CN106702665B - Washing machine and its inertia detection method and device - Google Patents
Washing machine and its inertia detection method and device Download PDFInfo
- Publication number
- CN106702665B CN106702665B CN201611147609.7A CN201611147609A CN106702665B CN 106702665 B CN106702665 B CN 106702665B CN 201611147609 A CN201611147609 A CN 201611147609A CN 106702665 B CN106702665 B CN 106702665B
- Authority
- CN
- China
- Prior art keywords
- motor
- speed
- washing machine
- tub
- inertia
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- D06F33/00—Control of operations performed in washing machines or washer-dryers
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Control Of Washing Machine And Dryer (AREA)
Abstract
The invention discloses a kind of washing machine and its inertia detection method and device, it the described method comprises the following steps: during washing tub is operated with the first preset rotation speed, the position of washing machine corresponding washing tub of reversed zero crossing of velocity perturbation under unbalanced load is obtained, and the position control motor of the corresponding washing tub of reversed zero crossing in velocity perturbation runs slowly；It is delayed after the first preset time, the electromagnetic torque of motor is integrated to obtain first integral value, and the feedback speed of motor is integrated to obtain the instruction of the average speed of motor；It instructs control motor to travel at the uniform speed according to average speed, and during motor travels at the uniform speed, the electromagnetic torque of motor is integrated to obtain second integral value；The inertia of washing machine is calculated according to first integral value and second integral value.This method it can be considered that the influence of laod unbalance and roll friction and improve inertia detection precision.
Description
Technical Field
The invention relates to the technical field of household appliances, in particular to an inertia detection method of a washing machine, an inertia detection device of the washing machine and the washing machine with the inertia detection device.
Background
When a user uses the washing machine, the washing machine is expected to automatically give a proper water level and a proper amount of detergent according to the weight of clothes, so that the problems that the clothes cannot be cleaned cleanly or water and electricity resources are wasted due to blind selection are solved.
Currently, there are two main types of methods for measuring the weight of clothes: one is to directly measure the weight of the laundry using a weighing sensor; the other is to measure inertia of laundry in the washing tub by detecting parameters such as time, current, etc. required for the motor in the washing machine to accelerate or decelerate to another rotation speed under different load conditions, and since the weight is substantially proportional to the inertia, the weight of the laundry can be obtained according to the proportional relationship between the two.
The weight of the clothes is detected by adopting the weighing sensor, the weighing sensor needs to be installed in the washing machine, the cost is increased, the installation is inconvenient, and the detection precision is greatly influenced by the installation process. The motor in the washing machine is used for measuring the inertia of clothes, and a special sensor is not needed, so that the installation problem does not exist, and the method is widely applied to the field of washing machines, particularly drum washing machines. For example, in a drum washing machine, laundry in the washing machine is weighed by detecting the load inertia through acceleration and deceleration. However, when the load inertia is detected through acceleration and deceleration, the difference of friction of a drum of the washing machine is not considered, so that the detection precision deviation is large, the influence of load unbalance on inertia detection is not considered, the detection precision is greatly influenced, the weighing error of the washing machine is caused, and the actual requirement of a user cannot be met.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide an inertia detecting method of a washing machine, which can improve the accuracy of inertia detection in consideration of the influence of load unbalance and drum friction.
Another object of the present invention is to provide an inertia detecting apparatus of a washing machine.
Yet another object of the present invention is to provide a washing machine.
In order to achieve the above object, an embodiment of an aspect of the present invention provides an inertia detecting method for a washing machine, the washing machine including a tub and a motor for driving the tub to operate, the method including: in the process that the washing barrel runs at a first preset rotating speed, acquiring the position of the washing barrel corresponding to a reverse zero-crossing point of speed fluctuation of the washing machine under an unbalanced load, and controlling the motor to run at a reduced speed at the position of the washing barrel corresponding to the reverse zero-crossing point of the speed fluctuation; after delaying a first preset time, integrating the electromagnetic torque of the motor to obtain a first integral value, and integrating the feedback speed of the motor to obtain an average speed instruction of the motor; controlling the motor to operate at a constant speed according to the average speed instruction, and integrating the electromagnetic torque of the motor to obtain a second integral value in the process of operating the motor at the constant speed; and calculating inertia of the washing machine according to the first and second integrated values.
