CN101311404A - Washing machine and control method of maintaining a balanced state of laundry thereof - Google Patents

Washing machine and control method of maintaining a balanced state of laundry thereof Download PDF

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Publication number
CN101311404A
CN101311404A CNA2008100930039A CN200810093003A CN101311404A CN 101311404 A CN101311404 A CN 101311404A CN A2008100930039 A CNA2008100930039 A CN A2008100930039A CN 200810093003 A CN200810093003 A CN 200810093003A CN 101311404 A CN101311404 A CN 101311404A
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China
Prior art keywords
clothing
cylinder
speed
rotary speed
current
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Granted
Application number
CNA2008100930039A
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Chinese (zh)
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CN101311404B (en
Inventor
朴昶柱
梁淳培
崔正哲
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Samsung Electronics Co Ltd
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Samsung Electronics Co Ltd
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Priority claimed from KR1020070086874A external-priority patent/KR101139254B1/en
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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 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/48—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
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/32—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry
    • D06F33/40—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry of centrifugal separation of water from the laundry
    • 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
    • D06F35/00—Washing machines, apparatus, or methods not otherwise provided for
    • D06F35/005—Methods for washing, rinsing or spin-drying
    • D06F35/007—Methods for washing, rinsing or spin-drying for spin-drying only
    • 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
    • D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
    • D06F37/30—Driving arrangements 
    • D06F37/304—Arrangements or adaptations of electric motors
    • 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
    • D06F2103/26—Unbalance; Noise level
    • 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

Abstract

Disclosed herein are a washing machine that is capable of maintaining the balanced state of laundry to more smoothly perform a spin-drying operation and a control method thereof. The control method of the washing machine including a drum to receive laundry and a motor to rotate the drum to reduce unbalance generated due to the nonuniform distribution of the laundry, includes wrapping the laundry by accelerating the drum such that the laundry sticks to an inner wall of the drum, detecting motor current during the wrapping of the laundry, determining an unbalanced state of the laundry based on the detected motor current, and controlling speed of the drum based on a result of the determination.

Description

The control method of the poised state of washing machine and maintenance clothing thereof
Technical field
The present invention relates to a kind of washing machine and control method thereof, and more specifically, the present invention relates to a kind ofly can keep the laundry balancing state, to carry out the washing machine and the control method thereof of rotary dehydration operation more reposefully.
Background technology
Usually, a kind of washing machine (common ground, tumbling-box washing machine) is a kind of machine, and it comprises tank, is used to hold water (washings or washings); Rotatingcylindrical drum, this rotatingcylindrical drum is rotatable to be installed in the bucket with accommodating laundry; And motor, this motor is used to produce the required driving force of swing roller, with during the rotation of cylinder, by making clothing in the cylinder along inner wall of rotary drum rising or whereabouts and washing clothes.
The water of washing machine by using the washing agent wherein contain dissolving (particularly, washings) remove the dirt on the clothing washing operation, use the water (particularly, washings) that does not comprise washing agent to remove the rinsing operation of foam on the clothing or residual washing agent and operate to carry out clothes washing with the rotary dehydration (dryings) of high speed rotary dehydration clothing.To rotary dehydration operation, as shown in Figure 1, when cylinder 10 with rotation at a high speed, and clothing 12 is when cylinder 10 inwalls distribute unevenly, promptly, when clothing 12 is in non-equilibrium state, centrifugal force is applied to the rotating shaft of cylinder 10, bigger vibration appears in the result.
As shown in Figure 2, be the vibration that the non-equilibrium state that prevents owing to clothing occurs, need before the rotary dehydration operation, carry out making clothing 12 be evenly distributed in step in the cylinder 10.。This be because, be under the non-equilibrium state when carrying out the rotary dehydration operation at clothing, can increase the rotary dehydration time, and the rotary dehydration mistake can occur.In addition, after finishing clothes washing, when washing machine was taken clothing 12 away, because the clothing tied up in knots, so need the bigger power of cost, this made most of user feel discontented.
Be head it off, carry out the uneven control procedure that reduces in the prior art to keep the poised state of clothing 12.As shown in Figure 3, imbalance reduces control procedure and comprises: 1. clothing puts process in order, and when the operation of beginning rotary dehydration, swing roller 10 is untied the clothing 12 of winding along the direction that replaces; The clothing winding process 2.-1, by rpm1 and rpm2 swing roller 10 invest on the inwall of cylinder 10 clothing 12 at a predetermined velocity; 3. the clothes weight testing process is used to judge the weight of clothing 12; 4. uneven testing process is utilized the weight information determined and is judged unbalanced value in the cylinder 10 such as the control variables of velocity perturbation (speedripple) or current fluctuation (current ripple); And high speed rotary dehydration process is 5., but when the unbalanced value of judging within permissible value, utilize centrifugal force by being produced with higher speed swing roller 10, discharge the water that is included in the clothing 12.These procedural order ground are carried out.On the other hand, but when the unbalanced value of judging was higher than permissible value, 1. program was back to clothing arrangement process, repeats imbalance then and reduces control procedure.
The clothing winding process 2.-1 in, rotating speed accelerates to the second rotating speed rpm2 from the first rotating speed rpm1, the speed when the second rotating speed rpm2 is higher than clothing and is affixed on cylinder 10 inwalls, and during cylinder 10 rotating speeds increase to rpm2, do not consider clothing 12 states.Concerning such as the load of small amount 12 or jeans, though finish the clothing winding process 2. after, also be difficult to keep its balance, imbalance clearly.As a result, can not be with higher speed swing roller 10, and carry out clothing arrangement process once more 1..Suppose that 2.-1 keeping the possibility of balance by the clothing winding process is 10%, and carry out from clothing arrangement process 1. to the 4. required time of uneven testing process be 1 minute, for example reducing control procedure in imbalance keeps tie and keeps balance after all carrying out 10 times, therefore, need just start high speed rotary dehydration process in about 10 minutes.This rotary dehydration overlong time.
