CN108755008B

CN108755008B - Load inertia detection method, system and device of clothes treatment device

Info

Publication number: CN108755008B
Application number: CN201810614733.2A
Authority: CN
Inventors: 徐磊; 秦向南; 付俊永; 赵小安
Original assignee: Guangdong Welling Motor Manufacturing Co Ltd; Midea Welling Motor Technology Shanghai Co Ltd
Current assignee: Guangdong Welling Motor Manufacturing Co Ltd; Midea Welling Motor Technology Shanghai Co Ltd
Priority date: 2018-06-14
Filing date: 2018-06-14
Publication date: 2021-03-16
Anticipated expiration: 2038-06-14
Also published as: CN108755008A

Abstract

The invention provides a load inertia detection method of a clothes processing device, which comprises the following steps: acquiring the torque or rotation speed fluctuation of the motor within a preset time length, and taking the position of the barrel body corresponding to the maximum value or the minimum value of the torque or rotation speed fluctuation as a target position; when the barrel body rotates to the target position and the speed of the barrel body is a preset speed, controlling a motor of the clothes processing device to perform a first operation process at a first acceleration, and integrating electromagnetic torque of the motor to obtain a first integration result; controlling the motor to perform a second operation process at a second acceleration, and integrating the electromagnetic torque of the motor to obtain a second integration result; collecting operation parameters of a clothes treatment device; the load inertia of the motor is calculated according to the first integral result, the second integral result and the operation parameters, the position of the load eccentricity and the position of the barrel body are limited in the calculation process, the consistency of inertia detection is further guaranteed, and the accuracy of the detection of the weight of the clothes is improved.

Description

Load inertia detection method, system and device of clothes treatment device

Technical Field

The present invention relates to the field of laundry processing apparatuses, and in particular, to a method for detecting load inertia of a laundry processing apparatus, a system for detecting load inertia of a laundry processing apparatus, and a computer-readable storage medium.

Background

The existing washing machine can enable a user to place clothes weight to adjust the injection water level and the detergent amount, ensures that the clothes are in the best washing condition, guarantees the washing quality, and can avoid the condition of water and electricity waste, and the method for detecting the clothes weight in the existing product mainly comprises two categories: one is to directly measure the weight of the laundry using a weighing sensor; another type is to measure the inertia of the laundry in the drum by detecting the time, current, etc. required for the motor in the washing machine to accelerate under different load conditions or to another rotational speed, and since the weight is substantially proportional to the inertia, the inertia can be converted into the weight according to the proportional relationship between them.

The method for directly measuring the weight of clothes by adopting the weighing sensor needs to additionally install the weighing sensor, the product cost is increased, a proper installation space is needed, the existing design and installation are mostly inconvenient, and a special sensor is not needed in the method for measuring the clothes inertia by utilizing the motor in the washing machine, so that the installation problem does not exist, in the drum washing machine, the load inertia is usually detected by acceleration and deceleration, the difference of the friction of the drum of the washing machine is not considered, the detection precision deviation is larger, meanwhile, the influence of the load unbalance on the inertia detection is not considered, the obtained clothes weight error is larger, and the user needs cannot be met.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

To this end, a first aspect of the present invention provides a load inertia detecting method of a laundry treating apparatus.

A second aspect of the present invention is to provide a load inertia detecting system of a laundry treating apparatus.

A third aspect of the present invention provides a laundry treating apparatus.

A fourth aspect of the present invention is to provide a computer-readable storage medium.

In view of the above, according to a first aspect of the present invention, there is provided a load inertia detecting method of a laundry treating apparatus, comprising: acquiring the torque or rotation speed fluctuation of the motor within a preset time length, and taking the position of the barrel body corresponding to the maximum value or the minimum value of the torque or rotation speed fluctuation as a target position; when the barrel body rotates to the target position and the speed of the barrel body is a preset speed, controlling a motor of the clothes processing device to perform a first operation process at a first acceleration, and integrating electromagnetic torque of the motor to obtain a first integration result; controlling the motor to perform a second operation process at a second acceleration, and integrating the electromagnetic torque of the motor to obtain a second integration result; collecting operation parameters of a laundry treatment device, wherein the operation parameters at least comprise: a first operation duration of the first operation process, a two-endpoint rotating speed value of the first operation process, a second operation duration of the second operation process and a two-endpoint rotating speed value of the second operation process; and calculating the load inertia of the motor according to the first integration result, the second integration result and the operation parameters.

The invention provides a load inertia detection method of a clothes treatment device, which comprises the steps of controlling a motor to perform a first operation process according to a first acceleration in the operation process of the clothes treatment device, and integrating electromagnetic torque of the motor in the first operation process to obtain a first integration result; after the first operation process is finished, controlling the motor to perform a second operation process according to a second acceleration, and integrating the electromagnetic torque of the motor in the second operation process to obtain a second integration result; counting the operation parameters of the clothes treatment device, wherein the operation parameters include but are not limited to a first operation time length in a first operation process and two end point rotating speed values of the first operation process and a second operation time length in a second operation process and two end point rotating speed values of the second operation process, calculating the load inertia of the current motor according to a first integration result, a second integration result, the first operation time length, the starting time and the ending time of the first operation time length and the second operation time length and the rotating speed values of the two end points of the first operation process and the second operation process, further calculating the weight of clothes in the current clothes treatment device according to the load inertia, selecting proper water level and detergent amount according to the weight of the clothes, simultaneously, in order to improve the consistency of a speed curve of the load inertia and further improve the precision of detecting the load weight, obtaining the torque or rotating speed fluctuation of the motor in a preset time length, the method for determining the weight of the clothes by detecting the load inertia of the motor considers the difference of friction of the barrel body of the clothes processing device and the influence of load unbalance on inertia detection, and simultaneously limits the position of load eccentricity and the position of the barrel body in the calculation process, further ensures the consistency of inertia detection, improves the accurate degree of the detection of the weight of the clothes, reduces the conditions of water and electricity consumption, reduces the waste of resources and improves the use experience of users.