According to the inertia detection method of the washing machine, in the process that the washing barrel operates at the first preset rotating speed, firstly, the position of the washing barrel corresponding to the reverse zero-crossing point of the speed fluctuation of the washing machine under the unbalanced load is obtained, the motor is controlled to operate in a speed reduction mode at the position of the washing barrel corresponding to the reverse zero-crossing point of the speed fluctuation, after the first preset time is delayed, the electromagnetic torque of the motor is integrated to obtain the first integral value, the feedback speed of the motor is integrated to obtain the average speed instruction of the motor, then the motor is controlled to operate at a constant speed according to the average speed instruction, the electromagnetic torque of the motor is integrated to obtain the second integral value in the process that the motor operates at the constant speed, and finally the inertia of the washing machine is calculated according to the first integral value and the second integral value. The method can improve the inertia detection precision by considering the influences of load unbalance and roller friction.
According to an embodiment of the present invention, the acquiring a position of the tub corresponding to a zero-crossing point in a reverse direction of a speed fluctuation of the washing machine at the time of load unbalance, includes: acquiring the rotor position of the motor; calculating the feedback speed of the motor according to the rotor position of the motor; and acquiring the position of the washing barrel corresponding to a reverse zero crossing point of the speed fluctuation of the washing machine when the load is unbalanced by an unbalanced position estimation method according to the rotor position of the motor and the feedback speed of the motor.
According to an embodiment of the present invention, the calculating the inertia of the washing machine based on the first and second integrated values includes: calculating inertia of the washing machine by subtracting the first integrated value from the second integrated value.
According to an embodiment of the present invention, the integration time of integrating the electromagnetic torque of the motor to obtain the first integrated value, the integration time of integrating the feedback speed of the motor to obtain the average speed command of the motor, and the integration time of integrating the electromagnetic torque of the motor to obtain the second integrated value are all integer times of the mechanical cycle of the tub, and the number of turns corresponding to the operation of the tub is the same.
In order to achieve the above object, according to another embodiment of the present invention, an inertia detecting apparatus for a washing machine including a tub and a motor for driving the tub to operate includes: the washing machine control device comprises a first obtaining unit, a second obtaining unit and a control unit, wherein the first obtaining unit is used for obtaining the position of the washing barrel corresponding to a reverse zero-crossing point of speed fluctuation of the washing machine under unbalanced load in the process that the washing barrel runs at a first preset rotating speed; a deceleration unit for controlling the motor to operate at a deceleration speed at a position of the tub corresponding to a zero-crossing point in a reverse direction of the speed fluctuation; the first integration unit is used for integrating the electromagnetic torque of the motor to obtain a first integrated value after a first preset time for controlling the motor to operate in a speed reducing mode and integrating the feedback speed of the motor to obtain an average speed instruction of the motor; and the control unit is used for controlling the motor to run at a constant speed according to the average speed instruction, integrating the electromagnetic torque of the motor to obtain a second integral value in the process of running at the constant speed of the motor, and calculating the inertia of the washing machine according to the first integral value and the second integral value.
According to the inertia detecting apparatus of the washing machine of the embodiment of the present invention, during the operation of the washing tub at the first preset rotation speed, the position of the washing barrel corresponding to the reverse zero crossing point of the speed fluctuation of the washing machine under the unbalanced load is obtained through the first obtaining unit, the speed reduction unit controls the motor to perform speed reduction operation at the position of the washing barrel corresponding to the reverse zero crossing point of the speed fluctuation, after a first preset time for controlling the motor to run at a reduced speed, the first integration unit integrates the electromagnetic torque of the motor to obtain a first integration value, and integrates the feedback speed of the motor to obtain an average speed command of the motor, a control unit, is used for controlling the motor to run at a constant speed according to the average speed instruction, and in the process of running at a constant speed, the electromagnetic torque of the motor is integrated to obtain a second integrated value, and inertia of the washing machine is calculated based on the first and second integrated values. The device can improve the inertia detection precision by considering the influences of load unbalance and roller friction.
According to an embodiment of the present invention, the first acquisition unit includes: a first position acquisition unit for acquiring a rotor position of the motor; the speed calculation unit is used for calculating the feedback speed of the motor according to the rotor position of the motor; and a second position obtaining unit for obtaining a position of the tub corresponding to a reverse zero-crossing point of a speed fluctuation of the washing machine at the time of load unbalance through an unbalance position estimation method according to a rotor position of the motor and a feedback speed of the motor.
According to an embodiment of the present invention, the control unit calculates the inertia of the washing machine based on the first integrated value and the second integrated value by subtracting the first integrated value from the second integrated value.