Summary of the invention
Therefore, the aspect of embodiment is to provide a kind of washing machine and control method thereof, by improved clothing winding process, can reduce imbalance and reduce the control time, with the poised state of maintenance clothing clothing, thereby reduces total rotary dehydration time.
Another aspect of the present invention is to provide a kind of washing machine, its can: during the clothing winding process, determine the non-equilibrium state of clothing in real time; And when clothing is uneven, only repeat the clothing winding process, improved clothing widely and be wound into power, reduce the control time thereby reduce total imbalance greatly, and be to provide its control method on the other hand.
In following description, partly listed others of the present invention and advantage, and by describing and putting into practice the present invention, another part of the present invention aspect and advantage also will be clearly.
Aforementioned and others of the present invention realize that by the control method that a kind of washing machine is provided this washing machine comprises: the cylinder of accommodating laundry; With the motor of swing roller, be used to reduce because that the uneven distribution of clothing produces is not steady, described method comprises the following steps: to make clothing invest the inwall of cylinder by quickening cylinder coiling clothing; During clothing is reeled, detect current of electric; Based on the current of electric that detects, determine that clothing is in non-equilibrium state or poised state; And based on the result who determines, the speed of index drum.
Described coiling clothing step comprises: before the operation of high speed rotary dehydration, quicken the speed of cylinder by stages, to reduce the imbalance of clothing.
The step of the speed of described acceleration cylinder comprises: the speed that increases cylinder stage by stage; And based on the current of electric that detects, the speed of the cylinder that control is quickened stage by stage.
The speed of described cylinder comprises: first rotary speed does not invest the inwall of cylinder at the first rotary speed clothing; Second rotary speed invests the inwall of cylinder at the second rotary speed clothing, and described second rotary speed is greater than first rotary speed; And the 3rd rotary speed, beginning to invest the inwall of cylinder at the 3rd rotary speed clothing, described the 3rd rotary speed is between first rotary speed and second rotary speed.
Described detection current of electric step can comprise: when the speed of cylinder surpasses the 3rd rotary speed when first rotary speed accelerates to the operation of second rotary speed in the speed of cylinder, detect the amplitude of current of electric.
The step of the speed of described index drum can comprise: when definite clothing is in non-equilibrium state following time, re-execute the clothing operating winding by the speed of quickening cylinder from first rotary speed.
The speed of described index drum comprises: when definite clothing is in poised state following time, carry out the operation of high speed rotary dehydration by the speed of continuous acceleration cylinder.
It still is that the step of poised state can comprise that described definite clothing is in non-equilibrium state: the minimum of a value of the current of electric of searching and detecting, with relatively with the minimum of a value of current of electric and predetermined current limit value; And, determine that clothing is in non-equilibrium state when the minimum of a value of current of electric during less than predetermined current limit value.
The minimum of a value of described current of electric is at the speed of the cylinder minimum current value when the 3rd rotary speed accelerates to the operation of second rotary speed.
Aforementioned and/or others of the present invention realize by the control method that a kind of washing machine is provided, this washing machine comprises the washing machine of the motor of the cylinder of accommodating laundry and swing roller, be used to reduce because the unbalanced control method that the uneven distribution of clothing produces, said method comprising the steps of:, make clothing invest the inwall of cylinder by quickening cylinder coiling clothing; Be applied to the information on load of motor during utilizing clothing to reel, determine the non-equilibrium state of clothing; And based on the result who determines, the speed of index drum.
The step of the non-equilibrium state of described definite clothing comprises: calculate the size of cylinder accelerating period reference load, poor with between the actual load of determining to put on motor and the reference load; Minimum of a value based on the difference between actual load and the reference load produces the uneven signal of determining, to compare uneven determine signal and predetermined uneven limiting value; And, determine that clothing is in non-equilibrium state when the minimum of a value of the difference between actual load and the reference load during less than predetermined uneven limiting value.
Aforementioned and/or others of the present invention are by providing a kind of washing machine, and described washing machine comprises: cylinder, and described cylinder is used for accommodating laundry; Motor, described motor rotates described cylinder; And control module, described control module is in the result that non-equilibrium state still is a poised state, the speed of index drum by detecting the current of electric in cylinder accelerating period based on clothing.
Before the operation of high speed rotary dehydration, described control module can be carried out the clothing operating winding by the speed of quickening cylinder stage by stage, to reduce the imbalance of clothing.
Based on the current of electric that detects, described control module can be controlled the speed of described cylinder by stages.
Described control module can be stored: first rotary speed when clothing does not invest the inwall of cylinder; Second rotary speed when clothing invests the inwall of cylinder, described second rotary speed is greater than first rotary speed; And three rotary speed of clothing when beginning to invest the inwall of cylinder, described the 3rd rotary speed is between first rotary speed and second rotary speed.
Accelerate to the operation of second rotary speed in the speed of cylinder from first rotary speed, when the speed of cylinder surpassed third speed, described control module detected the amplitude of described current of electric.
But the minimum of a value of the current of electric of described control module searching and detecting is to compare the minimum of a value of current of electric with predetermined current limit value; And, determine that clothing is in non-equilibrium state when the minimum of a value of current of electric during less than predetermined current limit value.
