CN103966799A - Roller washing machine and inertia detection method and device thereof - Google Patents
Roller washing machine and inertia detection method and device thereof Download PDFInfo
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- CN103966799A CN103966799A CN201410179198.4A CN201410179198A CN103966799A CN 103966799 A CN103966799 A CN 103966799A CN 201410179198 A CN201410179198 A CN 201410179198A CN 103966799 A CN103966799 A CN 103966799A
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Abstract
The invention discloses a roller washing machine and an inertia detection method and device of the roller washing machine. The inertia detection method includes the following steps that the position of a rotor of a motor is detected, and feedback speed of the motor is calculated according to the position of the rotor; according to the position of the rotor and the feedback speed, the roller position corresponding to a forward direction zero crossing point of sped fluctuation is obtained when the roller washing machine is in an unbalance load state; an acceleration instruction is generated at the roller position to control the motor to accelerate, and after the motor operates for preset time in an accelerated mode, integration is performed on electromagnetic torque of the motor to obtain a first integration result; after the motor operates for the preset time in the accelerated mode, integration is performed on the feedback speed to generate an average speed instruction so that the motor can be controlled to operate at constant speed, and integration is performed in electromagnetic toque to obtain a second integration result in the constant-speed operation process of the motor; according to the first integration result and the second integration result, the inertia of the roller washing machine is calculated. According to the method, influences of the load unbalance and roller friction can be considered, so that precision of inertia detection is improved.
Description
Technical field
The present invention relates to washing machine technical field, particularly a kind of inertia detection method of roller washing machine, inertia checkout gear and a kind of roller washing machine with this inertia checkout gear.
Background technology
User wishes that washing machine can provide suitable water level and detergent amount automatically according to the weight of clothing in the time using washing machine, thereby avoids the problem that clothes does not wash clean or water wasting expense is electric that blindly selection can bring.Current washing machine much all has the function of automatic detection washing clothes weight, and wherein, the main method of measuring clothes weight has two large classes: a class is to adopt LOAD CELLS directly to measure the weight of clothing; Another kind of is to utilize the motor detecting in washing machine under different loads condition, to accelerate or decelerate to the required parameter such as time, electric current of another rotating speed, carry out the inertia of clothing in measuring cylinder, because weight and inertia are proportional substantially, just inertia can be converted to weight according to the proportionate relationship between them.
But, adopt LOAD CELLS detect the weight method of clothing need to be in washing machine safe LOAD CELLS, so not only can increase cost, and also inconvenience is installed; And utilize the method for the motor measurement clothing inertia in washing machine not need special sensor, and therefore there is not installation question, in washing machine field, application is comparatively extensive.
Especially in roller washing machine, be generally all to detect load inertia by acceleration and deceleration the clothing in washing machine is weighed.But, while detecting load inertia by acceleration and deceleration, do not consider the otherness of washing machine drum friction, cause accuracy of detection deviation larger, and do not consider the impact that laod unbalance detects for inertia yet, greatly affect accuracy of detection, thereby cause the weighting error of washing machine, can not meet user's needs.
Summary of the invention
The application is that the understanding to following problem and discovery are made based on inventor:
Roller washing machine can not proof load complete equipilibrium in the time detecting cylinder inertia, and the existence of unbalanced load can cause velocity perturbation, like this, in the time that the inertia of roller washing machine detects, the movement locus of expection will superpose with velocity perturbation randomly, finally there will be the velocity wave form of different testing times to differ greatly, testing result also just differs greatly, thereby there will be the very large situation of testing result fluctuation, greatly affects accuracy of detection.
Wherein, Fig. 1 is the curve synoptic diagram of roller washing machine inertia testing result in the time of the accelerating velocity instruction of slope.Can be drawn by Fig. 1, the curve fluctuation of roller washing machine inertia testing result in the time of unbalanced load is very large.
Analyze respectively the speed actual waveform of inertia identification result maximum point and smallest point in inertia testing result as shown in Figure 2 A and 2 B.Can be drawn by Fig. 2 A, the starting point of accelerating sections is at the maximum place of velocity perturbation, and can be drawn by Fig. 2 B, and the starting point of accelerating sections is at the minimum of a value place of velocity perturbation.Therefore the velocity perturbation that, unbalanced load produces detects and has produced bad impact inertia.
Object of the present invention is intended at least solve above-mentioned technological deficiency.
For this reason, first object of the present invention is to propose a kind ofly can consider the impact of laod unbalance and roll friction and improve the inertia detection method of the roller washing machine of accuracy of detection.
Second object of the present invention is to propose a kind of inertia checkout gear of roller washing machine.The 3rd object of the present invention is to propose a kind of roller washing machine.
