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EP3875661B1 - Procédé d'estimation de comportement d'une charge dans une machine de traitement de linge - Google Patents

Procédé d'estimation de comportement d'une charge dans une machine de traitement de linge Download PDF

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Publication number
EP3875661B1
EP3875661B1 EP20160332.1A EP20160332A EP3875661B1 EP 3875661 B1 EP3875661 B1 EP 3875661B1 EP 20160332 A EP20160332 A EP 20160332A EP 3875661 B1 EP3875661 B1 EP 3875661B1
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European Patent Office
Prior art keywords
load
torque
signal
angular speed
observer
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EP20160332.1A
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German (de)
English (en)
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EP3875661A1 (fr
Inventor
Daniele Martinello
Viktor BOBEK
Pavol Petracek
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Haier Germany GmbH
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Haier Germany GmbH
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Priority to EP22164092.3A priority Critical patent/EP4036300A1/fr
Priority to ES20160332T priority patent/ES2920484T3/es
Priority to PL20160332.1T priority patent/PL3875661T3/pl
Priority to EP20160332.1A priority patent/EP3875661B1/fr
Publication of EP3875661A1 publication Critical patent/EP3875661A1/fr
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    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/50—Control of washer-dryers characterised by the purpose or target of the control
    • D06F33/76—Preventing or reducing imbalance or noise
    • 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
    • D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
    • D06F34/14—Arrangements for detecting or measuring specific parameters
    • D06F34/16—Imbalance
    • 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
    • D06F58/00—Domestic laundry dryers
    • D06F58/32—Control of operations performed in domestic laundry dryers 
    • D06F58/34—Control of operations performed in domestic laundry dryers  characterised by the purpose or target of the control
    • D06F58/52—Preventing or reducing noise
    • 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
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/24—Spin speed; Drum movements
    • 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
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/44—Current or voltage
    • D06F2103/46—Current or voltage of the motor driving the drum
    • 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
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
    • D06F2105/46—Drum speed; Actuation of motors, e.g. starting or interrupting
    • D06F2105/48—Drum speed
    • 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
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
    • D06F2105/52—Changing sequence of operational steps; Carrying out additional operational steps; Modifying operational steps, e.g. by extending duration of steps
    • 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
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
    • D06F2105/62—Stopping or disabling machine operation

Definitions

  • the invention relates to a method to estimate a load behavior in a laundry treatment machine. Furthermore, the invention relates to a laundry treatment machine with a control unit to estimate a load behavior.
  • the laundry treatment machine is a washing machine or a drying machine or a combined washing and drying machine.
  • the estimation of a load inertia at the beginning of a washing cycle has a key role to set the amount of resources such as water, detergent, bleach and softener and the amount of energy in order to achieve a good washing performance without wasting resources and energy.
  • the load inertia is caused by the laundry within the drum of the laundry treatment machine and varies in a wide range.
  • the washing unit is suspended to the cabinet by a set of springs and dampers.
  • This mechanical system is adjusted to have a resonance frequency at a relatively low angular speed between 150 rpm and 300 rpm.
  • the angular speed of the drum has to cross this resonance region without interference between the tub and the cabinet. Due to an increase of the drum size and a loading capacity of the laundry treatment machine the available space between the tub and the cabinet decreased. As a consequence, a precise estimation of a load unbalance is required in order to avoid a mechanical impact between the tub and the cabinet when the resonance region is crossed.
  • US 2005/204482 A1 discloses a method to estimate a load inertia and a load unbalance. The estimation is based on an angular speed signal and a torque signal during an acceleration of the drum or during superimposition of a dither signal to a substantially constant angular speed in order to excite the mechanical system of the laundry treatment machine.
  • EP 2 607 535 A2 discloses a method of operating a laundry treating appliance comprising at least one cycle of operation controlling the extraction of liquid from the laundry load on the basis of the inertia of the laundry load.
  • US 2019/0112745 A1 discloses a method of operating a laundry washing machine.
  • the inertia and/or the load torque is determined based on two operations of the laundry treatment machine with two different speed controller parameters and bandwidths of the speed controller.
  • the speed controller regulates the angular speed of the drive motor an is part of the speed control loop.
  • T em * 1 denotes the first torque signal
  • ⁇ ⁇ 1 ⁇ denotes the derivative of the first angular speed signal
  • T em * 2 denotes the second torque signal
  • ⁇ ⁇ 2 ⁇ denotes the derivative of the second angular speed signal
  • T ⁇ L denotes the load torque
  • ⁇ t denotes the total inertia of the laundry treatment machine with regard to a rotation around the rotational axis.