According to an embodiment of the present invention, the integration time of integrating the electromagnetic torque of the motor to obtain the first integrated value, the integration time of integrating the feedback speed of the motor to obtain the average speed command of the motor, and the integration time of integrating the electromagnetic torque of the motor to obtain the second integrated value are all integer times of the mechanical cycle of the tub, and the number of turns corresponding to the operation of the tub is the same.
In order to achieve the above object, according to another embodiment of the present invention, there is provided a washing machine including: a washing tub; a motor for driving the washing tub to operate; the inertia detecting device of the washing machine is provided.
According to the washing machine of the embodiment of the invention, the inertia detection device of the washing machine can consider the influences of load unbalance and drum friction to improve the inertia detection accuracy.
Drawings
Fig. 1 is a flowchart of an inertia detecting method of a washing machine according to an embodiment of the present invention;
FIG. 2 is a graphical illustration of an inertia detection result of the washing machine at a ramp deceleration speed command;
fig. 3 is a flowchart of an inertia detecting method of a washing machine according to an embodiment of the present invention;
fig. 4 is a block schematic view of an inertia detecting apparatus of a washing machine according to an embodiment of the present invention;
fig. 5 is a block diagram schematically illustrating an inertia detecting apparatus of a washing machine according to an embodiment of the present invention;
fig. 6 is a schematic configuration diagram of a control system of a washing machine according to an embodiment of the present invention; and
fig. 7 is a block schematic view of a washing machine according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An inertia detecting method of a washing machine, an inertia detecting apparatus of a washing machine, and a washing machine having the inertia detecting apparatus according to embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of an inertia detecting method of a washing machine according to an embodiment of the present invention. In an embodiment of the present invention, a washing machine may include a tub and a motor for driving the tub to operate.
As shown in fig. 1, the inertia detecting method of the washing machine may include the steps of:
and S1, acquiring the position of the washing tub corresponding to the reverse zero crossing point of the speed fluctuation of the washing machine under the unbalanced load in the process that the washing tub runs at the first preset rotating speed, and controlling the motor to run at a reduced speed at the position of the washing tub corresponding to the reverse zero crossing point of the speed fluctuation.
Particularly, when inertia of the washing barrel is detected, the load cannot be guaranteed to be in a complete balance state, speed fluctuation can be caused due to the unbalanced load, then, when the inertia is detected, a preset motion track can be randomly superposed with the speed fluctuation, finally, the speed waveform difference between different tests is large, and then, the detection result fluctuation is large, and the detection precision is low. Therefore, in consideration of the condition of load unbalance, the same deceleration starting point is adopted, for example, the drum position corresponding to the reverse zero crossing point (the value is close to the instruction value) of the speed fluctuation is used as the starting point of the deceleration operation of the motor, so that the operation track of each deceleration is ensured to be consistent, the weighing result of the clothes with the same weight under the condition of unbalanced load and balanced load is the same, the detection error caused by the unbalanced load is reduced, and the detection precision is improved.
According to an embodiment of the present invention, acquiring a position of a tub corresponding to a zero-crossing point of a speed fluctuation of a washing machine at a load imbalance includes: acquiring the position of a rotor of a motor; calculating the feedback speed of the motor according to the rotor position of the motor; and acquiring the position of the washing barrel corresponding to a reverse zero-crossing point of speed fluctuation of the washing machine when the load is unbalanced by an unbalanced position estimation method according to the rotor position of the motor and the feedback speed of the motor.
Specifically, during the operation of the washing tub at the first preset rotation speed, the objects in the washing tub are pressed against the washing tub by centrifugal force, and the unbalanced position with respect to the washing tub can be considered to be fixed. Therefore, the speed fluctuation generated by the unbalance is constant frequency fluctuation, the position of the washing bucket corresponding to the maximum speed fluctuation point and the position of the washing bucket corresponding to the minimum speed fluctuation point can be obtained by an unbalance position estimation method, and then the position of the roller corresponding to the reverse zero-crossing point of the speed fluctuation can be obtained according to the position of the washing bucket corresponding to the maximum speed fluctuation point and the position of the washing bucket corresponding to the minimum speed fluctuation point.
And S2, after delaying for a first preset time, integrating the electromagnetic torque of the motor to obtain a first integral value, and integrating the feedback speed of the motor to obtain an average speed command of the motor.
The first preset time can be calibrated according to actual conditions.
And S3, controlling the motor to operate at a constant speed according to the average speed instruction, and integrating the electromagnetic torque of the motor to obtain a second integral value in the process of operating the motor at the constant speed.