For achieving the above object, the inertia detection method of a kind of roller washing machine that first aspect present invention embodiment proposes, comprise the following steps: S1, in the time of the cylinder constant revolution of described roller washing machine, detect the rotor-position of the motor of described roller washing machine, and calculate the feedback speed of described motor according to the rotor-position of described motor; S2, obtains described roller washing machine positive going zeror crossing of velocity perturbation when the unbalanced load according to the feedback speed of the rotor-position of described motor and described motor by non-equilibrium site estimation and puts corresponding cylinder position; S3, puts corresponding cylinder position at the positive going zeror crossing of described velocity perturbation and generates assisted instruction to control described motor Accelerating running, and after described motor Accelerating running Preset Time, the electromagnetic torque of described motor is carried out to integration to obtain first integral result; S4, feedback speed after Preset Time described in described motor Accelerating running is carried out to integration to generate the average speed instruction of described motor, travel at the uniform speed to control described motor, and the electromagnetic torque in the time traveling at the uniform speed carries out integration to obtain second integral result to described motor; S5, calculates the inertia of described roller washing machine according to described first integral result and described second integral result.
According to the inertia detection method of the roller washing machine of the embodiment of the present invention, in the time of the cylinder constant revolution of roller washing machine, calculate the feedback speed of motor by detecting the rotor-position of motor of roller washing machine, and obtain roller washing machine positive going zeror crossing of velocity perturbation when the unbalanced load according to the feedback speed of the rotor-position of motor and motor and put corresponding cylinder position, then put corresponding cylinder position at the positive going zeror crossing of velocity perturbation and generate assisted instruction to control motor Accelerating running, and after motor Accelerating running Preset Time, the electromagnetic torque of motor is carried out to integration to obtain first integral result, and the feedback speed after motor Accelerating running Preset Time is carried out to integration to generate the average speed instruction of motor, travel at the uniform speed to control described motor, travel at the uniform speed with average speed to control motor, then to motor, the electromagnetic torque in the time traveling at the uniform speed carries out integration to obtain second integral result, finally according to the inertia of first integral result and second integral result calculating roller washing machine.Therefore, the inertia detection method of the roller washing machine of the embodiment of the present invention, can consider the impact of laod unbalance, can ensure that each accelerate all starts in the position of the positive going zeror crossing point of velocity perturbation, guarantee that each running orbit accelerating is consistent, can make the clothing of identical weight weigh and come to the same thing in unbalanced load and balanced loaded situation, reduce the detection error that unbalanced load brings, and, adopt accelerating sections to coordinate the movement locus of average speed, eliminate the impact that roll friction brings, greatly improve accuracy of detection, thereby avoid causing the weighting error of washing machine, fully meet user's needs.
According to one embodiment of present invention, in step S3, the positive going zeror crossing of described velocity perturbation is put to the starting point of corresponding cylinder position as described motor Accelerating running.
According to one embodiment of present invention, in step S5, by described first integral result and described second integral result being subtracted each other to calculate the inertia of described roller washing machine.
According to one embodiment of present invention, after Preset Time described in described motor Accelerating running, the electromagnetic torque of described motor is carried out the time of integration of integration, the feedback speed after Preset Time described in described motor Accelerating running is carried out to the time of integration of integration and the integral multiple that equates and be the Machine cycle that described cylinder rotates the time of integration that the electromagnetic torque in the time traveling at the uniform speed carries out integration to described motor.
According to one embodiment of present invention, in step S1, according to motor described in given speed instruction control so that described cylinder constant revolution.
For achieving the above object, the inertia checkout gear of a kind of roller washing machine that second aspect present invention embodiment proposes, comprise: position detecting module, described position detecting module for detecting the rotor-position of the motor of described roller washing machine in the time of the cylinder constant revolution of described roller washing machine, speed arithmetic unit, described speed arithmetic unit is for calculating the feedback speed of described motor according to the rotor-position of described motor, accelerate starting point computing module, described acceleration starting point computing module is put corresponding cylinder position for obtaining described roller washing machine positive going zeror crossing of velocity perturbation when the unbalanced load according to the feedback speed of the rotor-position of described motor and described motor by non-equilibrium site estimation, instruction generation module and inertia calculation module, described instruction generation module generates assisted instruction to control described motor Accelerating running for put corresponding cylinder position at the positive going zeror crossing of described velocity perturbation, described inertia calculation module is carried out integration to obtain first integral result to the electromagnetic torque of described motor after described motor Accelerating running Preset Time, the feedback speed of described instruction generation module after to Preset Time described in described motor Accelerating running carries out integration to generate the average speed instruction of described motor, travel at the uniform speed to control described motor, to described motor, the electromagnetic torque in the time traveling at the uniform speed carries out integration to obtain second integral result to described inertia calculation module, and described inertia calculation module is calculated the inertia of described roller washing machine according to described first integral result and described second integral result.