In addition, the method for detecting the load inertia of the clothes processing device in the above technical solution provided by the present invention may further have the following additional technical features:

in the above technical solution, preferably, after taking a tub position corresponding to a maximum value or a minimum value of a torque or a rotation speed fluctuation or a torque fluctuation as a target position, when the tub rotates to the target position and a speed of the tub is a preset speed, before controlling a motor of the laundry processing apparatus to perform a first operation process at a first acceleration and integrating an electromagnetic torque of the motor to obtain a first integration result, the method further includes: detecting the speed of the barrel body in real time; when the barrel body speed is a preset speed and the target position of the barrel body is detected at least once, executing a first operation process; otherwise, the barrel body is controlled to rotate at a constant speed according to the preset speed until the barrel body rotates to the target position.

In the technical scheme, after the rotating target of the barrel body is determined, the speed of the barrel body is detected in real time, whether the preset speed is reached is judged, when the preset speed is reached and the barrel body rotates to the target position, the motor is controlled to execute a first operation process, when the speed of the barrel body reaches the preset speed and the barrel body cannot rotate to the target position, the barrel body is controlled to rotate according to the preset speed until the barrel body rotates to the target position, the calculation condition of load inertia is further unified, the relative position of the load inertia and the barrel body is kept consistent when the speed of the barrel body reaches the preset speed each time, the detection precision is improved, meanwhile, when the speed of the barrel body reaches the preset speed and the barrel body cannot rotate to the target position, the barrel body is controlled to rotate according to the preset speed until the barrel body rotates to the target position, and the motor performing the first operation process has the same acceleration as the first operation process of performing the next load inertia detection, the calculation accuracy is further improved.

In any of the above technical solutions, preferably, within a preset time period, the position of the barrel corresponding to the maximum value or the minimum value of the torque of the motor is used as the target position, and specifically includes: detecting the torque of the motor in real time within a preset time length to obtain a maximum value or a minimum value of the torque; recording the position of the rotor corresponding to the maximum value or the minimum value of the torque; and determining the target position according to the corresponding relation between the rotor position and the barrel body position.

In the technical scheme, within a preset time, the torque of the motor is detected to determine the maximum value and the minimum value of the motor torque, and the rotor position corresponding to the maximum value and the minimum value of the torque is determined, and then the corresponding barrel position is found out according to the corresponding relation between the existing rotor position and the barrel position, and the barrel position is taken as a target position, so that the state of the motor is represented by utilizing the rotation position change of the barrel, the load inertia is calculated by counting the first operation process started when the barrel rotates to the target position, the uniformity of the calculation conditions of the load inertia is realized, and the consistency of the speed curve of the load inertia calculated each time is guaranteed.

In any of the above technical solutions, preferably, within a preset time period, the position of the barrel corresponding to the time when the rotation speed fluctuation of the motor is at the maximum value or the minimum value is taken as a target position, and specifically includes: detecting the current rotating speed of the motor in real time within a preset time length; carrying out high-pass filtering on the current rotating speed to determine a first rotating speed fluctuation range; recording the position of the rotor corresponding to the maximum value or the minimum value in the first rotation speed fluctuation range; and determining the target position according to the corresponding relation between the rotor position and the barrel body position.

In the technical scheme, the current rotating speed of the motor is detected within a preset time length, the current rotating speed is filtered by utilizing high-pass filtering to obtain the fluctuation of the current rotating speed, i.e., the first rotational speed fluctuation range, since the first rotational speed fluctuation is a fluctuation value that constantly changes up and down, determining the maximum value and the minimum value in the first rotating speed fluctuation through counting the size of the fluctuation value, determining the current position of the motor rotor by utilizing the obvious positions of the waveform, such as the maximum value and the minimum value, further find out the corresponding barrel position according to the corresponding relationship between the existing rotor position and the barrel position, the position of the barrel body is taken as a target position, the state of the motor is represented by utilizing the rotation position change of the barrel body, load inertia is calculated by counting the first operation process started when the barrel body rotates to the target position, so that the unified calculation conditions of the load inertia are realized, and the consistency of the speed curve of the load inertia calculated each time is guaranteed.

In any of the above technical solutions, preferably, within a preset time period, the position of the barrel corresponding to the time when the rotation speed fluctuation of the motor is at the maximum value or the minimum value is taken as a target position, and specifically includes: detecting the current rotating speed of the motor in real time within a preset time length; calculating the difference value between the current rotating speed and the preset rotating speed to obtain a second rotating speed fluctuation range; recording the position of the rotor corresponding to the maximum value or the minimum value in the second rotating speed fluctuation range; and determining the target position according to the corresponding relation between the rotor position and the barrel body position.

In the technical scheme, the current rotating speed of the motor is detected within a preset time length, the difference value between the current rotating speed and the preset rotating speed is calculated to obtain a second rotating speed fluctuation range, namely a second rotating speed fluctuation range, because the second rotating speed fluctuation is a fluctuation value which continuously changes up and down, the maximum value and the minimum value in the second rotating speed fluctuation are determined by counting the size of the fluctuation value, the position of a rotor of the motor is determined by utilizing the position with obvious waveform, such as the maximum value and the minimum value, the corresponding barrel position is found out according to the corresponding relation between the existing rotor position and the barrel position, the barrel position is taken as a target position, the state of the motor is represented by utilizing barrel rotating position conversion, the load inertia is calculated by counting a first operation process started when the barrel rotates to the target position, and the unified calculation condition of the load inertia is realized, and the consistency of the speed curve of the load inertia calculated every time is ensured.

In any of the above technical solutions, preferably, the load inertia is calculated by the following formula:

wherein J is the load inertia, t_A、t_B、t_C、t_DThe start time and the end time of the first operation duration and the second operation duration respectively; omega_A、ω_B、ω_C、ω_DRespectively the rotating speed values of two end points of the first operation process and the second operation process,

and

the first integration result and the second integration result.

In the technical scheme, the load inertia J is directly obtained by a first integral result

Second integration result

The start and end times t of the first and second operating periods_A、t_B、t_C、t_DThe rotation speed value omega of two end points of the first operation process and the second operation process_A、ω_B、ω_C、ω_DAnd (4) calculating without complex calculation.

In any of the above technical solutions, preferably, the first operation duration and the second operation duration are integer multiples of a rotation period of the tub of the laundry treatment apparatus, and the first operation duration and the second operation duration are equal to each other with respect to the multiples of the rotation period.

