And a control unit that controls the motor, the rotor and the stator being disposed so as to face each other with a space therebetween in the axial direction, and the rotor and the shaft being held so as to be able to vibrate with respect to the axial direction.

Description

Technical Field

[0001] Embodiments of the present invention relate to a washing machine and a method for controlling a motor thereof. Background Art

[0002] Conventionally, there has been a washing machine that cleans and dehydrates an object by rotating a pulsator and a rotary tub.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2013-090443 Summary of the Invention

[0006] Technical Problem to be Solved by the Invention

[0007] The technical problem to be solved by the present invention is to provide a washing machine and a method for controlling a motor of the washing machine that can realize a new method of cleaning and dehydration by not only rotating a pulsator or the like but also moving it in the axial direction.

[0008] Means for Solving the Technical Problem

[0009] The washing machine according to the embodiment includes: a water tub; a rotary tub that rotates relative to the water tub; a pulsator disposed in the rotary tub; a motor having a shaft that extends in the axial direction and rotates at least one of the pulsator and the rotary tub, a rotor that is connected to the shaft and rotates in the circumferential direction, and a stator that is mounted on the water tub; and a control unit that controls the motor, wherein the rotor and the stator are disposed opposite to each other with a space therebetween in the axial direction, and the rotor and the shaft are held so as to be capable of vibrating relative to the axial direction.

[0010] Advantageous Effects of the Invention

[0011] The present invention can provide a washing machine and a method for controlling a motor of the washing machine that can realize a new method of cleaning and dehydration by not only rotating a pulsator or the like but also moving it in the axial direction. Brief Description of the Drawings

[0012] Figure 1 It is a cross-sectional view perpendicular to the front-rear direction of the washing machine according to the first embodiment.

[0013] Figure 2 It is a perspective view of the motor of the washing machine.

[0014] Figure 3 It is a diagram showing the operation of thrust vibration of the shaft of the motor.

[0015] Figure 4 It is a diagram showing the elastic member of the motor.

[0016] Figure 5 It is a diagram showing the relationship between the rotational speed and torque of the motor.

[0017] Figure 6 It is a functional block diagram of the washing machine according to the second embodiment.

[0018] Figure 7 It is a diagram showing an example of water flow under thrust vibration.

[0019] Figure 8 It is a diagram showing an example of water flow under thrust vibration.

[0020] Figure 9 It is a diagram showing an example of water flow under thrust vibration.

[0021] Figure 10 It is a cross-sectional view of the washing machine according to the third embodiment perpendicular to the front-rear direction. Detailed implementation mode

[0022] Hereinafter, a washing machine and a control method for a motor of the washing machine according to the embodiment will be described with reference to the accompanying drawings. In the following description, components having the same or similar functions are denoted by the same reference numerals. Moreover, repeated descriptions of these components may be omitted.

[0023] (First embodiment)

[0024] Figure 1 It is a cross-sectional view of the washing machine 1 of the present embodiment perpendicular to the front-rear direction.

[0025] In the following description, the side of the washing machine 1 where it is installed, that is, the lower side in the vertical direction, is defined as the lower side of the washing machine, and the side opposite to the installation surface, that is, the upper side in the vertical direction, is defined as the upper side of the washing machine 1. In addition, the left and right are defined based on the direction in which a user standing in front of the washing machine 1 observes the washing machine 1. In addition, the side closer to the user standing in front of the washing machine 1 as observed from the washing machine 1 is defined as "front", and the farther side is defined as "rear". In this specification, the "lateral width direction" means the left and right directions in the above definition. In this specification, the "depth direction" means the front and rear directions in the above definition. In the figure, the +X direction is the right direction, the -X direction is the left direction, the +Y direction is the rear direction, the -Y direction is the front direction, the +Z direction is the upper direction, and the -Z direction is the lower direction.

[0026] In addition, in the following description, the axial direction of the rotation axis O is simply referred to as the "axial direction". In the present embodiment, the rotation axis O faces the vertical direction. Sometimes, the direction upward among the two sides in the axial direction is referred to as the "axial side D1", and the direction downward is referred to as the "axial other side D2". In addition, sometimes the radial direction centered on the rotation axis O is simply referred to as the "radial direction". And sometimes the circumferential direction centered on the rotation axis O is simply referred to as the "circumferential direction".