According to the inertia checkout gear of the roller washing machine of the embodiment of the present invention, in the time of the cylinder constant revolution of roller washing machine, detect the rotor-position of the motor of roller washing machine by position detecting module, speed arithmetic unit calculates the feedback speed of motor according to rotor-position, accelerating starting point computing module obtains roller washing machine positive going zeror crossing of velocity perturbation when the unbalanced load according to the feedback speed of the rotor-position of motor and motor and puts corresponding cylinder position, then instruction generation module is put corresponding cylinder position at the positive going zeror crossing of velocity perturbation and is generated assisted instruction to control motor Accelerating running, inertia calculation module is carried out integration to obtain first integral result to the electromagnetic torque of motor after motor Accelerating running Preset Time, the feedback speed of instruction generation module after to motor Accelerating running Preset Time carries out integration to generate the average speed instruction of motor, travel at the uniform speed to control motor, to motor, the electromagnetic torque in the time traveling at the uniform speed carries out integration to obtain second integral result to inertia calculation module, last inertia calculation module is calculated the inertia of roller washing machine according to first integral result and second integral result.Therefore, the inertia checkout gear of the roller washing machine of the embodiment of the present invention can be considered the impact of laod unbalance, can ensure that each accelerate all starts in the position of the positive going zeror crossing point of velocity perturbation, guarantee that each running orbit accelerating is consistent, can make the clothing of identical weight weigh and come to the same thing in unbalanced load and balanced loaded situation, reduce the detection error that unbalanced load brings, and, adopt accelerating sections to coordinate the movement locus of average speed, eliminate the impact that roll friction brings, greatly improve accuracy of detection, thereby avoid causing the weighting error of washing machine, fully meet user's needs.
According to one embodiment of present invention, the positive going zeror crossing of described velocity perturbation is put the starting point of corresponding cylinder position as described motor Accelerating running by described acceleration starting point computing module.
According to one embodiment of present invention, described inertia calculation module is by subtracting each other described first integral result and described second integral result to calculate the inertia of described roller washing machine.
According to one embodiment of present invention, after Preset Time described in described motor Accelerating running, the electromagnetic torque of described motor is carried out the time of integration of integration, the feedback speed after Preset Time described in described motor Accelerating running is carried out to the time of integration of integration and the integral multiple that equates and be the Machine cycle that described cylinder rotates the time of integration that the electromagnetic torque in the time traveling at the uniform speed carries out integration to described motor.
In addition, the embodiment of the present invention has also proposed a kind of roller washing machine, and it comprises the inertia checkout gear of above-mentioned roller washing machine.
The roller washing machine of the embodiment of the present invention, in the time detecting rotary inertia, can consider the impact of laod unbalance, can ensure that each accelerate all starts in the position of the positive going zeror crossing point of velocity perturbation, guarantee that each running orbit accelerating is consistent, can make the clothing of identical weight weigh and come to the same thing in unbalanced load and balanced loaded situation, reduce the detection error that unbalanced load brings, and, adopt accelerating sections to coordinate the movement locus of average speed, eliminate the impact that roll friction brings, greatly improve accuracy of detection, thereby avoid causing weighting error, fully meet user's needs.
The aspect that the present invention is additional and advantage in the following description part provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Brief description of the drawings
The present invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments obviously and easily and understand, wherein:
Fig. 1 is the curve synoptic diagram of roller washing machine inertia testing result in the time of the accelerating velocity instruction of slope;
Fig. 2 A is the schematic diagram of analyzing the speed actual waveform of inertia identification result maximum point and the curve of inertia testing result in inertia testing result;
Fig. 2 B is the schematic diagram of analyzing the speed actual waveform of inertia identification result smallest point and the curve of inertia testing result in inertia testing result;
Fig. 3 is according to the flow chart of the inertia detection method of the roller washing machine of the embodiment of the present invention;
Fig. 4 is the flow chart of the cylinder position that estimated speed fluctuation maximum point is corresponding according to an embodiment of the invention;
Fig. 5 is the schematic diagram of movement locus according to an embodiment of the invention;
Fig. 6 is the flow chart of the inertia detection method of the roller washing machine of a specific embodiment according to the present invention;
Fig. 7 is the curve synoptic diagram of roller washing machine inertia testing result in the time of the accelerating velocity instruction of slope according to an embodiment of the invention; And
Fig. 8 is according to the block diagram of the inertia checkout gear of the roller washing machine of the embodiment of the present invention.
Detailed description of the invention
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Be exemplary below by the embodiment being described with reference to the drawings, only for explaining the present invention, and can not be interpreted as limitation of the present invention.
Disclosing below provides many different embodiment or example to be used for realizing different structure of the present invention.Of the present invention open in order to simplify, hereinafter the parts to specific examples and setting are described.Certainly, they are only example, and object does not lie in restriction the present invention.In addition, the present invention can be in different examples repeat reference numerals and/or letter.This repetition is in order to simplify and object clearly, itself do not indicate the relation between discussed various embodiment and/or setting.In addition, the various specific technique the invention provides and the example of material, but those of ordinary skill in the art can recognize the property of can be applicable to of other techniques and/or the use of other materials.In addition, First Characteristic described below Second Characteristic it " on " structure can comprise that the first and second Characteristics creations are the direct embodiment of contact, also can comprise the embodiment of other Characteristics creation between the first and second features, such the first and second features may not be direct contacts.