In the technical scheme, the first operation time length and the second operation time length are integral multiples of a rotation period of the barrel body of the clothes treatment device, and the first operation time length and the second operation time length are equal to each other relative to the multiples of the rotation period. If the first operation time is N revolutions of the barrel body, the barrel body corresponding to the second operation time is also rotated for N revolutions, the calculated load inertia confidence is ensured to be the highest through the unification of the rotation periods of the first operation time and the second operation time, and the determined weight of the clothes is more accurate.

According to a second aspect of the present invention, there is provided a load inertia detection system of a laundry treatment apparatus, comprising: a memory for storing a computer program; a processor for executing a computer program to: acquiring the torque or rotation speed fluctuation of the motor within a preset time length, and taking the barrel position corresponding to the maximum value or the minimum value of the torque or rotation speed fluctuation as a target position; when the barrel body rotates to the target position and the speed of the barrel body is a preset speed, controlling a motor of the clothes processing device to perform a first operation process at a first acceleration, and integrating electromagnetic torque of the motor to obtain a first integration result; controlling the motor to perform a second operation process at a second acceleration, and integrating the electromagnetic torque of the motor to obtain a second integration result; acquiring operating parameters of the laundry treatment apparatus, wherein the operating parameters at least comprise: the first running time of the first running process, the two-endpoint rotating speed values of the first running process, the second running time of the second running process and the two-endpoint rotating speed values of the second running process; and calculating the load inertia of the motor according to the first integration result, the second integration result and the operation parameter.

The invention provides a load inertia detection system of a clothes treatment device, which comprises a memory and a processor, wherein the memory is used for storing a computer program, the processor can execute the computer program, and the operation control system of the clothes treatment device controls a motor to perform a first operation process according to a first acceleration in the operation process of the clothes treatment device and integrates electromagnetic torque of the motor to obtain a first integration result in the first operation process; after the first operation process is finished, controlling the motor to perform a second operation process according to a second acceleration, and integrating the electromagnetic torque of the motor in the second operation process to obtain a second integration result; counting the operation parameters of the clothes treatment device, wherein the operation parameters include but are not limited to a first operation time length in a first operation process and two end point rotating speed values of the first operation process and a second operation time length in a second operation process and two end point rotating speed values of the second operation process, calculating the load inertia of the current motor according to a first integration result, a second integration result, the first operation time length, the starting time and the ending time of the first operation time length and the second operation time length and the rotating speed values of the two end points of the first operation process and the second operation process, further calculating the weight of clothes in the current clothes treatment device according to the load inertia, selecting proper water level and detergent amount according to the weight of the clothes, simultaneously, in order to improve the consistency of a speed curve of the load inertia and further improve the precision of detecting the load weight, obtaining the torque or rotating speed fluctuation of the motor in a preset time length, the method for determining the weight of the clothes by detecting the load inertia of the motor considers the difference of friction of the barrel body of the clothes processing device and the influence of load unbalance on inertia detection, and simultaneously limits the position of load eccentricity and the position of the barrel body in the calculation process, further ensures the consistency of inertia detection, improves the accurate degree of the detection of the weight of the clothes, reduces the conditions of water and electricity consumption, reduces the waste of resources and improves the use experience of users.

In addition, the load inertia detection system of the laundry processing apparatus according to the above-mentioned technical solution of the present invention may further have the following additional technical features:

in the foregoing technical solution, preferably, the processor is specifically configured to execute a computer program to: detecting the speed of the barrel body in real time; when the barrel body speed is a preset speed and the target position of the barrel body is detected at least once, executing a first operation process; otherwise, the barrel body is controlled to rotate at a constant speed according to the preset speed until the barrel body rotates to the target position.

In the foregoing technical solution, preferably, the processor is specifically configured to execute a computer program to: detecting the torque of the motor in real time within a preset time length to obtain a maximum value or a minimum value of the torque; recording the position of the rotor corresponding to the maximum value or the minimum value of the torque; and determining the target position according to the corresponding relation between the rotor position and the barrel body position.

In the foregoing technical solution, preferably, the processor is specifically configured to execute a computer program to: detecting the current rotating speed of the motor in real time within a preset time length; carrying out high-pass filtering on the current rotating speed to determine a first rotating speed fluctuation range; recording the position of the rotor corresponding to the maximum value or the minimum value in the first rotation speed fluctuation range; and determining the target position according to the corresponding relation between the rotor position and the barrel body position.

In the foregoing technical solution, preferably, the processor is specifically configured to execute a computer program to: detecting the current rotating speed of the motor in real time within a preset time length; calculating the difference value between the current rotating speed and the preset rotating speed to obtain a second rotating speed fluctuation range; recording the position of the rotor corresponding to the maximum value or the minimum value in the second rotating speed fluctuation range; and determining the target position according to the corresponding relation between the rotor position and the barrel body position.

and

the first integration result and the second integration result.

Second integration result

According to a third aspect of the present invention, there is provided a laundry treating apparatus including the operation control system of any one of the laundry treating apparatuses described above.

The clothes treatment device provided by the invention comprises the operation control system of any one clothes treatment device, has all the beneficial technical effects of the operation control system of the clothes treatment device, and is not repeated herein.

According to a fourth aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method according to any one of the preceding claims.

The computer-readable storage medium provided by the present invention, when being executed by a processor, can implement the steps of the method according to any of the above technical solutions, so as to have all the beneficial technical effects of the operation control method of the laundry treatment apparatus, and therefore, the detailed description thereof is omitted.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 illustrates a schematic flowchart of a load inertia detection method of a laundry treatment apparatus according to one embodiment of the present invention;

fig. 2 illustrates a schematic flowchart of a load inertia detecting method of a laundry treating apparatus according to another embodiment of the present invention;

fig. 3 is a schematic flowchart illustrating a load inertia detecting method of a laundry treating apparatus according to still another embodiment of the present invention;

fig. 4 illustrates a schematic flowchart of a load inertia detecting method of a laundry treating apparatus according to still another embodiment of the present invention;

fig. 5 is a schematic flowchart illustrating a load inertia detecting method of a laundry treating apparatus according to still another embodiment of the present invention;

fig. 6 shows a schematic block diagram of a load inertia detection system of a laundry treating apparatus according to an embodiment of the present invention;

fig. 7 shows a schematic block diagram of a laundry treating apparatus according to an embodiment of the present invention;

fig. 8 is a diagram illustrating a relationship among an actual rotation speed, a command speed, and a torque of the drum washing machine according to an embodiment of the present invention;