In one embodiment of the present invention, after the motor is decelerated for a first preset time, the integration time of integrating the electromagnetic torque of the motor to obtain the first integral value, the integration time of integrating the feedback speed of the motor to obtain the average speed command of the motor, and the integration time of integrating the electromagnetic torque of the motor to obtain the second integral value are all integer multiples of the mechanical period of the washing tub, and the number of turns of the corresponding washing tub is the same. That is, the time of the third integration is equal and is an integral multiple of the mechanical cycle of the drum.
Specifically, the inertia of the washing machine may be detected through a motion trace as shown in fig. 2. As shown in fig. 2, the washing tub is first controlled to operate at a first preset rotation speed (e.g. 150rpm), then the position of the washing tub corresponding to the zero crossing point of the speed fluctuation is obtained, and after the position is obtained, the position is used as the starting point of the motor deceleration operation, and at this time, a slope deceleration speed command is given to control the motor deceleration operation. After a first preset time of the motor deceleration operation, the electromagnetic torque of the motor is integrated to obtain a first integral value, the integral time is an integral multiple of a mechanical period of the washing tub, for example, one mechanical period (for example, an AB segment) of the washing tub, and simultaneously, the feedback speed of the motor is integrated to obtain an average speed command of the motor, and the integral time can be a time of the AB segment.
When the motor is decelerated to a certain speed, the motor is controlled to run at a constant speed at the current speed, then the motor is controlled to be accelerated to a corresponding average speed according to the average speed instruction, the motor is controlled to run at the constant speed at the average speed, in the process of the uniform speed running of the motor, the electromagnetic torque of the motor is integrated to obtain a second integrated value, the integration time is a CD section, and the time of the CD section is equal to the time of the AB section.
And S4, calculating inertia of the washing machine according to the first and second integrated values.
According to an embodiment of the present invention, calculating the inertia of the washing machine according to the first and second integrated values includes: the inertia of the washing machine is calculated by subtracting the first integrated value from the second integrated value.
Specifically, the equation of motion of the motor is:
where Te is the electromagnetic torque of the motor, Td is the unbalanced torque, B is the sticking coefficient, ω is the rotational speed of the motor, and J is the moment of inertia.
As shown in fig. 2, the AB segment and the CD segment are both mechanical cycles of one washing tub, and then the speed command of the CD segment, i.e. the average speed command of the motor, is:
wherein T ═ TAB(time in AB period) ═ TCD(time of CD session).
When the influence of the unbalanced load is not considered, in the deceleration section AB, the electromagnetic torque output by the motor is as follows:
in the CD section of the uniform speed section, the electromagnetic torque output by the motor is as follows:
Te＝Bω (4)
when the load unbalance torque Td is considered, in the deceleration section AB, the electromagnetic torque output by the motor is:
in the CD section of the uniform speed section, the electromagnetic torque output by the motor is as follows:
then, the two sides of the equation (5) are integrated in the period AB to obtain a first integral value:
and (3) integrating two sides of the formula (6) in the CD period to obtain a second integral value:
then, taking the difference between the above equation (7) and equation (8), we can obtain:
wherein the speed of the CD section is inverted and integrated to zero in one mechanical cycle of the washing tub, i.e.Then equation (9) above can be written as:
if ^ B ωABdt＝∫BωCDdt, then the above equation (10) can be written as:
wherein,is constant, therefore, the inertia of the washing machine is proportional to the difference between the electromagnetic torque integrals of the AB and CD sections, so that the inertia of the washing machine can be calculated. Therefore, the influence of the frictional resistance of the washing barrel in the deceleration section is counteracted through the calculation of the average speed of the motor, and the detection precision of the inertia is improved.
To make the present invention more apparent to those skilled in the art, fig. 3 is a flowchart of an inertia detecting method of a washing machine according to an embodiment of the present invention. As shown in fig. 3, the inertia detecting method of the washing machine may include the steps of:
s101, start.
S102, judging whether the load is enabled or not. If yes, go to step S103; if not, step S110 is executed.
S103, planning a first section by the speed instruction: the tub command speed was set to 150 rpm.
And S104, calculating a deceleration starting point, calculating the position of the washing barrel corresponding to the reverse zero-crossing point of the speed fluctuation by an unbalance position estimation method, and taking the reverse zero point of the speed fluctuation as the deceleration starting point.
S105, planning a second section by the speed command: given a ramp deceleration command, the deceleration starting point is the position of the wash bucket corresponding to the reverse zero crossing of the speed fluctuation.