  • the inertia J m of the laundry treatment machine is known from construction data or can be measured by running a test without a distributed load inside the drum.
  • the load torque can be determined, for example according to equation (1) and/or equation (2) and/or by means of a load observer as soon as the total inertia ⁇ t is estimated according to equation (3) and the load torque observer is parametrized accordingly.
  • the advantages of the inventive method are as follows:
  • the load inertia and the total inertia can be evaluated at a constant angular speed, for example at 100 rpm, in order to avoid the use of an acceleration ramp and to avoid the risk of a mechanical impact between the tub and the cabinet.
  • the method can be used to estimate the dry load at the beginning of the washing cycle without using an acceleration ramp in order to set the amount of resources and energy.
  • the inertia estimation can be used to stop the drying cycle at a desired moisture retention.
  • the inventive method can be used to estimate the wet load at the end of the washing cycle without using an acceleration ramp.
  • the estimated load torque and an estimation of the load unbalance based thereon can be automatically adapted with the estimated total inertia.
  • the inventive method can be used in a laundry treatment machine with a large drum and can be easily implemented in existing control units.
  • the estimation of the inertia and/or the load torque is not affected by friction or by the speed controller setting.
  • the estimation of the inertia and/or the load torque just requires an operation of the laundry treatment machine at a constant angular speed without the need of an acceleration ramp such that the inertia and/or the load torque can be estimated in an easy and quick manner.
  • the desired angular speed or the target speed is constant.
  • the resulting speed fluctuations or speed oscillations depend on the bandwidth of the speed controller and/or on the controller parameters of the speed controller, on the mass of the load and on the total inertia.
  • a change of the speed controller parameters that changes the bandwidth of the speed controller at a constant desired angular speed results in a change of the speed oscillations and of the drive torque.
  • the angular speed oscillations about the constant desired angular speed could be, as example, within +- 10 rpm, or within +-5 rpm, or within +- 2 rpm.
  • the signals are transformed into a frequency domain, in particular by computing a Fourier Transformation (FT).
  • FT Fourier Transformation
  • This transformation enables to determine respective first harmonics of the signals.
  • the first harmonics are used for the subsequent determination of the inertia and/or the load torque.
  • the determination of the inertia and/or the load torque is not affected by noise signals.
  • the first harmonics comprise information about the frequency, the amplitude and the phase of the signals. At least one of the frequency, the amplitude and the phase are used for the subsequent estimation of the inertia and/or the load torque.
  • the first harmonics of the signals are calculated for example by a Fourier Transformation (FT).
  • the first harmonics comprise information about the frequency, the amplitude and the phase of the signals. At least one of the frequency, the amplitude and the phase are used for the subsequent estimation of the inertia and/or the load torque.
  • a method according to claim 2 ensures an easy, reliable and accurate estimation of the load behavior.
  • the mass of the load can be estimated in an easy and accurate manner depending on the load torque.
  • a method according to claim 3 ensures an easy, reliable and accurate estimation of the load behavior.
  • a method according to claim 4 ensures an easy, reliable and accurate estimation of the load behavior.
  • the total inertia can be easily estimated according to equation (3).
  • the load inertia can be easily estimated according to equation (4).
  • a method according to claim 5 ensures an easy, reliable and accurate estimation of the load behavior.
  • the load torque observer enables an accurate and continuous estimation of the load torque.
  • the load torque observer can be easily implemented into a control unit of a laundry treatment machine. Additional hardware components, like sensors, are not required.
  • a method according to claim 6 ensures an easy, reliable and accurate estimation of the load behavior.
  • the angular position and/or the drive torque of the drive motor can either be measured or estimated.
  • the angular position is used to calculate an observer error.
  • a method according to claim 7 ensures an easy, reliable and accurate estimation of the load behavior.
  • the observer error is used to estimate and/or correct internal states of the load torque observer.
  • the internal states of the load torque observer are in particular the observed angular position, an observed angular acceleration and the load torque.
  • the observer error is multiplied with observer coefficients or observer gains. The observer coefficients are used to adapt the accuracy and the behavior of the load torque observer.
  • a method ensures an easy, reliable and accurate estimation of the load behavior.
  • the observer error is multiplied with observer coefficients or observer gains in order to calculate observer signals. These observer signals are used to estimate and/or correct the internal states of the observer.