When definite clothing is in non-equilibrium state following time, described control module re-executes the clothing operating winding by the speed that improves cylinder since first rotary speed.
When definite clothing is in poised state following time, described control module can be carried out the high speed rotary dehydration by the speed of continuous acceleration cylinder and operate wherein said cylinder and be accelerated to second rotary speed.
Aforementioned and/or others of the present invention realize that by a kind of washing machine is provided this washing machine comprises: cylinder, and described cylinder is used for accommodating laundry; Motor, described motor is used for swing roller; And control module, described control module utilizes the cylinder accelerating period to be applied to the information on load of motor, based on definite result of the non-equilibrium state of clothing, the speed of index drum.
Aforementioned and others of the present invention realize that by the control method that a kind of washing machine is provided this washing machine comprises: the cylinder of accommodating laundry; With the motor of swing roller, this control method comprises: quicken cylinder, make clothing invest the inwall of cylinder so that the clothing coiling; During the coiling of clothing, determine whether clothing is in non-equilibrium state or poised state; With when clothing is in non-equilibrium state, re-execute the coiling of clothing.
During clothing is reeled, determine that it still be that poised state can comprise that clothing is in non-equilibrium state: the amplitude of mobile current of electric when the rotary speed that detects cylinder surpasses clothing and begins to invest the rotation of inwall of cylinder; And the detected amplitude of current of electric compared with the out-of-balance current limiting value, to determine whether clothing is in imbalance or poised state.
Description of drawings
In conjunction with the accompanying drawings, by the following description to embodiment, these and others of the present invention and advantage will become more apparent and be more readily understood, wherein:
Fig. 1 is the view that diagram illustrates the non-equilibrium state of the clothing in the cylinder of washing machine;
Fig. 2 is the view that diagram illustrates the poised state of the clothing in the cylinder of washing machine;
Fig. 3 is the view that imbalance that diagram illustrates conventional washer reduces the drum speed of control procedure;
Fig. 4 is the control calcspar according to the washing machine of present embodiment;
Fig. 5 illustrates the view that reduces the drum speed of control procedure according to the imbalance of the washing machine of present embodiment;
Fig. 6 is that diagram illustrates the flow chart that reduces control operation according to the imbalance of the washing machine of first embodiment;
Fig. 7 is that diagram illustrates the flow chart that reduces control operation according to the imbalance of the washing machine of second embodiment;
Fig. 8 is that diagram is illustrated in and only has the equally loaded view in the cylinder;
Fig. 9 is that diagram is illustrated under the equally loaded situation of Fig. 8 the current of electric during the clothing operating winding and the schematic diagram of load;
Figure 10 is that diagram illustrates and uneven is present in view in the cylinder with uniform load;
Figure 11 is that diagram illustrates the load with Figure 10 and the view of the load waveform during the unbalanced clothing operating winding;
Figure 12 is before diagram is illustrated in clothing and twines in cylinder, the view of the cylinder of washing machine;
Figure 13 is that diagram illustrates the velocity flow oscillogram when the winding process by Fig. 6 keeps balance;
Figure 14 is the view that diagram illustrates the velocity flow waveform when the winding process by Fig. 6 does not keep balance;
Figure 15 is the view that diagram illustrates the load waveform when the winding process by Fig. 7 keeps balance;
Figure 16 is the view that diagram illustrates the load waveform when the winding process by Fig. 7 does not keep balance;
Figure 17 shows when load and uneven the change the uneven view of determining the track of signal; And
Figure 18 is that diagram illustrates the view according to the application example of the clothing winding process of the washing machine of second embodiment.
The specific embodiment
To be described in detail exemplary embodiments of the present invention now, example of the present invention illustrates that in the accompanying drawings wherein identical reference symbol is represented components identical in full.Below will be by describing embodiment with reference to the accompanying drawings with explanation the present invention.
Fig. 4 is the control calcspar according to the washing machine of embodiment.
With reference to Fig. 4, this washing machine comprises: input block 20, and to allow user's input operation order, input block 20 comprises the setting of rotary dehydration operation; Control module 22 is with the overall operation of control washing machine, such as washing, rinsing and rotary dehydration; Electric-motor drive unit 24 is to drive the motor 26 of swing roller 10 according to the control of control module 22; Speed detection unit 28 will be sending to control module 22 with the corresponding motor velocity signal of the rotary speed of cylinder 10; Current detecting unit 30 will be sending to control module 22 corresponding to the motor current signal of the rotary speed of cylinder 10; With counter electromotive force detecting unit 32, be used for and send to control module 22 with the proportional counter electromotive force of the rotary speed of cylinder 10.
As in conventional art, when the operation of beginning rotary dehydration, this control module 22 is carried out imbalance and is reduced control procedure, to keep the poised state of clothing 12.As shown in Figure 5, imbalance according to the present invention reduces control procedure and comprises: 1. clothing puts process in order, when the operation of beginning rotary dehydration, by the clothing 12 that tangles along 10 arrangements of alternating direction swing roller; Initiatively 2. the clothing winding process by accelerating to the zone detection electric current of the second rotary speed rpm2 in the speed of cylinder 10 from the first rotary speed rpm1, determines the non-equilibrium state of clothing in real time; 3. the clothes amount detection process is used to estimate the weight of clothing 12, makes the weight of clothing 12 as the essential information that is used to utilize such as the parameter of the velocity variations of cylinder 10 and current fluctuation, to estimate unbalanced value (size); Or before the operation of high speed rotary dehydration, admissible unbalanced value is set; 4. uneven testing process is used for using such as the weight information of the estimation of velocity perturbation and current fluctuation and the unbalanced value of control variables estimation cylinder 10; With high speed rotary dehydration process 5.: when the unbalanced value of estimating is in permissible value, utilize the centrifugal force that causes by high speed swing roller 10, will be included in moisture row in the clothing 12 to the outside.These procedural orders are carried out.On the other hand, but when the unbalanced value of estimating during greater than permissible value, as in conventional art, 1. process turns back to clothing arrangement process, and repeats imbalance then and reduce control procedure.