And S106, integrating the electromagnetic torque of the AB section to obtain a first integrated value.
S107, planning a third section by the speed instruction: and giving an average speed command, and controlling the motor to run at an average speed at a constant speed.
And S108, integrating the electromagnetic torque of the constant speed section CD to obtain a second integral value.
And S109, the inertia of the washing machine is equal to the first integral value and the second integral value.
And S110, ending.
In summary, according to the inertia detecting method of the washing machine in the embodiment of the present invention, in the process that the washing tub operates at the first preset rotation speed, first, a position of the washing tub corresponding to the zero-crossing point in the reverse direction of the speed fluctuation of the washing machine under the unbalanced load is obtained, and the motor is controlled to operate at a reduced speed at the position of the washing tub corresponding to the zero-crossing point in the reverse direction of the speed fluctuation, after delaying the first preset time, the electromagnetic torque of the motor is integrated to obtain the first integral value, and the feedback speed of the motor is integrated to obtain the average speed command of the motor, then, the motor is controlled to operate at a constant speed according to the average speed command, and the electromagnetic torque of the motor is integrated to obtain the second integral value in the process that the motor operates at a constant speed, and finally, the inertia of the washing machine. The method can consider the influence of unbalanced load, can ensure that every deceleration starts at the position of the reverse zero crossing point of the speed fluctuation, ensures that the running tracks of every deceleration are consistent, can ensure that the weighing results of clothes with the same weight under the conditions of unbalanced load and balanced load are the same, reduces the detection error brought by the unbalanced load, and eliminates the influence brought by the friction of a roller by adopting the deceleration section to match the motion track of the average speed, thereby greatly improving the detection precision, avoiding the weighing error of the washing machine and fully meeting the requirements of users.
Fig. 4 is a block schematic view of an inertia detecting apparatus of a washing machine according to an embodiment of the present invention. As shown in fig. 4, the washing machine may include a tub 100, and a motor 200 for driving the tub to operate. The inertia detecting apparatus of the washing machine may include a first acquisition unit 10, a deceleration unit 20, a first integration unit 30, and a control unit 40.
Wherein, the first obtaining unit 10 is configured to obtain a position of the tub 100 corresponding to a zero-crossing point of a speed fluctuation of the washing machine in an unbalanced load, during operation of the tub 100 at a first preset rotation speed. The deceleration unit 20 is for controlling the motor 200 to operate at a decelerated speed at a position of the tub 100 corresponding to a zero-crossing point of a reverse direction of the speed fluctuation. The first integration unit 30 is configured to integrate the electromagnetic torque of the motor 200 to obtain a first integrated value after a first preset time for controlling the motor 200 to operate in a decelerating manner, and integrate the feedback speed of the motor 200 to obtain an average speed command of the motor. The control unit 40 is configured to control the motor 200 to operate at a constant speed according to the average speed command, and during the constant speed operation of the motor 200, integrate the electromagnetic torque of the motor 200 to obtain a second integrated value, and calculate the inertia of the washing machine according to the first integrated value and the second integrated value.
Fig. 5 is a block diagram illustrating an inertia detecting apparatus of a washing machine according to an embodiment of the present invention. As shown in fig. 5, the first acquisition unit 10 includes a first position acquisition unit 11, a speed calculation unit 12, and a second position acquisition unit 13. Wherein the first position obtaining unit 11 is configured to obtain a rotor position of the motor 200, the speed calculating unit 12 is configured to calculate a feedback speed of the motor 200 according to the rotor position of the motor 200, and the second position obtaining unit 13 is configured to obtain a position of the tub 100 corresponding to a zero-crossing point in a reverse direction of a speed fluctuation of the washing machine at the time of load unbalance through an unbalance position estimation method according to the rotor position of the motor 200 and the feedback speed of the motor 200.
According to an embodiment of the present invention, when the control unit 40 calculates the inertia of the washing machine according to the first integrated value and the second integrated value, wherein the control unit 40 calculates the inertia of the washing machine by subtracting the first integrated value from the second integrated value.
According to an embodiment of the present invention, the integration time of integrating the electromagnetic torque of the motor 200 to obtain the first integrated value, the integration time of integrating the feedback speed of the motor 200 to obtain the average speed command of the motor, and the integration time of integrating the electromagnetic torque of the motor 200 to obtain the second integrated value are all integer times of the mechanical cycle of the tub 100, and the number of turns of the corresponding operation of the tub 100 is the same.