In description of the invention, it should be noted that, unless otherwise prescribed and limit, term " installation ", " being connected ", " connection " should be interpreted broadly, for example, can be mechanical connection or electrical connection, also can be the connection of two element internals, can be to be directly connected, and also can indirectly be connected by intermediary, for the ordinary skill in the art, can understand as the case may be the concrete meaning of above-mentioned term.
Describe with reference to the accompanying drawings the roller washing machine proposing according to the embodiment of the present invention inertia detection method, roller washing machine inertia checkout gear and there is the roller washing machine of this inertia checkout gear.
Fig. 3 is according to the flow chart of the inertia detection method of the roller washing machine of the embodiment of the present invention.As shown in Figure 3, the inertia detection method of this roller washing machine comprises the following steps:
S1, in the time of the cylinder constant revolution of roller washing machine, detects the rotor-position of the motor of roller washing machine, and calculates the feedback speed of motor according to the rotor-position of motor.
Wherein, according to one embodiment of present invention, in step S1, by the speed command of given index drum constant revolution, then according to given speed instruction control motor so that cylinder constant revolution.
S2, obtains roller washing machine positive going zeror crossing of velocity perturbation when the unbalanced load according to the feedback speed of the rotor-position of motor and motor by non-equilibrium site estimation and puts corresponding cylinder position.
Wherein, reach after certain value at drum speed, object is subject to centrifugal action will be adjacent to cylinder in cylinder, and unbalanced position thinks that relative cylinder fixes.Therefore when drum speed is constant, the uneven velocity perturbation producing is the fluctuation of determining frequency, estimate and just can obtain cylinder position and cylinder position corresponding to velocity perturbation smallest point that velocity perturbation maximum point is corresponding by non-equilibrium site, and the positive going zeror crossing point of velocity perturbation is velocity perturbation smallest point to the zero crossing in velocity perturbation maximum point change procedure, therefore, obtain after cylinder position that velocity perturbation maximum point is corresponding and cylinder position corresponding to velocity perturbation smallest point by non-equilibrium site estimation, the positive going zeror crossing that just can obtain velocity perturbation is put corresponding cylinder position.
Particularly, according to one embodiment of present invention, as shown in Figure 4, the flow process of the cylinder position that estimated speed fluctuation maximum point is corresponding comprises the following steps:
S301, the rotor position of the motor that the feedback speed Vfdb of the motor that real time record speed arithmetic unit calculates and position detecting module detect.
S302, setting speed memory space Vs and position memory space θ s.
S303, judges whether Vs is greater than Vfdb.If so, execution step S304; If not, process ends.
S304, makes Vs=Vfdb, and record rotor-position now, θ s=θ.
S305, at drum rotating, after one week, the rotor-position of recording is the cylinder position that velocity perturbation maximum point is corresponding.
Can estimate equally and obtain cylinder position corresponding to velocity perturbation smallest point according to above-mentioned flow process, and then the positive going zeror crossing that just can obtain velocity perturbation is put corresponding cylinder position.
S3, puts corresponding cylinder position at the positive going zeror crossing of velocity perturbation and generates assisted instruction to control motor Accelerating running, and after motor Accelerating running Preset Time, the electromagnetic torque of motor is carried out to integration to obtain first integral result.
According to one embodiment of present invention, in step S3, the positive going zeror crossing of velocity perturbation is put to the starting point of corresponding cylinder position as motor Accelerating running, so just can ensure that each accelerate all starts in the position of the positive going zeror crossing point of velocity perturbation, guarantees that the running orbit of each acceleration is consistent.
S4, carries out integration to generate the average speed instruction of motor to the feedback speed after motor Accelerating running Preset Time, travel at the uniform speed, and the electromagnetic torque in the time traveling at the uniform speed carries out integration to obtain second integral result to motor to control motor.
Particularly, according to one embodiment of present invention, by movement locus as shown in Figure 5, the inertia of roller washing machine is detected.As shown in Figure 5, first the constant speed instruction of motor by given roller washing machine is with index drum constant revolution, then the positive going zeror crossing of velocity perturbation is put to the starting point of corresponding cylinder position as motor Accelerating running, a given slope accelerating velocity instruction control motor Accelerating running, and after motor Accelerating running Preset Time, start the electromagnetic torque of motor to carry out integration to obtain first integral result, the time of integration is that the integral multiple of the Machine cycle of cylinder rotation is AB section, for example, can be a cylinder cycle.In the time that motor accelerates to certain speed, controlling motor travels at the uniform speed with this speed, and then control decelerating through motor is to the average speed of motor, wherein this average speed obtains according to the feedback speed after motor Accelerating running Preset Time is carried out to integral and calculating, the time of integration is the time of AB section, controlling motor travels at the uniform speed with this average speed, electromagnetic torque to motor in the time traveling at the uniform speed carries out integration to obtain second integral result, the integral multiple that the time of integration is similarly the Machine cycle of cylinder rotation is CD section, it can be for example a cylinder cycle, and the electromagnetic torque of described motor is carried out the time of integration of integration after Preset Time described in described motor Accelerating running, feedback speed after Preset Time described in described motor Accelerating running is carried out equating with the time of integration that the electromagnetic torque in the time traveling at the uniform speed carries out integration to described motor the time of integration of integration.