  • a first observer signal is calculated by multiplying a derivative of the observer error with a first observer coefficient.
  • a second observer signal is calculated by multiplying the observer error with a second observer coefficient.
  • a third observer signal is calculated by multiplying the observer error with a third observer coefficient and by integrating the resulting signal.
  • the load torque depends on the sum of the first observer signal, the second observer signal and the third observer signal.
  • a method according to claim 9 ensures an easy, reliable and accurate estimation of the load behavior.
  • An observed angular acceleration and in consequence the observed angular position depends on the total inertia of the laundry treatment machine and the load.
  • the total inertia is estimated according to equation (3).
  • the total inertia can be adapted during the operation of the laundry treatment machine, if necessary. For example, the total inertia increases depending on the wetness of the laundry.
  • a method according to claim 10 ensures an easy, reliable and accurate estimation of the load behavior.
  • Sensorless drive motors are well known and do not comprise an angular position sensor and an angular speed sensor.
  • the angular position of the drive motor is estimated, for example by means of a position and/or speed estimator or a position and/or speed observer.
  • the load torque observer is preferably provided with an estimated angular position of the drive motor.
  • a method according to claim 11 ensures an easy, reliable and accurate estimation of the load behavior.
  • the load torque observer is provided with the desired drive torque of the drive motor.
  • An output signal of the speed controller is used to estimate the drive torque.
  • This output signal characterizes the desired electromagnetic drive torque of the drive motor and can be used to estimate the drive torque and/or the load torque which acts on the drum.
  • Fig. 1 shows a laundry treatment machine, namely a washing machine 1 with a cabinet 2 and a washing unit 3.
  • the washing unit 3 comprises a tub 4 and a drum 5.
  • the tub 4 is mounted to the cabinet 2 via dampers 6 and springs 7.
  • the drum 5 is mounted in a rotatable manner to the tub 4.
  • the drum 5 is connected via a drive shaft 8 with a drive motor 9.
  • the drive motor 9 is mounted at a backside of the tub 4.
  • the drive motor 9 rotates the drum 5 around a horizontal rotational axis 10.
  • the washing machine 1 comprises several lifters 11 to move the laundry.
  • the lifters 11 are mounted in equal angular distances to an inner side of the drum 5.
  • the washing machine 1 comprises a control unit 12 to control the operation of the washing machine 1.
  • the drive motor 9 has an angular position ⁇ , an angular speed ⁇ and an angular acceleration ⁇ . Due to the stiff drive shaft 8 the angular position, the angular speed and the angular acceleration of the drum 5 corresponds to the angular position ⁇ , the angular speed ⁇ and the angular acceleration ⁇ . In case of belt driven motor, the pulley ratio will be used to evaluate the angular position, the angular speed and the angular acceleration of the drum starting from the angular position, the angular speed and the angular acceleration of the motor.
  • the load L namely the laundry inside the drum 5 produces a load torque T L .
  • T L ⁇ mgr sin q + ⁇
  • the angular positions ⁇ and ⁇ and the mass m are unknown.
  • the gravitational acceleration g and the drum radius r are known.
  • the drive motor 9 creates a drive torque T em which accelerates the drum 5.
  • the drive torque T em is superimposed by the load torque T L .
  • the control unit 12 comprises a speed controller 13, a torque controller 14, a first coordinate transformation 15, a pulse width modulator 16, a position and speed observer 17, a second coordinate transformation 18 and a load torque observer 19.
  • the torque controller 14 is part of an inner control loop or a torque control loop to control the drive torque T em of the drive motor 9.
  • the torque controller 14 is a PI controller.
  • the torque controller 14 is provided with a desired drive torque T * em and the drive motor currents which are denoted in common with i abc .
  • the drive motor currents i abc are transformed by means of the second coordinate transformation 18 into a dq coordinate system.
  • the corresponding currents are denoted in common with i dq .
  • the torque controller 14 creates in the dq coordinate system desired voltages which are denoted in common with v * dq .
  • the voltages v * dq are transformed by means of the first coordinate transformation 15 into desired voltages in an abc coordinate system which are denoted in common with V abc .
  • the voltages V abc are provided to the pulse width modulator 16 which creates via a switch circuit currents i a , i b , i c to operate the drive motor 9 with a torque T em which corresponds to the desired torque T * em .
  • the drive motor 9 is designed sensorless, namely without a speed sensor and a torque sensor. Therefore, the position and speed observer 17 is used to produce an estimated angular position ⁇ and an estimated angular speed ⁇ .