As a specific example, as shown in fig. 6, the inertia detecting apparatus of the washing machine may include a position detecting unit 101, a speed operator 102, a deceleration start point calculating unit 103, an instruction generating unit 104, an inertia calculating module 105, a torque calculating module 106, a speed controller 107, and a current controller 108. The position detection unit 101 is configured to detect a rotor position θ of the motor 200; the speed arithmetic unit 102 is used for obtaining a feedback speed Vfdb of the motor 200 according to the rotor position θ of the motor 200; the deceleration starting point calculating unit 103 is configured to obtain a position of the tub 100 corresponding to a reverse zero-crossing point of a speed fluctuation of the washing machine when the load is unbalanced through unbalance position estimation according to a rotor position θ of the motor 200 and a feedback speed Vfdb of the motor 200; the instruction generating module 104 is configured to generate a deceleration instruction at a position of the washing tub 100 corresponding to a zero-crossing point in a reverse direction of the speed fluctuation to control the motor 200 to perform deceleration operation, and is further configured to integrate a feedback speed after the motor 200 performs deceleration operation for a preset time to generate an average speed instruction of the motor 200; the inertia calculation module 105 integrates the electromagnetic torque of the motor 200 after the motor 200 operates at a reduced speed for a preset time to obtain a first integration result, and is further configured to integrate the electromagnetic torque of the motor 200 during constant-speed operation to obtain a second integration result; the torque calculation module 106 calculates the electromagnetic torque of the motor 200 according to the feedback current Ifdb of the motor 200, and then outputs the calculated electromagnetic torque to the inertia calculation module 105; the speed controller 107 generates a torque command Tasr according to an error Verr between a speed command Vref output by the command generating module 104 and a feedback speed Vfdb output by the speed operator 102; the current controller 108 generates a current command I to control the motor 200 based on the torque command Tasr and the feedback current Ifdb output from the speed controller 107.
It should be noted that, for details not disclosed in the inertia detecting apparatus of the washing machine according to the embodiment of the present invention, please refer to details disclosed in the inertia detecting method of the washing machine according to the embodiment of the present invention, and detailed descriptions thereof are omitted here.
According to the inertia detecting apparatus of the washing machine of the embodiment of the present invention, during the operation of the washing tub at the first preset rotation speed, the position of the washing barrel corresponding to the reverse zero crossing point of the speed fluctuation of the washing machine under the unbalanced load is obtained through the first obtaining unit, the speed reduction unit controls the motor to perform speed reduction operation at the position of the washing barrel corresponding to the reverse zero crossing point of the speed fluctuation, after a first preset time for controlling the motor to run at a reduced speed, the first integration unit integrates the electromagnetic torque of the motor to obtain a first integration value, and integrates the feedback speed of the motor to obtain an average speed command of the motor, a control unit, is used for controlling the motor to run at a constant speed according to the average speed instruction, and in the process of running at a constant speed, the electromagnetic torque of the motor is integrated to obtain a second integrated value, and inertia of the washing machine is calculated based on the first and second integrated values. The device can consider the influence of unbalanced load, can guarantee that the speed reduction begins at the position of the backward zero crossing point of speed fluctuation at every turn, ensure that the operation track of speed reduction is unanimous at every turn, can make the clothing of the same weight weigh the result the same under the circumstances of unbalanced load and balanced load, reduce the detection error that unbalanced load brought, and, adopt the motion track of the section cooperation average speed that slows down, eliminate the influence that drum friction brought, the detection precision has been improved greatly, thereby avoid causing washing machine's weighing error, fully satisfy user's needs.
Fig. 7 is a block schematic view of a washing machine according to an embodiment of the present invention. As shown in fig. 7, the washing machine 1000 may include a tub 100, a motor 200 to drive the tub 100 to operate, and the inertia detecting apparatus 300 of the washing machine.