FIG. 9 is a diagram illustrating relationships between portions of a calculated load inertia, according to one embodiment of the invention;

FIG. 10 illustrates a flow diagram for calculating load inertia, according to one embodiment of the invention;

FIG. 11 is a schematic diagram illustrating the relationship between the actual rotation speed, the command speed and the filtered motor rotation speed of the drum washing machine according to an embodiment of the present invention;

FIG. 12 is a diagram illustrating relationships between portions of a calculated load inertia, according to one embodiment of the invention;

FIG. 13 illustrates a flow diagram for calculating load inertia, according to one embodiment of the invention;

fig. 14 is a diagram illustrating a relationship among an actual rotation speed, a command speed, and rotation speed fluctuation information of the drum washing machine according to an embodiment of the present invention;

FIG. 15 is a diagram illustrating relationships between portions of a calculated load inertia, according to one embodiment of the invention;

FIG. 16 shows a flow diagram for calculating load inertia, according to one embodiment of the invention.

Detailed Description

So that the manner in which the above recited aspects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

An embodiment of a first aspect of the present invention provides an operation control method of a laundry treating apparatus.

Fig. 1 illustrates a schematic flowchart of a load inertia detecting method of a laundry treating apparatus according to one embodiment of the present invention.

As shown in fig. 1, a load inertia detecting method of a laundry treating apparatus according to an embodiment of the present invention includes:

s102, acquiring the torque or rotation speed fluctuation of the motor within a preset time length, and taking the barrel position corresponding to the maximum value or the minimum value of the torque or rotation speed fluctuation as a target position;

s104, when the barrel body rotates to the target position and the speed of the barrel body is a preset speed, controlling a motor of the clothes processing device to perform a first operation process at a first acceleration, and integrating electromagnetic torque of the motor to obtain a first integration result;

s106, controlling the motor to perform a second operation process at a second acceleration, and integrating the electromagnetic torque of the motor to obtain a second integration result;

s108, collecting the operation parameters of the clothes treatment device;

and S110, calculating the load inertia of the motor according to the first integration result, the second integration result and the operation parameters.

Wherein the operating parameters include at least: the first running time of the first running process, the two-endpoint rotating speed value of the first running process, the second running time of the second running process and the two-endpoint rotating speed value of the second running process.

Fig. 2 illustrates a schematic flowchart of a load inertia detecting method of a laundry treating apparatus according to another embodiment of the present invention.

As shown in fig. 2, a load inertia detecting method of a laundry treating apparatus according to an embodiment of the present invention includes:

s202, acquiring the torque or rotation speed fluctuation of the motor within a preset time length, and taking the barrel position corresponding to the maximum value or the minimum value of the torque or rotation speed fluctuation as a target position;

s204, detecting the speed of the barrel body in real time;

s206, when the barrel body speed is a preset speed and the target position of the barrel body is detected at least once, executing a first operation process; otherwise, controlling the barrel body to rotate at a constant speed according to a preset speed until the barrel body rotates to a target position;

s208, when the barrel body rotates to the target position and the speed of the barrel body is a preset speed, controlling a motor of the clothes processing device to perform a first operation process at a first acceleration, and integrating electromagnetic torque of the motor to obtain a first integration result;

s210, controlling the motor to perform a second operation process at a second acceleration, and integrating the electromagnetic torque of the motor to obtain a second integration result;

s212, collecting the operation parameters of the clothes treatment device;

and S214, calculating the load inertia of the motor according to the first integration result, the second integration result and the operation parameters.

In this embodiment, after the rotation target of the tub body is determined, the speed of the tub body is detected in real time, whether the preset speed is reached is judged, when the preset speed is reached and the tub body rotates to the target position, the motor is controlled to execute a first operation process, when the speed of the tub body reaches the preset speed but the tub body fails to rotate to the target position, the tub body is controlled to rotate at the preset speed until the tub body rotates to the target position, further unifying the calculation conditions of the load inertia, so that the relative position of the load inertia and the tub body is consistent each time of calculation, the detection precision is improved, meanwhile, when the speed of the tub body reaches the preset speed but the tub body fails to rotate to the target position, the tub body is controlled to rotate at the preset speed until the tub body rotates to the target position, and the tub body rotating at a constant speed ensures that the motor performing the first operation process has the same acceleration as that performing the next load inertia detection, the calculation accuracy is further improved.

Fig. 3 illustrates a schematic flowchart of a load inertia detecting method of a laundry treating apparatus according to still another embodiment of the present invention.

As shown in fig. 3, an operation control method of a laundry treating apparatus according to an embodiment of the present invention includes:

s302, detecting the torque of the motor in real time within a preset time length to obtain a maximum value or a minimum value of the torque;

s304, recording the position of the rotor corresponding to the maximum torque value or the minimum torque value;

s306, determining a target position according to the corresponding relation between the rotor position and the barrel body position;

s308, detecting the speed of the barrel body in real time;

s310, when the barrel body speed is a preset speed and the target position of the barrel body is detected at least once, executing a first operation process; otherwise, controlling the barrel body to rotate at a constant speed according to a preset speed until the barrel body rotates to a target position;

s312, when the barrel body rotates to the target position and the speed of the barrel body is a preset speed, controlling a motor of the clothes processing device to perform a first operation process at a first acceleration, and integrating electromagnetic torque of the motor to obtain a first integration result;

s314, controlling the motor to perform a second operation process at a second acceleration, and integrating the electromagnetic torque of the motor to obtain a second integration result;

s316, collecting the operation parameters of the clothes treatment device;

and S318, calculating the load inertia of the motor according to the first integration result, the second integration result and the operation parameters.

In the embodiment, within a preset time, the torque of the motor is detected to determine the maximum value and the minimum value of the torque of the motor, and the rotor position corresponding to the maximum value and the minimum value of the torque is determined, and then the corresponding barrel position is found out according to the corresponding relation between the existing rotor position and the barrel position, and the barrel position is taken as a target position, so that the state of the motor is represented by utilizing the rotation position change of the barrel, the load inertia is calculated by counting the first operation process started when the barrel rotates to the target position, the calculation conditions of the load inertia are unified, and the consistency of the speed curve of the load inertia calculated each time is guaranteed.