  • the position and speed observer 17 is provided with the voltages v abc and the currents i abc .
  • the estimated angular position ⁇ is provided to the first coordinate transformation 15 and the second coordinate transformation 18.
  • the speed controller 13 is part of an outer control loop or a speed control loop.
  • the speed controller 13 is provided with the difference of a desired angular speed ⁇ ⁇ and the estimated angular speed ⁇ .
  • the output signal of the speed controller 13 is the desired drive torque T em * .
  • the load torque observer 19 evaluates an estimated load torque T ⁇ L .
  • the load torque observer 19 is provided with the desired drive torque T * em and the estimated angular position ⁇ as input signals.
  • the load torque observer 19 calculates an observer error e obs which is the difference of the estimated angular position ⁇ and an observed angular position ⁇ obs .
  • the observer coefficients are for example set to
  • the load torque observer 19 calculates an observed angular speed ⁇ obs by integrating the observed angular acceleration ⁇ obs . Furthermore, the load torque observer 19 calculates the observed angular position ⁇ obs by integrating the observed angular speed ⁇ obs .
  • step S 1 the speed controller 13 is parametrized with first controller parameters Pi.
  • the speed controller 13 is a PI controller.
  • a second step S 2 the drum 5 is accelerated by means of the drive motor 9 as example from 0 rpm to 100 rpm.
  • a third step S 3 the drum 5 is rotated with an essentially constant drum speed ⁇ .
  • the control unit 12 transforms the desired drive torque T * em and the estimated angular speed ⁇ into the frequency domain by calculating a Fourier Transformation.
  • the first harmonic of the desired drive torque T * em is stored in the control unit 12 and is denoted T em * 1 .
  • the first harmonic information for example the frequency, the amplitude and the phase, of the estimated angular speed ⁇ are used to get an estimated angular acceleration which is denoted ⁇ ⁇ 1 ⁇ .
  • the estimated angular acceleration ⁇ ⁇ 1 ⁇ is stored in the control unit 12.
  • step S 4 the speed controller 13 is parametrized with second controller parameters P 2 .
  • a fifth step S 5 the drum 5 is rotated with an essentially constant drum speed ⁇ .
  • the control unit 12 transforms the desired drive torque T * em and the estimated angular speed ⁇ into the frequency domain by calculating a Fourier Transformation.
  • the first harmonic of the desired drive torque T * em is stored in the control unit 12 and is denoted T em * 2 .
  • the first harmonic information for example the frequency, the amplitude and the phase, of the estimated angular speed ⁇ are used to get an estimated angular acceleration which is denoted ⁇ ⁇ 2 ⁇ .
  • the estimated angular acceleration ⁇ ⁇ 2 ⁇ is stored in the control unit 12.
  • Equation (15) is illustrated in fig. 7 .
  • Fig. 8 illustrates the estimated load torque T ⁇ L .
  • the load inertia ⁇ L , the load torque T ⁇ L , the mass m ⁇ and the angular load position ⁇ characterize the behavior of the load L and can be used for several purposes, for example to adapt the maximum spinning speed, to compensate the load L by filling the balancers 11 with water, to estimate the dry load at the beginning of the washing cycle and to set properly the required amount of water and/or detergent, to estimate the wet load at the beginning of the spinning cycle and to estimate the remaining moisture retention during a drying process.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Control Of Washing Machine And Dryer (AREA)

Claims (12)

  1. Procédé pour estimer le comportement d'une charge dans une machine de traitement de linge avec les étapes suivantes :
    - mise à disposition d'une machine de traitement du linge (1) avec un tambour (5), un moteur d'entraînement (9) pour faire tourner le tambour (5) autour d'un axe de rotation (10) et un contrôleur (13) pour réguler une vitesse angulaire du moteur d'entraînement (9),
    - mise en oeuvre d'une première opération de la machine de traitement de linge (1) avec une charge (L) à l'intérieur du tambour (5), dans lequel le contrôleur (13) est actionné avec des premiers paramètres de contrôleur (P1),
    - détermination d'un premier signal de couple T em ∗ 1
    Figure imgb0090
     et une dérivée ω ˙ 1 ^