[0027] [Washing machine 1]

[0028] The washing machine 1 includes, for example, a housing 11, a top cover 12, a water tub 13, a spin tub 14, a pulsator 15, a motor 16, and a control unit 9. The washing machine 1 is a so-called vertical-axis type washing machine in which the rotation axis O of the spin tub 14 faces the vertical direction. In addition, the washing machine 1 is not limited to the vertical-axis type, and may also be a so-called drum-type washing machine of the horizontal-axis type in which the rotation axis of the spin tub faces horizontally or downward and backward.

[0029] The housing 11 is integrally formed into a rectangular box shape by, for example, a steel plate. The top cover 12 is made of, for example, synthetic resin and is provided on the upper part of the housing 11. The water tub 13 and the spin tub 14 function as a washing tub and a dehydration tub for accommodating clothes to be washed. The water tub 13 and the spin tub 14 are provided inside the housing 11. The water tub 13 and the spin tub 14 are formed in a container shape with an open upper surface. The water in the water tub 13 flows out from the drain port 131 and is drained to the outside via the drain valve 132.

[0030] The motor 16 has a flat cylindrical appearance with a diameter smaller than that of the water tub 13, and is assembled to the lower side of the water tub 13 in such a manner that the rotation axis O passes through its center.

[0031] [2. Configuration of the motor 16]

[0032] Figure 2 is a perspective view of the motor 16.

[0033] The motor 16 includes a shaft 17, a rotor 20, and a stator 30. The motor 16 is a direct drive motor that directly rotates the shaft 17. In addition, the motor 16 is an axial gap type motor in which the rotor 20 and the stator 30 are opposed to each other with a gap in the axial direction (axial direction). By passing an alternating current through the stator coil 30c of the stator 30, a rotating magnetic field is generated, whereby the rotor 20 rotates. The shaft 17 is connected to the rotor 20 and rotates as the rotor 20 rotates. The rotation axis of the shaft 17 coincides with the rotation axis O of the spin tub 14.

[0034] The shaft 17 is connected to the tub 14 and the agitator 15 via a clutch mechanism (not shown). The clutch mechanism selectively transmits the rotation of the motor 16 to the tub 14 and the agitator 15. During washing and rinsing, the motor 16 and the clutch mechanism transmit the driving force of the motor 16 to the agitator 15 while stopping the rotation of the tub 14, and directly drive the agitator 15 to rotate forward and backward at a low speed. On the other hand, during dehydration or the like, the motor 16 and the clutch mechanism transmit the driving force of the motor 16 to the tub 14, and drive the tub 14 and the agitator 15 to rotate at a high speed in one direction.

[0035] Figure 3 It is a diagram showing the operation of the thrust vibration of the shaft 17.

[0036] The shaft 17 is held so as to be able to advance and retreat in the axial direction (axial direction). The vibration of the shaft 17 in the axial direction is also called "thrust vibration V". By performing thrust vibration on the shaft 17, the agitator 15 moves up and down relative to the tub 14. In addition, by performing thrust vibration on the shaft 17, the axial (axial direction) interval (gap) G formed between the rotor 20 and the stator 30 changes. The axial (axial direction) advance and retreat range of the shaft 17 based on the thrust vibration V is limited by a limiter or the like.

[0037] As Figure 3 shown, when the shaft 17 moves toward one side D1 in the axial direction, the agitator 15 moves upward relative to the tub 14. In addition, the rotor 20 moves upward relative to the stator 30. The axial (axial direction) interval G formed between the rotor 20 and the stator 30 becomes narrower. The interval G that becomes the narrowest is also called "first interval G1".

[0038] As Figure 1 shown, when the shaft 17 moves toward the other side D2 in the axial direction, the agitator 15 moves downward relative to the tub 14. In addition, the rotor 20 moves downward relative to the stator 30. The axial (axial direction) interval G formed between the rotor 20 and the stator 30 becomes wider. The interval G that becomes the widest is also called "second interval G2" (G1 < G2).