Fig. 4 illustrates a schematic flowchart of a load inertia detecting method of a laundry treating apparatus according to still another embodiment of the present invention.

As shown in fig. 4, a load inertia detecting method of a laundry treating apparatus according to an embodiment of the present invention includes:

s402, detecting the current rotating speed of the motor in real time within a preset time length;

s404, performing high-pass filtering on the current rotating speed to determine a first rotating speed fluctuation range;

s406, recording the position of the rotor corresponding to the maximum value or the minimum value in the first rotation speed fluctuation range;

s408, determining a target position according to the corresponding relation between the rotor position and the barrel body position;

s410, detecting the speed of the barrel body in real time;

s412, when the barrel body speed is a preset speed and the target position of the barrel body is detected at least once, executing a first operation process; otherwise, controlling the barrel body to rotate at a constant speed according to a preset speed until the barrel body rotates to a target position;

s414, when the barrel body rotates to the target position and the speed of the barrel body is a preset speed, controlling a motor of the clothes processing device to perform a first operation process at a first acceleration, and integrating the electromagnetic torque of the motor to obtain a first integration result;

s416, controlling the motor to perform a second operation process at a second acceleration, and integrating the electromagnetic torque of the motor to obtain a second integration result;

s418, collecting the operation parameters of the clothes treatment device;

and S420, calculating the load inertia of the motor according to the first integration result, the second integration result and the operation parameters.

In the embodiment, the current rotating speed of the motor is detected within the preset time length, the current rotating speed is filtered by utilizing high-pass filtering to obtain the fluctuation of the current rotating speed, i.e., the first rotational speed fluctuation range, since the first rotational speed fluctuation is a fluctuation value that constantly changes up and down, determining the maximum value and the minimum value in the first rotating speed fluctuation through counting the size of the fluctuation value, determining the current position of the motor rotor by utilizing the obvious positions of the waveform, such as the maximum value and the minimum value, further find out the corresponding barrel position according to the corresponding relationship between the existing rotor position and the barrel position, the position of the barrel body is taken as a target position, the state of the motor is represented by utilizing the rotation position change of the barrel body, load inertia is calculated by counting the first operation process started when the barrel body rotates to the target position, so that the unified calculation conditions of the load inertia are realized, and the consistency of the speed curve of the load inertia calculated each time is guaranteed.

Fig. 5 illustrates a schematic flowchart of a load inertia detecting method of a laundry treating apparatus according to still another embodiment of the present invention.

As shown in fig. 5, a load inertia detecting method of a laundry treating apparatus according to an embodiment of the present invention includes:

s502, detecting the current rotating speed of the motor in real time within a preset time length;

s504, calculating a difference value between the current rotating speed and a preset rotating speed to obtain a second rotating speed fluctuation range;

s506, recording the position of the rotor corresponding to the maximum value or the minimum value in the second rotating speed fluctuation range;

s508, determining a target position according to the corresponding relation between the rotor position and the barrel body position;

s510, detecting the speed of the barrel body in real time;

s512, when the barrel body speed is a preset speed and the target position of the barrel body is detected at least once, executing a first operation process; otherwise, controlling the barrel body to rotate at a constant speed according to a preset speed until the barrel body rotates to a target position;

s514, when the barrel body rotates to the target position and the speed of the barrel body is a preset speed, controlling a motor of the clothes processing device to perform a first operation process at a first acceleration, and integrating electromagnetic torque of the motor to obtain a first integration result;

s516, controlling the motor to perform a second operation process at a second acceleration, and integrating the electromagnetic torque of the motor to obtain a second integration result;

s518, collecting the operation parameters of the clothes treatment device;

and S520, calculating the load inertia of the motor according to the first integration result, the second integration result and the operation parameters.

In the embodiment, the current rotating speed of the motor is detected within a preset time length, the difference value between the current rotating speed and the preset rotating speed is calculated to obtain a second rotating speed fluctuation range, namely a second rotating speed fluctuation range, because the second rotating speed fluctuation is a fluctuation value which continuously changes up and down, the maximum value and the minimum value in the second rotating speed fluctuation are determined by counting the size of the fluctuation value, the position of the rotor of the motor is determined by utilizing the position with obvious waveform, such as the maximum value and the minimum value, the corresponding barrel position is found out according to the corresponding relation between the existing rotor position and the barrel position, the barrel position is taken as a target position, the state of the motor is represented by utilizing the barrel rotating position transformation, the load inertia is calculated by counting the first operation process started when the barrel rotates to the target position, and the calculation conditions of the load inertia are unified, and the consistency of the speed curve of the load inertia calculated every time is ensured.

In one embodiment of the present invention, the load inertia is calculated by the following formula:

and

the first integration result and the second integration result.

In this embodiment, the load inertia J is directly obtained from the first integration result

Second integration result

In one embodiment of the present invention, the first and second operation periods are integer multiples of a rotation period of the tub of the laundry treating apparatus, and the first and second operation periods are equal in multiples with respect to the rotation period.

In this embodiment, the first and second operation periods are integer multiples of a rotation period of the tub of the laundry treating apparatus, and the first and second operation periods are equal in multiples of the rotation period. If the first operation time is N revolutions of the barrel body, the barrel body corresponding to the second operation time is also rotated for N revolutions, the calculated load inertia confidence is ensured to be the highest through the unification of the rotation periods of the first operation time and the second operation time, and the determined weight of the clothes is more accurate.

An embodiment of a second aspect of the present invention provides a load inertia detecting system of a laundry treating apparatus.

Fig. 6 shows a schematic block diagram of a load inertia detection system of a laundry treating apparatus according to one embodiment of the present invention.