    Figure imgb0091
     d'un premier signal de vitesse angulaire du moteur d'entraînement (9) à la base de la première opération,
    - mise en oeuvre d'une deuxième opération de la machine de traitement de linge (1) avec la charge (L) à l'intérieur du tambour (5), dans lequel le contrôleur (13) est actionné avec des deuxièmes paramètres de contrôleur (P2),
    - détermination d'un deuxième signal de couple T em ∗ 2
    Figure imgb0092
     et une dérivée ω ˙ 2 ^
    Figure imgb0093
     d'un deuxième signal de vitesse angulaire du moteur d'entraînement (9) à la base de la deuxième opération, et
    - détermination d'une inertie (Ĵt, ĴL ) et/ou un couple de charge (T̂L ) provoqué par la charge (L) en fonction du premier signal de couple T em ∗ 1
    Figure imgb0094
    , du deuxième signal de couple T em ∗ 2
    Figure imgb0095
    , de la dérivée ω ˙ 1 ^
    Figure imgb0096
    , du premier signal de vitesse angulaire et de la dérivée ω ˙ 2 ^
    Figure imgb0097
     du deuxième signal de vitesse angulaire ;
    caractérisé en ce
    que la première opération et la deuxième opération sont effectuées à une vitesse angulaire cible désirée constante (ω*), tandis que, en particulier, une vitesse réelle (ω) oscille en fonction des paramètres du contrôleur (P1, P2) et de la charge (L) ;
    que le premier signal de couple T em ∗ 1
    Figure imgb0098
    , le deuxième signal T em ∗ 2
    Figure imgb0099
    , le premier signal de vitesse angulaire et le deuxième signal de vitesse angulaire sont transformés dans un domaine de fréquence ; et qu'une première harmonique respective du premier signal de couple T em ∗ 1
    Figure imgb0100
    , du deuxième signal de couple T em ∗ 2
    Figure imgb0101
    , du premier signal de vitesse angulaire et du deuxième signal de vitesse angulaire sont utilisés pour déterminer l'inertie (Ĵt, ĴL ) et/ou le couple de charge (T̂L ) en utilisant l'équation J ^ t = T em ∗ 1 − T em ∗ 2 ω ˙ 1 ^ − ω ˙ 2 ^
    Figure imgb0102
    .
  2. Procédé selon la revendication 1, caractérisé par l'étape consistant à déterminer une masse (m̂) de la charge (L) en fonction du couple de charge (T̂L ).
  3. Procédé selon au moins l'une quelconque des revendications précédentes, caractérisé
    par l'étape consistant à déterminer une position angulaire de charge (â) de la charge (L) en fonction du couple de charge (T̂L ).
  4. Procédé selon au moins l'une quelconque des revendications précédentes, caractérisé
    par l'étape consistant à déterminer une inertie totale (Ĵt ) de la machine de traitement de linge (1) et de la charge (L), dans laquelle en particulier une inertie de charge (ĴL ) est la différence entre l'inertie totale (Ĵt ) et l'inertie de la machine (Jm).
  5. Procédé selon au moins l'une quelconque des revendications précédentes, caractérisé en ce
    que le couple de charge (T̂L ) est déterminé au moyen d'un observateur de couple de charge (19).
  6. Procédé selon la revendication 5, caractérisé en ce
    que l'observateur de couple de charge (19) reçoit une position angulaire (Θ̂) du moteur d'entraînement (9) et/ou un couple d'entraînement T em ∗
    Figure imgb0103
     du moteur d'entraînement (9).
  7. Procédé selon la revendication 5 ou 6, caractérisé en ce
    que l'observateur de couple de charge (19) détermine une erreur d'observateur (eobs) en fonction d'une position angulaire (Θ̂) du moteur d'entraînement (9) et d'une position angulaire observée (Θobs ).
  8. Procédé selon au moins l'une quelconque des revendications 5 à 7, caractérisé en ce
    que l'observateur de couple de charge (19) détermine des signaux d'observateur (k1, k2, k3) en fonction d'une erreur d'observateur (eobs ) et des coefficients d'observateur (K1, K2, K3) pour déterminer le couple de charge (T̂L ) et/ou une position angulaire observée (Θobs ).
  9. Procédé selon au moins l'une quelconque des revendications 5 à 8, caractérisé en ce
    que l'observateur de couple de charge (19) détermine une position angulaire observée (Θobs ) en fonction d'une inertie totale (Ĵt ) de la machine de traitement de linge (1) et de la charge (L).
  10. Procédé selon au moins l'une quelconque des revendications 6 à 9, caractérisé en ce
    que le moteur d'entraînement (9) est conçu sans capteur et que la position angulaire (Θ̂) du moteur d'entraînement (9) est estimée, en particulier au moyen d'un observateur de position (17).
  11. Procédé selon au moins l'une quelconque des revendications 6 à 10, caractérisé en ce
    qu'un couple d'entraînement T em ∗
    Figure imgb0104
     du moteur d'entraînement (9) est estimé ou est un couple d'entraînement souhaité T em ∗
    Figure imgb0105
     et la sortie du contrôleur (13).
  12. Machine de traitement de linge avec
    - un tambour (5),
    - un moteur d'entraînement (9) pour faire tourner le tambour (5) autour d'un axe de rotation (10), et
    - une unité de commande (12) configurée pour estimer un comportement de charge avec un contrôleur (13) pour réguler une vitesse angulaire du moteur d'entraînement (9), dans laquelle l'unité de commande (12) est conçue de sorte qu'
    -- une première opération de la machine de traitement de linge (1) avec une charge (L) à l'intérieur du tambour (5) est effectuée, dans laquelle le contrôleur (13) est actionné avec des premiers paramètres de contrôleur (P1),
    -- un premier signal de couple T em ∗ 1
    Figure imgb0106
     et une dérivée ω ˙ 1 ^
    Figure imgb0107
     d'un premier signal de vitesse angulaire du moteur d'entraînement (9) sont déterminés à la base de la première opération,
    -- une deuxième opération de la machine de traitement de linge (1) avec la charge (L) à l'intérieur du tambour (5) est effectuée, dans laquelle le contrôleur (13) est actionné avec des deuxièmes paramètres de contrôleur (P2),
    -- un deuxième signal de couple T em ∗ 2
    Figure imgb0108
     et une dérivée ω ˙ 2 ^
    Figure imgb0109
     d'un deuxième signal de vitesse angulaire du moteur d'entraînement (9) sont déterminés à la base de la deuxième opération, et
    -- une inertie (Ĵt, ĴL ) et/ou un couple de charge (T̂L ) provoqué par la charge (L) est déterminé en fonction du premier signal de couple T em ∗ 1
    Figure imgb0110
    , du deuxième signal de couple T em * 2
    Figure imgb0111
    , de la dérivée ω ˙ 1 ^
    Figure imgb0112
     du premier signal de vitesse angulaire et de la dérivée ω ˙ 2 ^
    Figure imgb0113
     du deuxième signal de vitesse angulaire ;
    caractérisée en ce
    que l'unité de commande (12) est conçue de telle sorte que la première opération et la deuxième opération sont effectuées à une vitesse angulaire cible désirée constante (ω*), tandis qu'en particulier une vitesse réelle (ω) oscille en fonction des paramètres du contrôleur (P1, P2) et de la charge (L) ;
    que le premier signal de couple T em * 1
    Figure imgb0114
    , le deuxième signal T em * 2
    Figure imgb0115
    , le premier signal de vitesse angulaire et le deuxième signal de vitesse angulaire sont transformés dans un domaine de fréquence ; et
    qu'une première harmonique respective du premier signal de couple T em * 1
    Figure imgb0116
    , du deuxième signal de couple T em * 2
    Figure imgb0117
    , du premier signal de vitesse angulaire et du deuxième signal de vitesse angulaire sont utilisés pour déterminer l'inertie (Ĵt, ĴL ) et/ou le couple de charge (T̂L ) en utilisant l'équation J ^ t = T em * 1 − T em * 2 ω ˙ 1 ^ − ω ˙ 2 ^
    Figure imgb0118
    .
EP20160332.1A 2020-03-02 2020-03-02 Procédé d'estimation de comportement d'une charge dans une machine de traitement de linge Active EP3875661B1 (fr)

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EP22164092.3A EP4036300A1 (fr) 2020-03-02 2020-03-02 Procédé d'estimation de comportement d'une charge dans une machine de traitement de linge
ES20160332T ES2920484T3 (es) 2020-03-02 2020-03-02 Método para estimar un comportamiento de carga en una máquina de tratamiento de ropa
PL20160332.1T PL3875661T3 (pl) 2020-03-02 2020-03-02 Sposób szacowania zachowania ładunku w urządzeniu do obróbki rzeczy do prania
EP20160332.1A EP3875661B1 (fr) 2020-03-02 2020-03-02 Procédé d'estimation de comportement d'une charge dans une machine de traitement de linge

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US7591038B2 (en) 2003-04-28 2009-09-22 Emerson Electric Co., Method and system for operating a clothes washing machine
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US9091011B2 (en) * 2011-12-20 2015-07-28 Whirlpool Corporation Continuous high speed inertia detection
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