[0039] The motor 16 may also have a sensor capable of detecting the length of the axial (axial direction) interval G formed between the rotor 20 and the stator 30 and the change in the interval G. The control unit 9 can obtain the length of the interval G and the change in the interval G from the sensor.

[0040] The rotor 20 is located on the axial other side D2 of the stator 30. The rotor 20 is disposed on the axial other side D2 of the coil 35 described later. The rotor 20 is annular with the rotation axis O as the center. The rotor 20 is fixed to the shaft 17. The rotor 20 rotates circumferentially together with the shaft 17 about the rotation axis O. The rotor 20 has a back yoke 21, a plurality of magnets 24, and a rotor holding portion 29.

[0041] The back yoke 21 is located on the axial other side D2 of the magnet 24. The rotor 20 is fixed to the shaft 17 in the back yoke 21. The rotor holding portion 29 holds the back yoke 21 and the plurality of magnets 24.

[0042] The plurality of magnets 24 are arranged along the circumferential direction with the rotation axis O as the center. The magnets 24 have the axial direction as the magnetic pole direction. The plurality of magnets 24 arranged along the circumferential direction are arranged such that the N pole and the S pole are alternately reversed. The plurality of magnets 24 are held by the rotor holding portion 29.

[0043] In the present embodiment, the magnet 24 is a ferrite magnet. However, the magnet 24 can also be other types of magnets (for example, rare earth magnets such as neodymium magnets).

[0044] The magnet 24 can be either an anisotropic magnet or an isotropic magnet. When the magnet 24 is an anisotropic magnet, by taking the easy magnetization axis of the magnet 24 as the axial direction, the magnetic force in the axial direction of the magnet 24 can be improved as a whole. On the other hand, when an isotropic magnet is used as the magnet 24, the rotor 20 can be manufactured at a lower cost compared with the anisotropic magnet.

[0045] The stator 30 is located on the axial one side D1 of the rotor 20. The stator 30 is disposed on the axial one side D1 of the magnet 24. The stator 30 is annular with the rotation axis O as the center. The stator 30 has a stator core 31, a plurality of coils 35, and a stator holding portion 39.

[0046] The stator core 31 is annular with the rotation axis O as the center and along the plane orthogonal to the axial direction. The stator core 31 has a plurality of tooth portions 33.

[0047] The plurality of tooth portions 33 are arranged at equal intervals in the circumferential direction of the rotation axis O. The tooth portion 33 has an isosceles trapezoid shape when viewed from the axial direction. When viewed from the axial direction, the two parallel sides of the tooth portion 33 extend orthogonally to the radial direction of the rotation axis O. In addition, when the tooth portion 33 is viewed from the axial direction, the short side of the two parallel sides is disposed on the rotation axis O side, and the long side is disposed on the side away from the rotation axis O.

[0048] The coil 35 is wound around the tooth portion 33 via an insulating member (not shown). The insulating member (not shown) is, for example, in the shape of a bobbin. The coil 35 is mounted on each of the plurality of tooth portions 33. The plurality of coils 35 are arranged circumferentially. The end portions of the coil 35 are led out from the stator 30 and connected to a power supply device. Thereby, an electric current flows through the coil 35. Each coil 35 is wound around an axis parallel to the rotation axis O. Therefore, the coil 35 forms magnetic poles in the axial direction by passing an electric current therethrough. That is, the coil 35 forms magnetic poles on the rotor 20 side that are axially opposed to each other.

[0049] The stator holding portion 39 is formed of an insulating resin material. The stator holding portion 39 holds the stator core 31 and the plurality of coils 35, and firmly fixes the stator 30 to the bottom 13e of the water tub 13.

[0050] Figure 4 It is a view showing the elastic member 19.

[0051] The motor 16 may also have an elastic member 19 that suppresses the swaying caused by the thrust vibration V. The elastic member 19 is, for example, a spring or a damper. The elastic member 19 is inserted into the axial (axial direction) gap G formed between the rotor 20 and the stator 30. The elastic member 19 can suppress the generation of unnecessary thrust vibration V by allowing the thrust vibration V only when the force generated with respect to the thrust vibration V in the axial (axial direction) is equal to or greater than a specified force.

[0052] The control unit 9 controls the overall operation of the washing machine 1, such as the rotation operation of the motor 16. In addition, the control unit 9 receives operation inputs for the washing machine 1 via a touch panel (not shown) or a network. The control unit 9 includes, for example, a computer having a processor such as a CPU, a memory, and a storage medium, and is capable of executing software. The functions of the control unit 9 are implemented by software.

[0053] [Operation of the washing machine 1]

[0054] Next, the operation of the washing machine 1 equipped with the motor 16 will be described.

[0055] Figure 5 It is a view showing the relationship between the rotational speed and torque of the motor 16.

[0056] As the gap G changes, the rotational speed-torque characteristics of the motor 16 change. That is, the motor 16 is a motor whose rotational speed-torque characteristics change as the gap G changes.

[0057] If the gap G becomes narrower like the first gap G1, since the magnet 24 approaches the coil 35, the motor 16 can easily output high torque. In this case, the rotational speed-torque characteristics of the motor 16 are suitable for "washing" that requires high torque.

[0058] If the gap G widens like the second gap G2, since the magnet 24 moves away from the coil 35, the motor 16 can easily output a high rotational speed. In this case, the rotational speed - torque characteristic of the motor 16 is suitable for "dehydration" which requires a high rotational speed.

[0059] When the washing machine 1 performs washing (washing, rinsing, etc.), the tub 13 is filled with washing water. The agitator 15 generates buoyancy and moves upward relative to the outer tub 14. In addition, the rotor 20 moves upward relative to the stator 30. The axial gap G formed between the rotor 20 and the stator 30 narrows. As a result, the rotational speed - torque characteristic of the motor 16 changes to a characteristic suitable for "washing" which requires a high torque.

[0060] When the washing machine 1 performs dehydration, the washing water is drained from the tub 13. The agitator 15 moves downward relative to the outer tub 14. In addition, the rotor 20 moves downward relative to the stator 30. The axial gap G formed between the rotor 20 and the stator 30 widens. As a result, the rotational speed - torque characteristic of the motor 16 changes to a characteristic suitable for "dehydration" which requires a high rotational speed.

[0061] In the washing machine 1 according to the present embodiment, only by the inflow and outflow of the washing water during washing and dehydration, the agitator 15 is moved in the axial direction (axial direction), so that the rotational speed - torque characteristic of the motor 16 can be automatically changed to a suitable characteristic.

[0062] (Second Embodiment)

[0063] Refer to Figures 6 to 9 , and the washing machine 1B of the second embodiment will be described. In the following description, the same reference numerals are given to the components common to the components already described, and the repeated description is omitted.

[0064] Figure 6 is a functional block diagram of the control unit 9B.

[0065] The washing machine 1B has a control unit 9B instead of the control unit 9 compared with the washing machine 1 of the first embodiment. In addition to the rotational speed - torque control unit 91 that controls the rotational speed and torque of the motor 16, the control unit 9B also has a gap control unit 92 that actively controls the gap G.

[0066] The gap control unit 92 actively controls the gap G based on information from sensors or the like that can detect the length of the gap G and the change in the gap G. The gap control unit 92 controls the gap G to a desired gap, for example, by passing a DC excitation current through at least a part of the coil 35.

[0067] Figures 7 to 9 is a diagram showing an example of the water flow under the thrust vibration V.

[0068] For example, the gap control unit 92 may also cause the rotor 20 and the shaft 17 to perform thrust vibration V in a state where the rotor 20 and the shaft 17 are not rotating, cause the pulsator 15 to vibrate in the vertical direction, and cause the cleaning water W to generate a water flow that vibrates in the vertical direction.

[0069] As Figure 7 shown, the gap control unit 92 may also generate a thrust vibration V with a large vibration amplitude, that is, a thrust vibration V1, and cause the cleaning water W to generate a water flow that vibrates greatly in the vertical direction. It is easy to gently and easily exchange the objects to be cleaned for cleaning.

[0070] As Figure 8 shown, the gap control unit 92 may also generate a thrust vibration V2 of the thrust vibration V that is a micro vibration, and cause the cleaning water W to generate a water flow that vibrates like a scale wave (scale wave vibration). It is easy to gently knead and wash the objects to be cleaned.

[0071] As Figure 9 shown, the gap control unit 92 may also generate the thrust vibration V1 and the thrust vibration V2 at the same time, and cause the cleaning water W to generate a more complex water flow. It is easy to gently knead and wash the objects to be cleaned while gently and easily exchanging the objects to be cleaned for cleaning.

[0072] For example, the gap control unit 92 may also cause the rotor 20 and the shaft 17 to perform thrust vibration V in a state where the rotor 20 and the shaft 17 are rotating, cause the pulsator 15 to vibrate in the vertical direction, and cause the cleaning water W to generate a more complex water flow.

[0073] In the washing machine 1B according to the present embodiment, the control unit 9B actively controls the gap G to generate the thrust vibration V, thereby enabling a new method of cleaning and dehydration.

[0074] In the washing machine 1B according to the present embodiment, by actively controlling the gap G by the control unit 9B, the rotational speed-torque characteristic of the motor 16 can be changed to a characteristic suitable for the operation (such as cleaning and dehydration) of the washing machine 1B.

[0075] (Third Embodiment)

[0076] Refer to Figure 10 to describe the washing machine 1C of the third embodiment. In the following description, the same reference numerals are given to the components common to the components already described, and the repeated description is omitted.

[0077] Figure 10 is a cross-sectional view of the washing machine 1C perpendicular to the front-rear direction. The washing machine 1C is provided with a motor 16C instead of the motor 16 compared with the washing machine 1 of the first embodiment.

[0078] In addition to having a shaft 17, a rotor 20, and a stator 30, the electric motor 16C also has a drive unit 18. The drive unit 18 is a mechanical structure that controls the gap G. The drive unit 18 is controlled by the control unit 9.

[0079] When the washing machine 1C performs washing, the control unit 9 controls the drive unit 18 to narrow the gap G. As a result, the rotational speed-torque characteristic of the electric motor 16 changes to a characteristic suitable for "washing" that requires high torque.

[0080] When the washing machine 1 performs dehydration, the control unit 9 controls the drive unit 18, so that the drive unit 18 widens the gap G. As a result, the rotational speed-torque characteristic of the electric motor 16 changes to a characteristic suitable for "dehydration" that requires high rotational speed.

[0081] For example, the drive unit 18 can also cause the rotor 20 and the shaft 17 to perform thrust vibration V in a state where the rotor 20 and the shaft 17 are not rotating, cause the agitator 15 to vibrate in the vertical direction, and cause the washing water W to generate a water flow that vibrates in the vertical direction.

[0082] As Figure 7 shown, the drive unit 18 can also generate a thrust vibration V with a large vibration amplitude, that is, a thrust vibration V1, to cause the washing water W to generate a water flow that vibrates greatly in the vertical direction. It is easy to gently and interchangeably wash the objects to be washed.

[0083] As Figure 8 shown, the drive unit 18 can also generate a thrust vibration V with micro-vibration, that is, a thrust vibration V2, to cause the washing water W to generate a water flow that vibrates like scale waves (scale wave vibration). It is easy to gently knead and wash the objects to be washed.

[0084] As Figure 9 shown, the drive unit 18 can also generate the thrust vibration V1 and the thrust vibration V2 simultaneously, to cause the washing water W to generate a more complex water flow. It is easy to wash while gently kneading and interchangeably washing the objects to be washed.

[0085] For example, the drive unit 18 can also cause the rotor 20 and the shaft 17 to perform thrust vibration V in a state where the rotor 20 and the shaft 17 are rotating, cause the agitator 15 to vibrate in the vertical direction, and cause the washing water W to generate a more complex water flow.

[0086] According to the washing machine 1C of the present embodiment, by using the drive unit 18 that controls the gap G with a mechanical structure, the gap G can be more accurately controlled to generate the thrust vibration V, and new ways of washing and dehydration can be realized.

[0087] The washing machine 1C according to the present embodiment can change the rotational speed-torque characteristics of the motor 16 to characteristics suitable for the operations (washing, dehydration, etc.) of the washing machine 1C by using the drive unit 18 that controls the interval G with a mechanical structure.

[0088] In addition, when the washing machine has a drying function, the control unit 9 can also control the interval G as follows. When the washing machine is drying, since there is no water load, the control unit 9 preferably widens the interval G and dries the laundry with a low-torque rotation. In addition, at the initial stage of drying, since the laundry contains a large amount of water, there may be a case where a high-torque rotation is required. In this case, the control unit 9 can also control the interval G so as to perform a high-torque rotation at the initial stage of drying and a low-torque rotation after drying has progressed to a certain extent. And if the laundry becomes lighter after drying, the control unit 9 can also control the interval G so that the agitator 15 vibrates in the vertical direction to lift the laundry. A space for air passage is formed under the laundry, promoting drying of the lower side of the laundry (the agitator 15 side) that is difficult to dry, and drying unevenness can be suppressed.

[0089] Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other ways, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and its equivalents.

[0090] Description of Reference Numerals

[0091] 1, 1B, 1C... washing machines, 9, 9B... control units, 11... housing, 13... outer tub, 14... inner tub, 15... agitator, 16, 16C... motors, 17... shaft, 18... drive unit, 19... elastic member, 20... rotor, 30... stator, D1... one axial side, D2... the other axial side, G... interval (gap), V... thrust vibration.

Claims

1. A washing machine, comprising: Bucket for water; a rotating tub that rotates relative to the water holding tub; A pulsator disposed on the rotating barrel; a motor having a shaft extending in an axial direction and rotating at least one of the pulsator and the rotary tub, a rotor connected to the shaft and rotating in a circumferential direction, and a stator mounted on the tub; and a control unit, controlling the motor, The rotor and the stator are arranged to face each other with a gap therebetween in the axial direction. The rotor and the shaft are held so as to be vibratory relative to the axial direction.

2. The washing machine according to claim 1, wherein: When the rotor and the shaft move to one side in the axial direction, the interval becomes narrower. When the rotor and the shaft move to the other side in the axial direction, the interval widens.

3. The washing machine according to claim 1, wherein: The pulsator moves upward due to buoyancy generated by the washing water in the tub, so that the rotor and the stator move to one side in the axial direction and the interval becomes narrower.

4. The washing machine according to claim 1, wherein: The motor has an elastic member inserted into the space.

5. The washing machine according to claim 1, wherein: The motor includes a sensor that detects at least one of a length of the interval and a change in the interval.

6. The washing machine according to claim 1, wherein: The control unit controls the interval by controlling the current flowing through the coil of the stator.

7. The washing machine according to claim 6, wherein: The control unit controls the interval to vibrate the shaft and the pulsator in the up-down direction, thereby generating a water flow vibrating in the up-down direction for the washing water in the tub.

8. The washing machine according to claim 6, wherein: The control unit controls the interval to cause the shaft and the pulsator to micro-vibrate in the up-down direction, thereby causing the wash water in the tub to generate a water flow that micro-vibrates in the up-down direction.

9. The washing machine according to claim 1, wherein: A driving unit is further provided as a mechanical structure for controlling the interval.

10. The washing machine according to claim 9, wherein: When the washing machine is washing, the driving unit narrows the interval. The driving unit widens the interval when the washing machine is performing dehydration.

11. The washing machine according to claim 9, wherein: The driving unit controls the interval to vibrate the shaft and the pulsator in the up-down direction, thereby generating a water flow vibrating in the up-down direction for the washing water in the tub.

12. The washing machine according to claim 9, wherein: The driving unit controls the interval to cause the shaft and the pulsator to micro-vibrate in the up-down direction, thereby causing the wash water in the tub to generate a water flow that micro-vibrates in the up-down direction.

13. A method for controlling an electric motor, wherein the electric motor is mounted in a washing machine, wherein a rotor and a stator of the electric motor are arranged to face each other with a gap in the axial direction and the gap can be controlled, The control method of the motor comprises the following steps: When the washing machine is washing, the interval is narrowed. When the washing machine is performing dehydration, the interval is widened.

14. The method for controlling a motor according to claim 13, wherein: The interval is controlled by controlling the current flowing through the coils of the stator.

15. The method for controlling a motor according to claim 13, wherein: The interval is controlled by controlling it using a mechanical structure.

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