As shown in fig. 6, a load inertia detecting system 600 of a laundry treating apparatus according to an embodiment of the present invention includes:

a memory 602 for storing a computer program; a processor 604 for executing a computer program to:

acquiring the torque or rotation speed fluctuation of the motor within a preset time length, and taking the barrel position corresponding to the maximum value or the minimum value of the torque or rotation speed fluctuation as a target position; when the barrel body rotates to the target position and the speed of the barrel body is a preset speed, controlling a motor of the clothes processing device to perform a first operation process at a first acceleration, and integrating electromagnetic torque of the motor to obtain a first integration result; controlling the motor to perform a second operation process at a second acceleration, and integrating the electromagnetic torque of the motor to obtain a second integration result; acquiring operating parameters of the laundry treatment apparatus, wherein the operating parameters at least comprise: the first running time of the first running process, the two-endpoint rotating speed values of the first running process, the second running time of the second running process and the two-endpoint rotating speed values of the second running process; and calculating the load inertia of the motor according to the first integration result, the second integration result and the operation parameter.

The invention provides a load inertia detection system of a clothes treatment device, which comprises a memory 602 storing a computer program and a processor 604 capable of executing the computer program, wherein in the operation process of the clothes treatment device, a motor is controlled to perform a first operation process according to a first acceleration, and in the first operation process, the electromagnetic torque of the motor is integrated to obtain a first integration result; after the first operation process is finished, controlling the motor to perform a second operation process according to a second acceleration, and integrating the electromagnetic torque of the motor in the second operation process to obtain a second integration result; counting the operation parameters of the clothes treatment device, wherein the operation parameters include but are not limited to a first operation time length in a first operation process and two end point rotating speed values of the first operation process and a second operation time length in a second operation process and two end point rotating speed values of the second operation process, calculating the load inertia of the current motor according to a first integration result, a second integration result, the first operation time length, the starting time and the ending time of the first operation time length and the second operation time length and the rotating speed values of the two end points of the first operation process and the second operation process, further calculating the weight of clothes in the current clothes treatment device according to the load inertia, selecting proper water level and detergent amount according to the weight of the clothes, simultaneously, in order to improve the consistency of a speed curve of the load inertia and further improve the precision of detecting the load weight, obtaining the torque or rotating speed fluctuation of the motor in a preset time length, the method for determining the weight of the clothes by detecting the load inertia of the motor considers the difference of friction of the barrel body of the clothes processing device and the influence of load unbalance on inertia detection, and simultaneously limits the position of load eccentricity and the position of the barrel body in the calculation process, further ensures the consistency of inertia detection, improves the accurate degree of the detection of the weight of the clothes, reduces the conditions of water and electricity consumption, reduces the waste of resources and improves the use experience of users.

Preferably, the processor 604 is specifically configured to execute a computer program to: detecting the speed of the barrel body in real time; when the barrel body speed is a preset speed and the target position of the barrel body is detected at least once, executing a first operation process; otherwise, the barrel body is controlled to rotate at a constant speed according to the preset speed until the barrel body rotates to the target position.

Preferably, the processor 604 is specifically configured to execute a computer program to: detecting the torque of the motor in real time within a preset time length to obtain a maximum value or a minimum value of the torque; recording the position of the rotor corresponding to the maximum value or the minimum value of the torque; and determining the target position according to the corresponding relation between the rotor position and the barrel body position.

Preferably, the processor 604 is specifically configured to execute a computer program to: detecting the current rotating speed of the motor in real time within a preset time length; carrying out high-pass filtering on the current rotating speed to determine a first rotating speed fluctuation range; recording the position of the rotor corresponding to the maximum value or the minimum value in the first rotation speed fluctuation range; and determining the target position according to the corresponding relation between the rotor position and the barrel body position.

Preferably, the processor 604 is specifically configured to execute a computer program to: detecting the current rotating speed of the motor in real time within a preset time length; calculating the difference value between the current rotating speed and the preset rotating speed to obtain a second rotating speed fluctuation range; recording the position of the rotor corresponding to the maximum value or the minimum value in the second rotating speed fluctuation range; and determining the target position according to the corresponding relation between the rotor position and the barrel body position.

and

the first integration result and the second integration result.

Second integration result

An embodiment of a third aspect of the present invention provides a laundry treating apparatus.

Fig. 7 shows a schematic block diagram of a laundry treating apparatus 700 according to an embodiment of the present invention.

As shown in fig. 7, a laundry treating apparatus 700 according to an embodiment of the present invention includes: an operation control system 702 of the laundry treating apparatus.

The laundry treating apparatus 700 according to the present invention includes an operation control system 702 of the laundry treating apparatus, wherein the operation control system 702 of the laundry treating apparatus has all technical effects of the operation control system of the laundry treating apparatus, and therefore, the laundry treating apparatus 700 also has all technical effects of the operation control system of the laundry treating apparatus, which is not described herein again.

An embodiment of the fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of the above-mentioned claims.

Fig. 8 is a diagram illustrating a relationship among an actual rotation speed, a command speed, and a torque of the drum washing machine according to an embodiment of the present invention.

FIG. 9 is a diagram illustrating relationships between portions of a calculated load inertia, according to an embodiment of the invention.

FIG. 10 shows a flow diagram for calculating load inertia, according to one embodiment of the invention.

It should be noted that the load inertia calculation principle of the laundry treatment apparatus of the present application is derived as follows:

considering that the viscosity coefficient B in the motor motion equation is small under the normal condition, when the viscosity coefficient B is ignored, the motion equation of the motor can be converted into:

wherein T is_dFor unbalanced torque, exemplified in a drum washing machine, the unbalanced torque varies periodically according to the drum speed, T_fIs a friction torque.

As shown in FIG. 8, the electromagnetic torque is called T_e1The electromagnetic torque is called T_e2Integrating the two sides of the formula 1 at A-B and C-D simultaneously to obtain

Further calculation yields:

wherein,

equation 3 then changes to:

wherein t is_AAnd t_BTime at point A, B.