Reducing testing process according to the imbalance of current embodiment is characterised in that: only repeat the clothing winding process 2. during, detect the non-equilibrium state of clothing in real time.
For this reason, control module 22 is provided with the 3rd rotary speed rpm3, the 3rd service speed is during the clothing operating winding, the critical speed when clothing 12 begins to invest the inwall of cylinder 10, and wherein: the speed of cylinder 10 accelerates to the second rotary speed rpm2 from the first rotary speed rpm1; With utilize current detecting unit 30, after the rotary speed of cylinder 10 surpasses the moment of the 3rd rotary speed rpm3, detect the amplitude (electric current during with rpm1 operation section is compared, and is less relatively) of current of electric.When clothing 12 imbalances, current fluctuation increases, and the mean value of electric current reduces the result: the minimum of a value of electric current is approximately 0.As a result, the out-of-balance current limiting value is set to approximate 0 arbitrary value, and when the motor current value of detection during less than current limit value, determines that clothing 12 is in non-equilibrium state.When definite clothing 12 was distributed in the cylinder 10 with non-equilibrium state, cylinder 10 rotated with the first rotary speed rpm1, to carry out the clothing winding process 2..
And, reducing control procedure according to the imbalance of current embodiment is characterised in that: during the clothing winding process, applied load information (with the proportional value of the voltage commands that puts on motor) is determined the non-equilibrium state of clothing in real time, is used for only re-executing winding process 2..Here, load means the ratio of the switching circulation of switch opens section and switch, puts on the voltage of motor 26 with control.
For this reason, this control module 22 is provided with the 3rd rotary speed rpm3, during the 3rd rotary speed rpm3 is the clothing operating winding, the critical speed when clothing 12 begins to invest the inwall of cylinder 10, wherein: the speed of this cylinder 10 accelerates to the second rotary speed rpm2 from the first rotary speed rpm1; And the size that surpasses the moment calculating reference load of the 3rd rotary speed rpm3 in the rotary speed of cylinder 10, produce with the minimum of a value of the load that applies based on essence and the difference between the reference load and unevenly to determine signal, and the imbalance that will produce determines that signal and uneven limiting value compare.When definite clothing 12 was distributed in the cylinder 10 with non-equilibrium state, cylinder 10 with first rotary speed rpm1 rotation with execution clothing winding process 2..
The 3rd rotary speed rpm3 is the arbitrary speed between the first rotary speed rpm1 and the second rotary speed rpm2.Quantity and type according to the diameter and the clothing 12 of cylinder 10 can change the 3rd rotary speed rpm3.
When clothing 12 is uneven,, make clothing 12 be changed to poised state from non-equilibrium state by carrying out the clothing winding process 2..As a result, the unbalanced value of estimating in follow-up uneven testing process 4 falls into admissible value, and therefore, and process turns back to the 1. required imbalance of clothing arrangement process and reduces the control time and reduced.
Below, explanation is had the operation and the effect of the washing machine of said structure and control method thereof.
Fig. 6 is that diagram illustrates the flow chart that reduces control operation according to the imbalance of the washing machine of first embodiment.In this embodiment, the electric current when beginning by detecting the rotary dehydration operation, the non-equilibrium state of definite clothing 12 reduces the control time to reduce imbalance in real time, to keep the poised state of clothing 12.
Fig. 7 is that diagram illustrates the flow chart that reduces control operation according to the imbalance of the washing machine of second embodiment.In this embodiment, washing machine does not comprise current detection circuit, and utilize the rotary dehydration information on load (voltage command value) in when beginning operation, determine the non-equilibrium state of clothing 12 in real time, reduce the control time with the imbalance of the poised state that reduces to keep clothing 12.
With reference to Fig. 6 and 7, provide following explanation, simultaneously to avoid the repeat specification of same section.
When the user is placed on clothing 12 in the cylinder 10, and when comprising the operational order that the rotary dehydration operation is set by input block 20 inputs, control module 22 orders are carried out washing operation, rinsing operation and rotary dehydration operation.
This control module 22 is determined rotary dehydration operation whether beginning the (100) (200).As shown in Figure 5, when definite rotary dehydration operation began, by electric-motor drive unit 24, the operation of control module 22 control motors 26 with along alternating direction swing roller 10, made the clothing process of putting in order of the clothing 12 that arrangement is twined 1. carry out (102) (202).Operation does not begin if control module is determined rotary dehydration, and this process turns back to operation 100,200.
Clothing arrangement process 1. after, 2. control module 22 carries out the clothing winding process, wherein: as shown in Figure 5, the speed of cylinder 10 accelerates to the second rotary speed rpm2 (104) (204) from the first rotary speed rpm1.The first rotary speed rpm1 is the speed of the cylinder 10 of clothing 12 when not investing the inwall of cylinder 10; And the second rotary speed rpm2 is the speed of the cylinder 10 of clothing 12 when investing the inwall of cylinder 10.Third speed rpm3 is for being arranged between the first rotary speed rpm1 and the second rotary speed rpm2, and it is the critical speed of clothing 12 when beginning to invest the inwall of cylinder 10.