S5, according to the inertia of first integral result and second integral result calculating roller washing machine.
It should be noted that, in an embodiment of the present invention, consider the situation of laod unbalance, roller washing machine is in the time detecting inertia, and the equation of motion of motor is:
Wherein, Te is the electromagnetic torque of motor, and B is the coefficient of viscosity, the rotating speed that ω is motor, and J is rotary inertia, Td is uneven torque.
As shown in Figure 5, AB section and CD section are a cylinder cycle, and the speed command of CD section is that the average speed instruction of motor is so:
Wherein, T=T
aB=T
cD.
In the time not considering the affecting of unbalanced load, in accelerating sections AB section, the electromagnetic torque of motor output is:
In section CD section at the uniform velocity, the electromagnetic torque of motor output is:
T
e＝Bω (4)
Consider the torque T of laod unbalance
d, in accelerating sections AB section, the electromagnetic torque of motor output is:
Integration is carried out in formula (5) both sides within the AB section time, obtains:
In section CD section at the uniform velocity, the electromagnetic torque of motor output is:
Integration is carried out in formula (7) both sides within the CD section time, obtains:
According to one embodiment of present invention, in step S5, by described first integral result and described second integral result being subtracted each other to calculate the inertia of described roller washing machine, subtract each other by formula (7) and formula (8), obtain:
Wherein, the differential of CD section speed is divided into zero a cylinder cycle inner product,
because the speed command of CD section is constant, but due to imbalance impact, so actual speed exists fluctuation, actual waveform is sinusoidal wave, so the speed of CD section is carried out to differential or sinusoidal wave, and sine wave integral result in one-period equals zero, therefore formula (9) is:
If ∫ B is ω
aBdt=∫ B ω
cDdt, so
Wherein
for constant, the inertia J of roller washing machine is proportional to the poor of AB section and CD section torque integration so, thereby can calculate the inertia J of roller washing machine.
Hence one can see that, in an embodiment of the present invention, by the calculating of the average speed to motor, offsets the impact of accelerating sections roll friction resistance, improved the accuracy of detection of inertia.
Particularly, according to one embodiment of present invention, as shown in Figure 6, the inertia detection method of above-mentioned roller washing machine comprises the following steps:
S501, judges whether that load enables.If so, enter next step S502; If not, finish.
S502, speed command planning first paragraph, the such as 80rpm of speed command of given motor one constant revolution, index drum constant revolution.
S503, accelerates starting point and calculates, and the positive going zeror crossing that can calculate velocity perturbation by non-equilibrium site estimation is put corresponding cylinder position, and using the positive going zeror crossing point of velocity perturbation as accelerating starting point.
S504, speed command planning second segment, given slope assisted instruction, the positive going zeror crossing point that acceleration starting point is velocity perturbation.
S505, the electromagnetic torque that is accelerating sections AB section to the electromagnetic torque after motor Accelerating running Preset Time carries out integration to obtain first integral result, and be a cylinder cycle time of integration.
S506, carries out integration to calculate the average speed of motor to the feedback speed of accelerating sections AB section motor, and be a cylinder cycle time of integration.
S507, the 3rd section of speed command planning, given average speed instruction, controls motor and travels at the uniform speed with average speed.
S508, the electromagnetic torque that is CD section at the electromagnetic torque of average speed section to motor carries out integration to obtain second integral result, and be a cylinder cycle time of integration.
S509, first integral result and second integral result subtract each other to calculate the inertia of roller washing machine.
In an embodiment of the present invention, under unbalanced load, adopting identical acceleration starting point is all while putting corresponding cylinder position as acceleration starting point taking the positive going zeror crossing of velocity perturbation, the curve of roller washing machine inertia testing result in the time of the accelerating velocity instruction of slope as shown in Figure 7, compared to Figure 1, the curve fluctuation of roller washing machine inertia testing result in the time of unbalanced load is less, and it is basic identical to accelerate twice measurement result that starting point is identical.
Therefore, according to the inertia detection method of the roller washing machine of the embodiment of the present invention, in the time of the cylinder constant revolution of roller washing machine, calculate the feedback speed of motor by detecting the rotor-position of motor of roller washing machine, and obtain roller washing machine positive going zeror crossing of velocity perturbation when the unbalanced load according to the feedback speed of the rotor-position of motor and motor and put corresponding cylinder position, then put corresponding cylinder position at the positive going zeror crossing of velocity perturbation and generate assisted instruction to control motor Accelerating running, and after motor Accelerating running Preset Time, the electromagnetic torque of motor is carried out to integration to obtain first integral result, and the feedback speed after motor Accelerating running Preset Time is carried out to integration to generate the average speed instruction of motor, travel at the uniform speed to control described motor, travel at the uniform speed with average speed to control motor, then to motor, the electromagnetic torque in the time traveling at the uniform speed carries out integration to obtain second integral result, finally according to the inertia of first integral result and second integral result calculating roller washing machine.Therefore, the inertia detection method of the roller washing machine of the embodiment of the present invention, can consider the impact of laod unbalance, can ensure that each accelerate all starts in the position of the positive going zeror crossing point of velocity perturbation, guarantee that each running orbit accelerating is consistent, can make the clothing of identical weight weigh and come to the same thing in unbalanced load and balanced loaded situation, reduce the detection error that unbalanced load brings, and, adopt accelerating sections to coordinate the movement locus of average speed, eliminate the impact that roll friction brings, greatly improve accuracy of detection, thereby avoid causing the weighting error of washing machine, fully meet user's needs.
Fig. 8 is according to the block diagram of the inertia checkout gear of the roller washing machine of the embodiment of the present invention.As shown in Figure 8, the inertia checkout gear of this roller washing machine comprises: position detecting module 10, speed arithmetic unit 20, acceleration starting point computing module 30, instruction generation module 40 and inertia calculation module 50.
Wherein, position detecting module 10 is for detecting the rotor position of the motor M of described roller washing machine when the cylinder constant revolution of described roller washing machine, and speed arithmetic unit 20 is for calculating the feedback speed Vfdb of described motor according to the rotor position of described motor.Accelerate starting point computing module 30 and put corresponding cylinder position for obtaining described roller washing machine positive going zeror crossing of velocity perturbation when the unbalanced load according to the feedback speed of the rotor-position of described motor and described motor by non-equilibrium site estimation, wherein, can obtain velocity perturbation maximum point and cylinder position corresponding to velocity perturbation smallest point of roller washing machine when the unbalanced load by non-equilibrium site estimation, and the positive going zeror crossing point of velocity perturbation is velocity perturbation smallest point to the zero crossing in velocity perturbation maximum point change procedure, therefore, obtain after cylinder position that velocity perturbation maximum point is corresponding and cylinder position corresponding to velocity perturbation smallest point by non-equilibrium site estimation, the positive going zeror crossing that just can obtain velocity perturbation is put corresponding cylinder position.
Instruction generation module 40 is put corresponding cylinder position for the positive going zeror crossing in described velocity perturbation and is generated assisted instruction to control described motor Accelerating running, inertia calculation module 50 is carried out integration to obtain first integral result to the electromagnetic torque of described motor after described motor Accelerating running Preset Time, the feedback speed of instruction generation module 40 after to Preset Time described in described motor Accelerating running carries out integration to generate the average speed instruction of described motor, travel at the uniform speed to control described motor, to described motor, the electromagnetic torque in the time traveling at the uniform speed carries out integration to obtain second integral result to inertia calculation module 50, and inertia calculation module 50 is calculated the inertia of described roller washing machine according to described first integral result and described second integral result.
According to one embodiment of present invention, inertia calculation module 50 is by subtracting each other described first integral result and described second integral result to calculate the inertia of described roller washing machine.
In an embodiment of the present invention, as shown in Figure 8, the electromagnetic torque that torque calculation module 60 is calculated motor according to the feedback current Ifdb of motor, then exports the electromagnetic torque calculating to inertia calculation module 50.Error Verr between the feedback speed Vfdb that the speed command Vref that speed control 70 is exported according to instruction generation module 40 and speed arithmetic unit 20 are exported generates torque instruction Tasr, and the torque instruction Tasr that current controller 80 is exported according to speed control 70 and feedback current Ifdb generate current-order I so that motor M is controlled.
Wherein, according to one embodiment of present invention, accelerate starting point computing module 30 positive going zeror crossing of described velocity perturbation is put to the starting point of corresponding cylinder position as described motor Accelerating running, so just can ensure that each accelerate all starts in the position of the positive going zeror crossing point of velocity perturbation, guarantees that the running orbit of each acceleration is consistent.
In an embodiment of the present invention, after Preset Time described in described motor Accelerating running, the electromagnetic torque of described motor is carried out the time of integration of integration, the feedback speed after Preset Time described in described motor Accelerating running is carried out to the time of integration of integration and the integral multiple that equates and be the Machine cycle that described cylinder rotates the time of integration that the electromagnetic torque in the time traveling at the uniform speed carries out integration to described motor.
According to the inertia checkout gear of the roller washing machine of the embodiment of the present invention, in the time of the cylinder constant revolution of roller washing machine, detect the rotor-position of the motor of roller washing machine by position detecting module, speed arithmetic unit calculates the feedback speed of motor according to rotor-position, accelerating starting point computing module obtains roller washing machine positive going zeror crossing of velocity perturbation when the unbalanced load according to the feedback speed of the rotor-position of motor and motor and puts corresponding cylinder position, then instruction generation module is put corresponding cylinder position at the positive going zeror crossing of velocity perturbation and is generated assisted instruction to control motor Accelerating running, inertia calculation module is carried out integration to obtain first integral result to the electromagnetic torque of motor after motor Accelerating running Preset Time, the feedback speed of instruction generation module after to motor Accelerating running Preset Time carries out integration to generate the average speed instruction of motor, travel at the uniform speed to control motor, to motor, the electromagnetic torque in the time traveling at the uniform speed carries out integration to obtain second integral result to inertia calculation module, last inertia calculation module is calculated the inertia of roller washing machine according to first integral result and second integral result.Therefore, the inertia checkout gear of the roller washing machine of the embodiment of the present invention can be considered the impact of laod unbalance, can ensure that each accelerate all starts in the position of the positive going zeror crossing point of velocity perturbation, guarantee that each running orbit accelerating is consistent, can make the clothing of identical weight weigh and come to the same thing in unbalanced load and balanced loaded situation, reduce the detection error that unbalanced load brings, and, adopt accelerating sections to coordinate the movement locus of average speed, eliminate the impact that roll friction brings, greatly improve accuracy of detection, thereby avoid causing the weighting error of washing machine, fully meet user's needs.
In addition, the embodiment of the present invention has also proposed a kind of roller washing machine, and it comprises the inertia checkout gear of above-mentioned roller washing machine.
The roller washing machine of the embodiment of the present invention, in the time detecting rotary inertia, can consider the impact of laod unbalance, can ensure that each accelerate all starts in the position of the positive going zeror crossing point of velocity perturbation, guarantee that each running orbit accelerating is consistent, can make the clothing of identical weight weigh and come to the same thing in unbalanced load and balanced loaded situation, reduce the detection error that unbalanced load brings, and, adopt accelerating sections to coordinate the movement locus of average speed, eliminate the impact that roll friction brings, greatly improve accuracy of detection, thereby avoid causing weighting error, fully meet user's needs.
Any process of otherwise describing in flow chart or at this or method are described and can be understood to, represent to comprise that one or more is for realizing module, fragment or the part of code of executable instruction of step of specific logical function or process, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can be not according to order shown or that discuss, comprise according to related function by the mode of basic while or by contrary order, carry out function, this should be understood by embodiments of the invention person of ordinary skill in the field.
The logic and/or the step that in flow chart, represent or otherwise describe at this, for example, can be considered to the sequencing list of the executable instruction for realizing logic function, may be embodied in any computer-readable medium, use for instruction execution system, device or equipment (as computer based system, comprise that the system of processor or other can and carry out the system of instruction from instruction execution system, device or equipment instruction fetch), or use in conjunction with these instruction execution systems, device or equipment.With regard to this description, " computer-readable medium " can be anyly can comprise, device that storage, communication, propagation or transmission procedure use for instruction execution system, device or equipment or in conjunction with these instruction execution systems, device or equipment.The example more specifically (non-exhaustive list) of computer-readable medium comprises following: the electrical connection section (electronic installation) with one or more wirings, portable computer diskette box (magnetic device), random access memory (RAM), read-only storage (ROM), the erasable read-only storage (EPROM or flash memory) of editing, fiber device, and portable optic disk read-only storage (CDROM).In addition, computer-readable medium can be even paper or other the suitable medium that can print described program thereon, because can be for example by paper or other media be carried out to optical scanner, then edit, decipher or process in electronics mode and obtain described program with other suitable methods if desired, be then stored in computer storage.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, multiple steps or method can realize with being stored in software or the firmware carried out in memory and by suitable instruction execution system.For example, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: there is the discrete logic for data-signal being realized to the logic gates of logic function, there is the special IC of suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is can carry out the hardware that instruction is relevant by program to complete, described program can be stored in a kind of computer-readable recording medium, this program, in the time carrying out, comprises step of embodiment of the method one or a combination set of.
In addition, the each functional unit in each embodiment of the present invention can be integrated in a processing module, can be also that the independent physics of unit exists, and also can be integrated in a module two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and also can adopt the form of software function module to realize.If described integrated module realizes and during as production marketing independently or use, also can be stored in a computer read/write memory medium using the form of software function module.
The above-mentioned storage medium of mentioning can be read-only storage, disk or CD etc.
In the description of this description, the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means to be contained at least one embodiment of the present invention or example in conjunction with specific features, structure, material or the feature of this embodiment or example description.In this manual, the schematic statement of above-mentioned term is not necessarily referred to identical embodiment or example.And specific features, structure, material or the feature of description can be with suitable mode combination in any one or more embodiment or example.
Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can carry out multiple variation, amendment, replacement and modification to these embodiment, scope of the present invention is by claims and be equal to and limit.
Claims (10)
1. an inertia detection method for roller washing machine, is characterized in that, comprises the following steps:
S1, in the time of the cylinder constant revolution of described roller washing machine, detects the rotor-position of the motor of described roller washing machine, and calculates the feedback speed of described motor according to the rotor-position of described motor;
S2, obtains described roller washing machine positive going zeror crossing of velocity perturbation when the unbalanced load according to the feedback speed of the rotor-position of described motor and described motor by non-equilibrium site estimation and puts corresponding cylinder position;
S3, puts corresponding cylinder position at the positive going zeror crossing of described velocity perturbation and generates assisted instruction to control described motor Accelerating running, and after described motor Accelerating running Preset Time, the electromagnetic torque of described motor is carried out to integration to obtain first integral result;
S4, feedback speed after Preset Time described in described motor Accelerating running is carried out to integration to generate the average speed instruction of described motor, travel at the uniform speed to control described motor, and the electromagnetic torque in the time traveling at the uniform speed carries out integration to obtain second integral result to described motor;
S5, calculates the inertia of described roller washing machine according to described first integral result and described second integral result.
2. the inertia detection method of roller washing machine as claimed in claim 1, is characterized in that, in step S3, the positive going zeror crossing of described velocity perturbation is put to the starting point of corresponding cylinder position as described motor Accelerating running.
3. the inertia detection method of roller washing machine as claimed in claim 1, is characterized in that, in step S5, by described first integral result and described second integral result being subtracted each other to calculate the inertia of described roller washing machine.
4. the inertia detection method of the roller washing machine as described in any one in claim 1-3, it is characterized in that, after Preset Time described in described motor Accelerating running, the electromagnetic torque of described motor is carried out the time of integration of integration, the feedback speed after Preset Time described in described motor Accelerating running is carried out to the time of integration of integration and the integral multiple that equates and be the Machine cycle that described cylinder rotates the time of integration that the electromagnetic torque in the time traveling at the uniform speed carries out integration to described motor.
5. the inertia detection method of roller washing machine as claimed in claim 1, is characterized in that, in step S1, according to motor described in given speed instruction control so that described cylinder constant revolution.
6. an inertia checkout gear for roller washing machine, is characterized in that, comprising:
Position detecting module, described position detecting module for detecting the rotor-position of the motor of described roller washing machine in the time of the cylinder constant revolution of described roller washing machine;
Speed arithmetic unit, described speed arithmetic unit is for calculating the feedback speed of described motor according to the rotor-position of described motor;
Accelerate starting point computing module, described acceleration starting point computing module is put corresponding cylinder position for obtaining described roller washing machine positive going zeror crossing of velocity perturbation when the unbalanced load according to the feedback speed of the rotor-position of described motor and described motor by non-equilibrium site estimation;
Instruction generation module and inertia calculation module, described instruction generation module generates assisted instruction to control described motor Accelerating running for put corresponding cylinder position at the positive going zeror crossing of described velocity perturbation, described inertia calculation module is carried out integration to obtain first integral result to the electromagnetic torque of described motor after described motor Accelerating running Preset Time, the feedback speed of described instruction generation module after to Preset Time described in described motor Accelerating running carries out integration to generate the average speed instruction of described motor, travel at the uniform speed to control described motor, to described motor, the electromagnetic torque in the time traveling at the uniform speed carries out integration to obtain second integral result to described inertia calculation module, and described inertia calculation module is calculated the inertia of described roller washing machine according to described first integral result and described second integral result.
7. the inertia checkout gear of roller washing machine as claimed in claim 6, is characterized in that, the positive going zeror crossing of described velocity perturbation is put the starting point of corresponding cylinder position as described motor Accelerating running by described acceleration starting point computing module.
8. the inertia checkout gear of roller washing machine as claimed in claim 6, is characterized in that, described inertia calculation module is by subtracting each other described first integral result and described second integral result to calculate the inertia of described roller washing machine.
9. the inertia checkout gear of the roller washing machine as described in any one in claim 6-8, it is characterized in that, after Preset Time described in described motor Accelerating running, the electromagnetic torque of described motor is carried out the time of integration of integration, the feedback speed after Preset Time described in described motor Accelerating running is carried out to the time of integration of integration and the integral multiple that equates and be the Machine cycle that described cylinder rotates the time of integration that the electromagnetic torque in the time traveling at the uniform speed carries out integration to described motor.
10. a roller washing machine, is characterized in that, comprises the inertia checkout gear of the roller washing machine as described in any one in claim 6-9.
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