Calculated by the same principle to obtain

After the friction torque is unified, the following results are obtained:

subtracting equation 6 from equation 5 yields the load inertia:

as shown in fig. 9, in order to ensure the consistent performance of the speed profile for each inertia detection, the accuracy of the load weighing of the washing machine is improved. In the actual load situation, the position where the load eccentricity occurs is random. The eccentric position detection device determines the relative position of the eccentricity of the clothes in the drum and the drum, and controls the motor to run at a first acceleration speed at the fixed relative position; presetting fixed first operation time, presetting a first speed in the first operation time, integrating electromagnetic torque of a motor to obtain a first integral value in integral cycle time of drum rotation starting at a first speed point, and recording two rotating speed values, namely a first rotating speed and a second rotating speed, of an integral interval; after the first running time is finished, controlling the motor to run at a second acceleration in an accelerating mode, presetting fixed second running time, presetting second speed in the second running time, starting at a second speed point, integrating electromagnetic torque of the motor within integral rotation cycle time of the roller to obtain a second integral value, and recording two rotating speed values, a third rotating speed and a fourth rotating speed of an integral interval; and calculating inertia of the drum washing machine according to the first integration result, the second integration result and the four rotating speed values. Detecting the motor torque in real time, and recording the motor position of the maximum torque point, namely the eccentric relative position; the relative position of the roller and the eccentricity is obtained through motor position and transmission ratio mapping, or the motor torque is detected in real time, the motor position of the torque minimum value point is recorded, namely the relative position of the eccentricity, and the relative position of the roller and the eccentricity is obtained through the motor position and transmission ratio mapping.

In short, before inertia detection, motor torque information is detected in real time, a motor position of a torque maximum value (or a minimum value point) is recorded, the motor position is mapped to a roller position according to a transmission ratio of a motor and the roller, a position P of the roller at the moment is recorded, the speed of the point A is set as a speed A, when the speed reaches the speed A, the constant speed A is kept running until the roller position P is detected, and acceleration starts to be performed at the beginning of acceleration.

The method ensures that the relative position of the load eccentricity and the roller is consistent during each inertia detection, thereby ensuring the consistency of the actual speed curve during the inertia detection and improving the detection precision, and specifically, a flow schematic diagram of calculating the load inertia for calculating the load inertia is shown in fig. 10.

Fig. 11 is a schematic diagram illustrating the relationship among the actual rotation speed, the command speed and the filtered motor rotation speed of the drum washing machine according to an embodiment of the present invention.

FIG. 12 is a diagram illustrating relationships between portions of a calculated load inertia, according to an embodiment of the invention.

FIG. 13 illustrates a flow diagram for calculating load inertia, according to one embodiment of the invention.

As shown in fig. 12, in order to ensure the uniform performance of the speed profile for each inertia detection, the accuracy of the load weighing of the washing machine is improved. In the case of actual load, the position where the load eccentricity occurs is random, and the eccentricity position detecting means: detecting the rotating speed of the motor in real time, carrying out high-pass filtering on the rotating speed to obtain rotating speed fluctuation information, and determining the relative position of the eccentricity of clothes in the roller and the roller according to the rotating speed fluctuation information; the eccentric position detection device determines the relative position of the eccentricity of the clothes in the drum and the drum, and controls the motor to run at a first acceleration speed at the fixed relative position; presetting fixed first operation time, presetting a first speed in the first operation time, integrating electromagnetic torque of a motor to obtain a first integral value in integral cycle time of drum rotation starting at a first speed point, and recording two rotating speed values, namely a first rotating speed and a second rotating speed, of an integral interval; after the first running time is finished, controlling the motor to run at a second acceleration in an accelerating mode, presetting fixed second running time, presetting second speed in the second running time, starting at a second speed point, integrating electromagnetic torque of the motor within integral rotation cycle time of the roller to obtain a second integral value, and recording two rotating speed values, a third rotating speed and a fourth rotating speed of an integral interval; and calculating inertia of the drum washing machine according to the first integration result, the second integration result and the four rotating speed values. The method comprises the steps of detecting the rotating speed of a motor in real time, carrying out high-pass filtering on the rotating speed to obtain rotating speed fluctuation information, and recording the motor position of the maximum value point of the rotating speed fluctuation information, namely the eccentric relative position. And obtaining the relative position of the roller and the eccentricity through motor position and transmission ratio mapping, or carrying out high-pass filtering on the rotating speed to obtain rotating speed fluctuation information, and recording the motor position of the minimum value point of the rotating speed fluctuation information, namely the eccentric relative position. And obtaining the relative position of the roller and the eccentricity through motor position and transmission ratio mapping.

In short, before inertia detection, motor rotation speed information is detected in real time, a rotation speed command is subtracted from an actual rotation speed, acceleration information in the actual rotation speed is removed, a fluctuation signal S is obtained, the motor position of the maximum value (or the minimum value point) of the fluctuation signal S is recorded, mapping is carried out on the position of a roller according to the transmission ratio of the motor and the roller, the position P of the roller at the moment is recorded, the speed of the point A is set to be a speed A, when the speed reaches the speed A, the constant speed A is kept running until the position P of the roller is detected, and acceleration is started at the beginning.

The method ensures that the relative position of the load eccentricity and the roller is consistent during each inertia detection, thereby ensuring the consistency of the actual speed curve during the inertia detection and improving the detection precision, and specifically, a flow schematic diagram of calculating the load inertia for calculating the load inertia is shown in fig. 13.

Fig. 14 is a diagram illustrating a relationship among an actual rotation speed, a command speed, and rotation speed fluctuation information of the drum washing machine according to an embodiment of the present invention.

FIG. 15 is a diagram illustrating relationships between portions of a calculated load inertia, according to an embodiment of the invention.

As shown in fig. 15, in order to ensure the uniform performance of the speed profile for each inertia detection, the accuracy of the load weighing of the washing machine is improved. Under the actual load condition, the position of the eccentric load is random, and the eccentric position detection device, the motor rotating speed control module, the motor torque detection module, the motor rotating speed detection module and the load inertia calculation module are required for calculating the load inertia. Eccentric position detection device: detecting the rotating speed of the motor in real time, subtracting the instructed rotating speed of the motor from the actual rotating speed of the motor to obtain rotating speed fluctuation information, and determining the relative position of the eccentricity of the clothes in the roller and the roller according to the rotating speed fluctuation information; the eccentric position detection device determines the relative position of the eccentricity of the clothes in the drum and the drum, and controls the motor to run at a first acceleration speed at the fixed relative position; presetting fixed first operation time, presetting a first speed in the first operation time, integrating electromagnetic torque of a motor to obtain a first integral value in integral cycle time of drum rotation starting at a first speed point, and recording two rotating speed values, namely a first rotating speed and a second rotating speed, of an integral interval; after the first running time is finished, controlling the motor to run at a second acceleration in an accelerating mode, presetting fixed second running time, presetting second speed in the second running time, starting at a second speed point, integrating electromagnetic torque of the motor within integral rotation cycle time of the roller to obtain a second integral value, and recording two rotating speed values, a third rotating speed and a fourth rotating speed of an integral interval; and calculating inertia of the drum washing machine according to the first integration result, the second integration result and the four rotating speed values. The method comprises the steps of detecting the rotating speed of a motor in real time, subtracting the instruction rotating speed of the motor from the actual rotating speed of the motor to obtain rotating speed fluctuation information, and recording the motor position of the maximum value point of the rotating speed fluctuation information, namely the eccentric relative position. And mapping the motor position and the transmission ratio to obtain the relative position of the roller and the eccentricity, or detecting the rotating speed of the motor in real time, subtracting the instruction rotating speed of the motor from the actual rotating speed of the motor to obtain rotating speed fluctuation information, and recording the motor position of the minimum value point of the rotating speed fluctuation information, namely the eccentric relative position. And obtaining the relative position of the roller and the eccentricity through motor position and transmission ratio mapping.