When beginning clothing winding process 2. the time, amount and type according to the diameter and the clothing 12 of cylinder 10, in the acceleration (rpm/sec) that changes from the first rotary speed rpm1 to the second rotary speed rpm2, control module 22 calculates the proportional changing load scope of amplitude (being applied to the voltage of motor) with current fluctuation, determines signal to produce following imbalance.
Usually, the formula of the motion of rotary body (particularly, cylinder) is as follows.
Te=TL+Bw+J (dw/dt) [formula 1]
Wherein: Te electricity moment of torsion, L are that load torque, B are that coefficient of friction, w are that angular velocity of rotation, J are that inertia coeffeicent and t are the time.
Fig. 8 is that diagram illustrates and only has the equally loaded view in the cylinder.Friction load 14 is installed on the inwall of cylinder 10 as uniform load.
Fig. 9 is that diagram is illustrated in the current of electric during the clothing operating winding under the uniform load condition of Fig. 8 and the trajectory diagram of load.
With reference to Fig. 8 and Fig. 9, when the speed of cylinder 10 is the first rotary speed rpm1 or the second rotary speed rpm2, neither exists and quicken also not have load torque TL, and therefore, only multiply by the current component of the moment of torsion item Bw of frictional series B.At the speed of cylinder 10 section when the first rotary speed rpm1 accelerates to the second rotary speed rpm2, exist and quicken, and therefore, by flowing and the inertia of load and the proportional amplitude of long-pending J (dw/dt) of acceleration dw/dt increase electric current.As a result, when increasing under loading on identical situation, bigger electric current flowed during the accelerating period.Counter electromotive force (emf) is during motor 26 rotations, the voltage that the input end of motor 26 produces.Usually, this counter electromotive force (emf) is proportional with the rotary speed of motor 26.As a result, the counter electromotive force of motor 26 (emf) is by following formula 2 expressions.
Counter electromotive force (emf)=k x motor speed (rpm)+b [formula 2]
Wherein: k and b are constants.
The voltage equation of motor 26 can draw from formula 2, as following formula 3 expressions.
Load (V)=emf+RI+L (di/dt) [formula 3]
Wherein: load be apply voltage, R be twine resistance, I is the electric current of motor and the inductance that L is motor.
In the acceleration operating period of cylinder 10, , and the electric current of motor 26 is and the proportional pressure drop component of load amplitude.As a result, formula 3 becomes formula 4.
Load=counter electromotive force (emf)+C load [formula 4]
Wherein: C is a constant.
The load of supposing the cylinder 10 of no clothing 12 is L0, and the load of clothing 12 is L, and total load is expressed as follows: load=L0+L.
The non-loaded load that applies can be by following formula 5 expressions.
Load (non-loaded)=counter electromotive force+CL0=counter electromotive force+C0 [formula 5]
The load that applies arbitrary load can be by following formula 6 expressions.
Load (arbitrary load)=counter electromotive force+C (L0+L)=counter electromotive force+C0+C1=(non-loaded)+C1 [formula 6] that loads
As a result, when constant C1 is added to non-loaded load, can estimate to have load, the load (arbitrary load) of arbitrary load.
Figure 10 is that diagram illustrates with uniform load and is present in unbalanced view in the cylinder.Rubber load 14 is installed to the inwall of cylinder 10, and for example the uneven part 16 of rubber of 400g is installed to a side of the inwall of cylinder 10.
Figure 11 is that diagram illustrates the load with Figure 10 and the view of the load waveform during the unbalanced clothing operating winding.
Figure 11 illustrates the method for estimating C1 based on arbitrary load.N represents the number that clothing is reeled and debugged.
Actual load (N) is illustrated in the N time clothing and reels when debugging, and as shown in figure 10, has the load track of the arbitrary load of load 14 and uneven part 16.This velocity perturbation is caused by imbalance, and the load track fluctuates with control rate with the form appearance opposite with velocity perturbation.
Then, reference load (N+1)=current reference load (N)+c
Wherein: a is that minimum of a value [actual load (N)-reference load (N)], b are that maximum [actual load (N)-reference load (N)] and c are (a+b)/2.
But sample plot obtains non-loaded load track, that is, ' load (non-loaded) ', and therefore, when N=0 in Figure 10, non-loaded load track is as the initial value of reference load, i.e. reference load (0).
Yet, when the moment of torsion that clothing 12 is actual when being placed in the cylinder 10 is different with current characteristic.
For clothing 12, as shown in figure 12, before the clothing winding process is finished, because there is torque ripple in the whereabouts of clothing 12.And after the clothing winding process was finished, clothing 12 changed over the non-equilibrium state shown in Fig. 1, or poised state shown in Figure 2.
Figure 13 is operation 104 that diagram illustrates Fig. 6 when keeping balance by the clothing winding process, the view of velocity flow waveform.
With reference to Figure 13, the 3rd rotary speed rpm3 between the first rotary speed rpm1 and the second rotary speed rpm2, the critical speed when it begins to invest the inwall of cylinder 10 for clothing 12.Usually, this clothing winding process is finished with the 3rd rotary speed rpm3.
The speed of cylinder 10 is the section place of the first rotary speed rpm1 therein, because the whereabouts of clothing 12, load torque TL increases, and produces the result of the big electric current of average flow.
Accelerate to the section of the second rotary speed rpm2 in the speed of cylinder 10 from the first rotary speed rpm1, when the speed of cylinder 10 surpasses moment of the 3rd rotary speed rpm3, all clothings 12 all closely contact with the inwall of cylinder 10.Therefore, clothing 12 changes over moment of torsion item J (dw/dt) by inertia rather than load torque.When the acceleration from the first rotary speed rpm1 to the second rotary speed rpm2 hour, (dw/dt) converge on 0, and therefore, the moment of torsion current component of acceleration is near 0.As a result, after the speed of cylinder 10 surpassed the 3rd rotary speed rpm3, the electric current at the section place of the current of electric amplitude that is used for head roll 10 when cylinder rotates with the first rotary speed rpm1 therein was much smaller.
Figure 14 is that diagram illustrates when 2. the clothing winding process by operation 104 places by Fig. 6 does not keep balance the view of velocity flow waveform.
With reference to Figure 14, be in the section place of the first rotary speed rpm1 in the speed of cylinder 10, because the whereabouts of clothing 12, load torque TL increases, and produces the result of the big electric current of average flow.
Accelerate to the section of the second rotary speed rpm2 from the first rotary speed rpm1 in the speed of cylinder 10, after the speed of cylinder 10 surpasses the 3rd rotary speed rpm3, as shown in Figure 1, when clothing 12 distributes with non-equilibrium state, during a rotation of cylinder 10, there is velocity perturbation.Because when speed reduced, control module 22 increased electric current, and when speed increases, reduces electric current, because unbalanced velocity perturbation has reduced current fluctuation.At this moment, the amplitude of current fluctuation and unbalanced being in proportion.
Speed at cylinder 10 is less greater than the average current at the section place of the 3rd rotary speed rpm3, as being under the poised state when load.Yet current fluctuation is very big.As a result, the minimum current value of operation that is in the speed of the cylinder 10 between the 3rd rotary speed rpm3 and the second rotary speed rpm2 is approximately 0.
Therefore, during the speed of cylinder 10 accelerated to the clothing winding process of the second rotary speed rpm2 from the first rotary speed rpm1, control module 22 detected the amplitude (Fig. 6 106) of current of electric by current detecting unit 30.When occurring when uneven, current fluctuation increases, and average current value reduces, and produces minimum currency and is approximately 0 result always.
Subsequently, whether the minimum of a value of these control module 22 definite current of electric that detect is less than predetermined current limit value (108).When the minimum of a value of determining current of electric less than current limit value, control module 22 determines that clothing is in non-equilibrium state, and process turns back to operation 104 to repeat the clothing winding process 2., and its intermediate roll 10 rotates with the first rotary speed rpm1, as shown in Figure 5.
As shown in Figure 5, when determining that at operation 108 places the minimum of a value of current of electric is not less than current limit value, control module 22 determines that clothing is in poised state, and carry out the clothes amount detection process 3. to estimate the weight of clothing 12, make clothing 12 weight as such as the essential information of the parameter of the velocity variations of cylinder 10 and current fluctuation estimating unbalanced value, or before the operation of high speed rotary dehydration, admissible unbalanced value is set.
Figure 15 is the view of the load waveform of diagram when clothing winding process by Fig. 7 being shown 2. keeping balance; With Figure 16 be the view of clothing winding process that diagram illustrates not operation 204 places by Fig. 7 load waveform when 2. keeping balance.
With reference to Figure 15 and 16, the three rotary speed rpm3 between the first rotary speed rpm1 and the second rotary speed rpm2, the critical speed when it begins to invest the inwall of cylinder 10 for clothing 12.Usually, this clothing winding process is finished with the 3rd rotary speed rpm3.
When clothing 12 is load,, there is the whereabouts of clothing at the speed of cylinder 10 operation section place less than the 3rd rotary speed rpm3.As a result, compare when only having uniform load, average load moment of torsion and change in torque are very big.Therefore, shown in the section before the clothing winding process of Figure 15, the load waveform is greater than the load waveform of reference load, and the change of load waveform is too much.
When the speed of cylinder 10 surpassed the 3rd rotary speed rpm3, clothing 12 invests the inwall of cylinder 10, the result: all clothings 12 all became inertia load, and therefore, average load is consistent with reference load.When clothing 12 evenly distributes, there is seldom wave component in the load, as the section before the clothing winding process of Figure 15.On the other hand, when clothing 12 does not evenly distribute, as the section place behind the clothing winding process of Figure 16, there is load fluctuation with circulation identical with the speed of cylinder 10.
Therefore, formula 7 can draw from the unbalanced component of formula 3.
Load=emf+R (I LOAD+ I UnbSinwt) [formula 7]
Wherein: I LOADBe because the amplitude of the current fluctuation that uniform load produces; And I UnbBe because the amplitude of the uneven current fluctuation that produces.Because the amplitude and the amount of unbalance of the uneven current fluctuation that produces are proportional.
Rearrangement formulae 7,
Load=emf+RI LOAD+ RI UnbSinwt=reference load (N)+RI UnbSinwt
RIUnbsinwt=merit-reference load (N) [formula 8]
Therefore, Min[load-reference load (N)]=-RI Unb,
Wherein: R is the constant of motor.
I UnbProportional with imbalance, and therefore, minimum of a value (actual load-reference load) is represented unbalanced size.
Therefore, uneven definite signal can be by following formula 9 expressions.
Uneven definite signal=Min[actual load (rpm)-reference load (rpm)]
[formula 9]
By aforesaid operations, during the clothing winding process, control module 22 produces the uneven signal of determining, wherein: the speed of cylinder 10 accelerates to the second rotary speed rpm2 (Fig. 7 206) from the first rotary speed rpm1; And the imbalance of determining generation determines that whether signal value is less than predetermined uneven limiting value (208).
When the imbalance of determining at operation 208 places was determined signal value less than predetermined uneven limiting value, control module 22 determined that clothings are in non-equilibrium state; And process turns back to operation 204 to repeat the clothing winding process 2., wherein: as shown in Figure 5, cylinder 10 rotates with the first rotary speed rpm1.
Figure 17 is that diagram illustrates when load and uneven the change the uneven view of determining the track of signal.
The size of load during the clothing winding process 2. can not be confirmed, and therefore, suitable value can not be exactly imbalance be restricted to.Yet, as shown in figure 17, determine signal value when imbalance and be restricted to the uneven limiting value that equals based on the uneven level of non-loaded restriction, imbalance can be constrained to and the proportional higher value of load.
For example, when uneven limiting value is set, make when non-loaded situation, when imbalance is constrained to 200g, for small loading, the 250g that imbalance is constrained to, for the intermediate quantity load, imbalance is constrained to 350g and for a large amount of loads, imbalance is constrained to 450g.
When determining uneven definite signal value less than uneven limiting value at operation 208 places, control module 22 determines that clothing is in poised state, and carry out the clothes amount detection process 3. to estimate the weight of clothing 12, as shown in Figure 5, make the weight of clothing 12 as the essential information that is used to estimate unbalanced value such as the parameter of the velocity variations of cylinder 10 and current fluctuation, or before the operation of high speed rotary dehydration, admissible unbalanced value (210) is set.
(112) (212) as shown in Figure 5, the clothes amount detection process at operation 110,210 places 3. after, the weight information of use estimating and such as the control variables of velocity perturbation or current fluctuation, 4. control module 22 carries out uneven testing process, to estimate the unbalanced value in the cylinder 10.
Subsequently, this control module 22 is determined whether (114) (214) in admissible value of the unbalanced value estimated in 4. in uneven testing process.As shown in Figure 5, when determining that but the unbalanced value of estimating is less than or equal to permissible value, control module 22 is carried out high speed rotary dehydration (drying) and is handled 5., the centrifugal force that utilizes high speed swing roller 10 to produce, and outwards discharging is included in the moisture (116) (216) in the clothing 12.
When in operation 114, but the unbalanced value that 214 places determine estimation during greater than permissible value, and as in conventional art, 1. process turns back to clothing arrangement process, and repeats imbalance then and reduce control procedure.
Yet, reduce in the control procedure in imbalance according to current embodiment, keep the poised state of clothing 12 during the clothing winding process is 2., the result: the unbalanced value of 4. locating in uneven testing process to estimate is in admissible value; And therefore, 1. this process can not turn back to clothing arrangement process.
Figure 18 is that diagram illustrates the view according to the application example of the clothing winding process of the washing machine of second embodiment.Specifically, this width of cloth figure shown after repeating the clothing winding process, when keeping the poised state of clothing, and the speed of cylinder 10, actual load and reference load.
Obviously find out from above-mentioned explanation, provide following effect according to washing machine and the control method thereof of current embodiment.By improved clothing operating winding, can reduce imbalance and reduce the control time, with the poised state of maintenance clothing, thereby reduce total rotary dehydration time.In addition, during the clothing winding process, can determine the non-equilibrium state of clothing in real time, and when clothing is uneven, only repeat the clothing winding process, be wound into power, and therefore reducing total imbalance greatly reduces the control time thereby improved clothing greatly.
In addition, use the information on load (voltage command value) that obtains from the difference between actual load and the reference load, can determine the non-equilibrium state of clothing.Therefore, current embodiment is applicable to the electric machine controller with current detection circuit.
Although illustrated and illustrated embodiments of the invention, yet what one of skill in the art will recognize that is, can change this embodiment under the situation that does not deviate from principle of the present invention and spirit, scope of the present invention is limited by claim and equivalents thereof.

Claims (25)

  1. The washing machine of the motor of cylinder that comprises accommodating laundry and swing roller, be used to reduce because the unbalanced control method that the uneven distribution of clothing produces, described method comprises the following steps:
    By quickening cylinder coiling clothing, make clothing invest the inwall of cylinder;
    During clothing is reeled, detect current of electric;
    Based on the current of electric that detects, determine that clothing is in non-equilibrium state or poised state; And
    Based on the result who determines, the speed of index drum.
  2. 2. control method according to claim 1, wherein: described coiling clothing step comprises: before the operation of high speed rotary dehydration, quicken the speed of cylinder by stages, to reduce the imbalance of clothing.
  3. 3. control method according to claim 1, wherein: the step of the speed of described acceleration cylinder comprises: the speed that increases cylinder stage by stage; And based on the current of electric that detects, the speed of the cylinder that control is quickened stage by stage.
  4. 4. control method according to claim 3, wherein: the speed of described cylinder comprises: first rotary speed does not invest the inwall of cylinder at the first rotary speed clothing; Second rotary speed invests the inwall of cylinder at the second rotary speed clothing, and described second rotary speed is greater than first rotary speed; And the 3rd rotary speed, beginning to invest the inwall of cylinder at the 3rd rotary speed clothing, described the 3rd rotary speed is between first rotary speed and second rotary speed.
  5. 5. control method according to claim 4, wherein: described detection current of electric step comprises: when the speed of cylinder surpasses the 3rd rotary speed when first rotary speed accelerates to the operation of second rotary speed in the speed of cylinder, detect the amplitude of current of electric.
  6. 6. control method according to claim 4, wherein: the step of the speed of described index drum comprises: when definite clothing is in non-equilibrium state following time, re-execute the clothing operating winding by the speed of quickening cylinder from first rotary speed.
  7. 7. control method according to claim 4, wherein: the speed of described index drum comprises: when definite clothing is in poised state following time, carry out the operation of high speed rotary dehydration by the speed of continuous acceleration cylinder.
  8. 8. control method according to claim 1, wherein: it still is that the step of poised state comprises that described definite clothing is in non-equilibrium state: the minimum of a value of the current of electric of searching and detecting, with relatively with the minimum of a value of current of electric and predetermined current limit value; And, determine that clothing is in non-equilibrium state when the minimum of a value of current of electric during less than predetermined current limit value.
  9. 9. control method according to claim 8, wherein: the minimum of a value of described current of electric is at the speed of the cylinder minimum current value when the 3rd rotary speed accelerates to the operation of second rotary speed.
  10. The washing machine of the motor of cylinder that comprises accommodating laundry and swing roller, be used to reduce because the unbalanced control method that the uneven distribution of clothing produces said method comprising the steps of:
    By quickening cylinder coiling clothing, make clothing invest the inwall of cylinder;
    Be applied to the information on load of motor during utilizing clothing to reel, determine the non-equilibrium state of clothing; And
    Based on the result who determines, the speed of index drum.
  11. 11. control method according to claim 10, wherein: the step of the non-equilibrium state of described definite clothing comprises: calculate the size of cylinder accelerating period reference load, poor with between the actual load of determining to put on motor and the reference load; Minimum of a value based on the difference between actual load and the reference load produces the uneven signal of determining, to compare uneven determine signal and predetermined uneven limiting value; And, determine that clothing is in non-equilibrium state when the minimum of a value of the difference between actual load and the reference load during less than predetermined uneven limiting value.
  12. 12. a washing machine comprises:
    Cylinder, described cylinder is used for accommodating laundry;
    Motor, described motor rotates described cylinder; With
    Control module, described control module is in definite result that non-equilibrium state still is a poised state, the speed of index drum by detecting the current of electric in cylinder accelerating period based on clothing.
  13. 13. washing machine according to claim 12, wherein: before the operation of high speed rotary dehydration, described control module is carried out the clothing operating winding by the speed of quickening cylinder stage by stage, to reduce the imbalance of clothing.
  14. 14. washing machine according to claim 13, wherein: based on the current of electric that detects, the speed of the described cylinder that described control module control is quickened stage by stage.
  15. 15. washing machine according to claim 13, wherein: the storage of described control module: first rotary speed does not invest the inwall of cylinder at the first rotary speed clothing; Second rotary speed invests the inwall of cylinder at the second rotary speed clothing, and described second rotary speed is greater than first rotary speed; And the 3rd rotary speed, beginning to invest the inwall of cylinder at the 3rd rotary speed clothing, described the 3rd rotary speed is between first rotary speed and second rotary speed.
  16. 16. washing machine according to claim 15, wherein: when first rotary speed accelerated to the operation of second rotary speed, when the speed of cylinder surpassed third speed, described control module detected the amplitude of described current of electric in the speed of cylinder.
  17. 17. washing machine according to claim 16, wherein: the minimum of a value of the current of electric of described control module searching and detecting, so that the minimum of a value of current of electric is compared with predetermined current limit value; And, determine that clothing is in non-equilibrium state when the minimum of a value of current of electric during less than predetermined current limit value.
  18. 18. washing machine according to claim 17, wherein: the minimum of a value of described current of electric is at the speed of the cylinder minimum current value when the 3rd rotary speed accelerates to the operation of second rotary speed.
  19. 19. washing machine according to claim 17, wherein: when definite clothing is in non-equilibrium state following time, described control module re-executes the clothing operating winding by quickening the speed of cylinder since first rotary speed.
  20. 20. washing machine according to claim 17, wherein: when definite clothing is in poised state following time, described control module is carried out the operation of high speed rotary dehydration by the speed of quickening cylinder continuously, and wherein said cylinder is accelerated to second rotary speed.
  21. 21. a washing machine comprises:
    Cylinder, described cylinder is used for accommodating laundry;
    Motor, described motor is used for swing roller; With
    Control module, described control module utilize the cylinder accelerating period to be applied to the information on load of motor, based on definite result of the non-equilibrium state of clothing, the speed of index drum.
  22. 22. washing machine according to claim 21, wherein: the storage of described control module: first rotary speed does not invest the inwall of cylinder at the first rotary speed clothing; Second rotary speed invests the inwall of cylinder at the second rotary speed clothing, and described second rotary speed is greater than first rotary speed; With the 3rd rotary speed, begin to invest the inwall of cylinder at the 3rd rotary speed clothing, described the 3rd rotary speed makes the speed of cylinder of quickening by stages between first rotary speed and second rotary speed.
  23. 23. washing machine according to claim 22, wherein: when first rotary speed accelerated to the operation of second rotary speed, when the speed of cylinder surpassed third speed, described control module calculated the size of reference load in the speed of described cylinder.
  24. 24. washing machine according to claim 23, wherein: poor between reference load that the search of described control module is calculated and the actual load that is applied to motor; Minimum of a value according to the difference between actual load and the reference load produces the uneven signal of determining, imbalance determined signal and to be scheduled to uneven limiting value relatively; And, determine that clothing is in non-equilibrium state when the minimum of a value of the difference between actual load and the reference load during less than predetermined uneven limiting value.
  25. 25. washing machine according to claim 24, wherein: the minimum of a value of the difference between described actual load and the reference load is the minimum of a value of the proportional load variations scope of amplitude of the current fluctuation that produces with accelerating period of cylinder.
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