According to the washing machine provided by the embodiment of the invention, the inertia detection device of the washing machine can consider the influence of unbalanced load, can ensure that each deceleration starts at the position of the reverse zero crossing point of the speed fluctuation, ensures that the running track of each deceleration is consistent, can ensure that the weighing result of clothes with the same weight is the same under the conditions of unbalanced load and balanced load, reduces the detection error caused by unbalanced load, adopts the deceleration section to match with the motion track of the average speed, eliminates the influence caused by drum friction, greatly improves the detection precision, avoids causing the weighing error of the washing machine, and fully meets the requirements of users.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (7)
1. An inertia detecting method of a washing machine, the washing machine including a tub and a motor for driving the tub to operate, the method comprising:
acquiring the position of the washing tub corresponding to a reverse zero-crossing point of a speed fluctuation of the washing machine under an unbalanced load during operation of the washing tub at a first preset rotation speed, and controlling the motor to operate at a reduced speed at the position of the washing tub corresponding to the reverse zero-crossing point of the speed fluctuation, wherein the acquiring the position of the washing tub corresponding to the reverse zero-crossing point of the speed fluctuation of the washing machine under the unbalanced load comprises: acquiring the rotor position of the motor; calculating the feedback speed of the motor according to the rotor position of the motor; acquiring the position of the washing barrel corresponding to a reverse zero-crossing point of speed fluctuation of the washing machine when the load is unbalanced by an unbalanced position estimation method according to the rotor position of the motor and the feedback speed of the motor;
after delaying a first preset time, integrating the electromagnetic torque of the motor to obtain a first integral value, and integrating the feedback speed of the motor to obtain an average speed instruction of the motor;
controlling the motor to operate at a constant speed according to the average speed instruction, and integrating the electromagnetic torque of the motor to obtain a second integral value in the process of operating the motor at the constant speed; and
calculating inertia of the washing machine according to the first and second integrated values.
2. The inertia detecting method of a washing machine according to claim 1, wherein the calculating the inertia of the washing machine based on the first and second integrated values includes:
calculating inertia of the washing machine by subtracting the first integrated value from the second integrated value.
3. The inertia detecting method of a washing machine according to claim 2, wherein an integration time for integrating the electromagnetic torque of the motor to obtain the first integration value, an integration time for integrating the feedback speed of the motor to obtain the average speed command of the motor, and an integration time for integrating the electromagnetic torque of the motor to obtain the second integration value are each an integer multiple of a mechanical period of the tub, and the number of turns corresponding to the operation of the tub is the same.
4. An inertia detecting apparatus of a washing machine, the washing machine including a tub and a motor for driving the tub to operate, the apparatus comprising:
a first obtaining unit for obtaining a position of the tub corresponding to a zero-crossing point of a speed fluctuation of the washing machine in a reverse direction under an unbalanced load during operation of the tub at a first preset rotation speed, wherein the first obtaining unit includes: a first position acquisition unit for acquiring a rotor position of the motor; the speed calculation unit is used for calculating the feedback speed of the motor according to the rotor position of the motor; a second position obtaining unit for obtaining a position of the tub corresponding to a reverse zero-crossing point of a speed fluctuation of the washing machine when a load is unbalanced by an unbalance position estimation method according to a rotor position of the motor and a feedback speed of the motor;
a deceleration unit for controlling the motor to operate at a deceleration speed at a position of the tub corresponding to a zero-crossing point in a reverse direction of the speed fluctuation;
the first integration unit is used for integrating the electromagnetic torque of the motor to obtain a first integrated value after a first preset time for controlling the motor to operate in a speed reducing mode and integrating the feedback speed of the motor to obtain an average speed instruction of the motor;
and the control unit is used for controlling the motor to run at a constant speed according to the average speed instruction, integrating the electromagnetic torque of the motor to obtain a second integral value in the process of running at the constant speed of the motor, and calculating the inertia of the washing machine according to the first integral value and the second integral value.
5. The inertia detecting apparatus of a washing machine according to claim 4, wherein the control unit calculates the inertia of the washing machine based on the first and second integrated values, wherein,
the control unit calculates inertia of the washing machine by subtracting the first integrated value from the second integrated value.
6. The inertia detecting apparatus of a washing machine according to claim 5, wherein an integration time for integrating the electromagnetic torque of the motor to obtain the first integration value, an integration time for integrating the feedback speed of the motor to obtain the average speed command of the motor, and an integration time for integrating the electromagnetic torque of the motor to obtain the second integration value are each an integer multiple of a mechanical period of the tub, and the number of turns corresponding to the operation of the tub is the same.