The relative positions of the load eccentricity and the roller are consistent during each inertia detection, so that the consistency of the actual speed curve during the inertia detection is ensured, the detection precision is improved, and specifically, a flow diagram for calculating the load inertia of the load inertia is shown in fig. 16.

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. 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 description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means 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 present invention. In the present invention, the schematic representations of the terms used above do not necessarily 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.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A load inertia detection method of a laundry treatment apparatus, which is used for the laundry treatment apparatus, wherein the laundry treatment apparatus includes a motor and a tub, the method comprising:

acquiring the torque or rotation speed fluctuation of the motor within a preset time length, and taking the barrel position corresponding to the maximum value or the minimum value of the torque or rotation speed fluctuation as a target position;

when the barrel body rotates to the target position and the speed of the barrel body is a preset speed, controlling a motor of the clothes processing device to perform a first operation process at a first acceleration, and integrating electromagnetic torque of the motor to obtain a first integration result;

controlling the motor to perform a second operation process at a second acceleration, and integrating the electromagnetic torque of the motor to obtain a second integration result;

acquiring operating parameters of the laundry treatment apparatus, wherein the operating parameters at least comprise: the first running time of the first running process, the two-endpoint rotating speed values of the first running process, the second running time of the second running process and the two-endpoint rotating speed values of the second running process;

calculating the load inertia of the motor according to the first integration result, the second integration result and the operation parameter;

the load inertia is calculated by the following formula:

wherein J is the load inertia, t_A、t_B、t_C、t_DThe start time and the end time of the first operation duration and the second operation duration are respectively;ω_A、ω_B、ω_C、ω_Drespectively are the rotating speed values of two end points of the first operation process and the second operation process,

and

the first integration result and the second integration result;

the first operation time length and the second operation time length are integral multiples of a rotation period of the barrel body of the clothes treatment device, and the first operation time length and the second operation time length are equal to each other relative to the multiples of the rotation period.

2. The method of detecting load inertia of a laundry treating apparatus according to claim 1,

after the barrel position corresponding to the torque or the maximum value or the minimum value of the rotation speed fluctuation or the torque fluctuation is taken as a target position, before controlling a motor of the clothes treatment device to perform a first operation process at a first acceleration and integrating electromagnetic torque of the motor to obtain a first integration result when the barrel rotates to the target position and the speed of the barrel is a preset speed, the method further comprises:

detecting the speed of the barrel body in real time;

when the barrel body speed is the preset speed and the target position of the barrel body is detected at least once, executing a first operation process; otherwise, controlling the barrel body to rotate at a constant speed according to the preset speed until the barrel body rotates to the target position.

3. The method of detecting load inertia of a laundry treating apparatus according to claim 1 or 2,

within the preset time, taking the barrel position corresponding to the maximum value or the minimum value of the torque of the motor as a target position, specifically comprising:

detecting the torque of the motor in real time within a preset time length to obtain a maximum value or a minimum value of the torque;

recording the position of the rotor corresponding to the maximum torque value or the minimum torque value;

and determining the target position according to the corresponding relation between the rotor position and the barrel body position.

4. The method for detecting load inertia of a laundry processing apparatus according to claim 1 or 2, wherein the step of taking the tub position corresponding to the maximum or minimum fluctuation of the rotation speed of the motor as the target position within the preset time period specifically comprises:

detecting the current rotating speed of the motor in real time within a preset time length;

carrying out high-pass filtering on the current rotating speed to determine a first rotating speed fluctuation range;

recording the position of the rotor corresponding to the maximum value or the minimum value in the first rotating speed fluctuation range;

5. The method for detecting load inertia of a laundry processing apparatus according to claim 1 or 2, wherein the step of taking the tub position corresponding to the maximum or minimum fluctuation of the rotation speed of the motor as the target position within the preset time period specifically comprises:

calculating a difference value between the current rotating speed and a preset rotating speed to obtain a second rotating speed fluctuation range;

recording the position of the rotor corresponding to the maximum value or the minimum value in the second rotating speed fluctuation range;

6. A load inertia detecting system of a laundry treating apparatus, comprising:

a memory for storing a computer program;

a processor for executing the computer program to:

acquiring the torque or rotation speed fluctuation of a motor within a preset time length, and taking the position of the barrel body corresponding to the maximum value or the minimum value of the torque or rotation speed fluctuation as a target position;

the load inertia is calculated by the following formula:

wherein J is the load inertia, t_A、t_B、t_C、t_DThe start time and the end time of the first operation duration and the second operation duration are respectively; omega_A、ω_B、ω_C、ω_DRespectively are the rotating speed values of two end points of the first operation process and the second operation process,

and

the first integration result and the second integration result;

7. The load inertia detection system of a laundry processing apparatus according to claim 6, further comprising: the processor further to execute the computer program to:

detecting the speed of the barrel body in real time;

8. The load inertia detection system of a laundry processing apparatus according to claim 6 or 7, further comprising: the processor further to execute the computer program to:

9. The load inertia detection system of a laundry processing apparatus according to claim 6 or 7, further comprising: the processor further to execute the computer program to:

10. The load inertia detection system of a laundry processing apparatus according to claim 6 or 7, further comprising: the processor further to execute the computer program to:

11. A laundry treating apparatus, comprising: the operation control system of the laundry treating apparatus according to any one of claims 6 to 10.

12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.