7. A washing machine, characterized by comprising:
a washing tub;
a motor for driving the washing tub to operate;
the inertia detecting apparatus of a washing machine according to any one of claims 4 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611147609.7A CN106702665B (en) | 2016-12-13 | 2016-12-13 | Washing machine and its inertia detection method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611147609.7A CN106702665B (en) | 2016-12-13 | 2016-12-13 | Washing machine and its inertia detection method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106702665A CN106702665A (en) | 2017-05-24 |
| CN106702665B true CN106702665B (en) | 2019-03-15 |
Family
ID=58937172
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611147609.7A Active CN106702665B (en) | 2016-12-13 | 2016-12-13 | Washing machine and its inertia detection method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106702665B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106702665B (en) * | 2016-12-13 | 2019-03-15 | 广东威灵电机制造有限公司 | Washing machine and its inertia detection method and device |
| CN107059326B (en) * | 2017-05-31 | 2020-04-03 | 广东威灵电机制造有限公司 | Inertia detection method of washing machine, washing machine and storage medium |
| CN108774849B (en) * | 2018-06-14 | 2021-03-16 | 广东威灵电机制造有限公司 | Operation control method and system for clothes processing device and storage medium |
| CN108755009B (en) | 2018-06-14 | 2021-02-23 | 广东威灵电机制造有限公司 | Operation control method, system, device and storage medium for clothes processing device |
| CN108755008B (en) * | 2018-06-14 | 2021-03-16 | 广东威灵电机制造有限公司 | Load inertia detection method, system and device of clothes treatment device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1854377A (en) * | 2005-04-27 | 2006-11-01 | 惠尔普尔公司 | Method and apparatus for monitoring load size and load imbalance in washing machine |
| CN103966799A (en) * | 2014-04-29 | 2014-08-06 | 广东威灵电机制造有限公司 | Roller washing machine and inertia detection method and device thereof |
| CN103966804A (en) * | 2014-04-29 | 2014-08-06 | 广东威灵电机制造有限公司 | Roller washing machine and inertia detection method and device thereof |
| CN106702665A (en) * | 2016-12-13 | 2017-05-24 | 广东威灵电机制造有限公司 | Washing machine and inertia detection method and device of washing machine |
| CN107059326A (en) * | 2017-05-31 | 2017-08-18 | 广东威灵电机制造有限公司 | Inertia detection method, washing machine and the storage medium of washing machine |
-
2016
- 2016-12-13 CN CN201611147609.7A patent/CN106702665B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1854377A (en) * | 2005-04-27 | 2006-11-01 | 惠尔普尔公司 | Method and apparatus for monitoring load size and load imbalance in washing machine |
| CN103966799A (en) * | 2014-04-29 | 2014-08-06 | 广东威灵电机制造有限公司 | Roller washing machine and inertia detection method and device thereof |
| CN103966804A (en) * | 2014-04-29 | 2014-08-06 | 广东威灵电机制造有限公司 | Roller washing machine and inertia detection method and device thereof |
| CN106702665A (en) * | 2016-12-13 | 2017-05-24 | 广东威灵电机制造有限公司 | Washing machine and inertia detection method and device of washing machine |
| CN107059326A (en) * | 2017-05-31 | 2017-08-18 | 广东威灵电机制造有限公司 | Inertia detection method, washing machine and the storage medium of washing machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106702665A (en) | 2017-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106702665B (en) | Washing machine and its inertia detection method and device | |
| EP2728049B1 (en) | Washing machine and control method thereof | |
| KR101375714B1 (en) | Method for detecting laundry weight of drum type washing machine | |
| CN105256507B (en) | Roller washing machine and its load weighing method | |
| KR20030005804A (en) | Method of detecting the weight of laundry in washing machine of sensorless bldc motor | |
| TW200934911A (en) | Washing machine | |
| RU2008114664A (en) | WASHING MACHINE (OPTIONS) AND METHOD FOR MANAGING MAINTENANCE OF THE STABILIZED STATE OF LINEN (OPTIONS) IN IT | |
| CN103966799A (en) | Roller washing machine and inertia detection method and device thereof | |
| JP2008220156A (en) | System and method for detecting out-of-balance state in electronically controlled motor | |
| CN107059326B (en) | Inertia detection method of washing machine, washing machine and storage medium | |
| JP2009005722A (en) | Washing machine | |
| JP5299237B2 (en) | Washing machine | |
| JP5287419B2 (en) | Washing machine | |
| JP5104671B2 (en) | Washing machine | |
| JP4783771B2 (en) | Washing machine | |
| JP6326634B2 (en) | Washing machine | |
| JP5104672B2 (en) | Washing machine | |
| KR100417424B1 (en) | Method of detecting the weight of laundry in washing machine using sensorless bldc motor | |
| JP5287416B2 (en) | Washing machine | |
| JP5104670B2 (en) | Washing machine | |
| JP2009066095A (en) | Washing machine | |
| CN108547115B (en) | Operation control method, system, device and storage medium for clothes processing device | |
| JP5104668B2 (en) | Washing machine | |
| JP2014033708A (en) | Drum type washing machine | |
| JP5287418B2 (en) | Washing machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |