CN103966799B - 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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- CN103966799B CN103966799B CN201410179198.4A CN201410179198A CN103966799B CN 103966799 B CN103966799 B CN 103966799B CN 201410179198 A CN201410179198 A CN 201410179198A CN 103966799 B CN103966799 B CN 103966799B
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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 technology field, particularly to a kind of inertia detection method of roller washing machine, inertia inspection
Survey device and a kind of roller washing machine with this inertia detection means.
Background technology
User wishes that when using washing machine washing machine can automatically provide suitable water level according to the weight of medicated clothing and wash
Wash dosage, thus avoid the clothes that blindness selection can bring not wash clean or water wasting expense electricity problem.Current washing machine is very
Many all have the function that automatic detection washs clothes weight, and wherein, the main method of measurement clothes weight has two big class：One class is
Weight using LOAD CELLS direct measurement medicated clothing；Another kind of is in different loads condition using the motor in detection washing machine
The parameters such as the lower time accelerating or decelerating to needed for another rotating speed, electric current, carry out the inertia of medicated clothing in measuring cylinder, due to weight with
Inertia is substantially proportional, just inertia can be converted into weight according to the proportionate relationship between them.
But, safe LOAD CELLS in washing machine is needed using the weight method that LOAD CELLS to detect medicated clothing,
So not only can increase cost, and also inconvenience is installed；And be not required to using the method that the motor in washing machine measures medicated clothing inertia
Want special sensor, therefore there is not installation question, apply in washing machine field relatively broad.
Especially in roller washing machine, typically all detect load inertia come to the medicated clothing in washing machine by acceleration and deceleration
Weighed.But, when detecting load inertia by acceleration and deceleration, do not account for the diversity of washing machine drum friction, lead to
Accuracy of detection deviation is larger, and does not also consider the impact that laod unbalance detects for inertia, largely effects on accuracy of detection, from
And cause the weighting error of washing machine it is impossible to meet the needs of user.
Content of the invention
The application is and to find to make to the understanding of problems with based on inventor：
Roller washing machine when detecting drum inertia it cannot be guaranteed that load complete equipilibrium, and can lead by the presence of unbalanced load
Cause velocity perturbation, so, roller washing machine inertia detection when expected movement locus will randomly with speed wave fold
Plus, finally occur that the velocity wave form of different testing times differs greatly, testing result also just differs greatly, thus inspection occurs
Survey the very big situation of result fluctuation, largely effect on accuracy of detection.
Wherein, Fig. 1 is the curve synoptic diagram of roller washing machine inertia testing result when slope accelerating velocity instructs.By scheming
1 can draw, the curve fluctuation of roller washing machine inertia testing result in unbalanced load is very big.
Analyze speed actual waveform such as Fig. 2A of inertia identification result maximum point and smallest point in inertia testing result respectively
With shown in Fig. 2 B.Can be drawn by Fig. 2A, the starting point of accelerating sections is at the maximum of velocity perturbation, and can be obtained by Fig. 2 B
Go out, the starting point of accelerating sections is at the minima of velocity perturbation.Therefore, velocity perturbation produced by unbalanced load is examined to inertia
Survey and create bad impact.
The purpose of the present invention is intended at least solve above-mentioned technological deficiency.
For this reason, the first of the present invention purpose be to propose a kind of it can be considered that 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 detection means of roller washing machine.The 3rd of the present invention
Purpose is to propose a kind of roller washing machine.
For reaching above-mentioned purpose, a kind of inertia detection side of roller washing machine that first aspect present invention embodiment proposes
Method, comprises the following steps：S1, in the cylinder constant revolution of described roller washing machine, detects the motor of described roller washing machine
Rotor-position, and calculate the feedback speed of described motor according to the rotor-position of described motor；S2, turning according to described motor
The feedback speed of sub- position and described motor is estimated by non-equilibrium site and is obtained described roller washing machine in unbalanced load
When velocity perturbation the corresponding cylinder position of positive going zeror crossing point；S3, in the corresponding cylinder of positive going zeror crossing point of described velocity perturbation
Position generates assisted instruction to control described motor Accelerating running, and after described motor Accelerating running Preset Time, to described
The electromagnetic torque of motor is integrated to obtain first integral result；S4, after Preset Time described in described motor Accelerating running
Feedback speed be integrated with generate described motor average speed instruct, to control described motor to travel at the uniform speed and right
The electromagnetic torque when traveling at the uniform speed for the described motor is integrated to obtain second integral result；S5, according to described first integral
Result and the inertia of the described second integral result described roller washing machine of calculating.
The inertia detection method of roller washing machine according to embodiments of the present invention, in the cylinder constant revolution of roller washing machine
When, calculate the feedback speed of motor by detecting the rotor-position of the motor of roller washing machine, and the rotor position according to motor
Put the corresponding cylinder of positive going zeror crossing point with feedback speed acquisition roller washing machine velocity perturbation in unbalanced load of motor
Position, then velocity perturbation the corresponding cylinder position of positive going zeror crossing point generate assisted instruction with controlled motor Accelerating running,
And after motor Accelerating running Preset Time, the electromagnetic torque of motor is integrated to obtain first integral result, and to electricity
Feedback speed after machine Accelerating running Preset Time is integrated instructing with the average speed generating motor, to control described motor
Travel at the uniform speed, traveled at the uniform speed with average speed with controlled motor, then the electromagnetic torque when traveling at the uniform speed amasss to motor
Divide to obtain second integral result, calculate the inertia of roller washing machine finally according to first integral result and second integral result.
Therefore, the inertia detection method of the roller washing machine of the embodiment of the present invention, it is contemplated that the impact of laod unbalance, Ke Yibao
Card accelerates all to start in the position of the positive going zeror crossing point of velocity perturbation, it is ensured that each running orbit accelerating is consistent, can make every time
The medicated clothing of identical weight is identical with weighing results in the case of balanced load in unbalanced load, reduces what unbalanced load brought
Detection error, and, the movement locus of average speed are coordinated using accelerating sections, eliminate the impact that roll friction brings, significantly carry
High accuracy of detection, thus avoiding causing the weighting error of washing machine, fully meets the needs of user.
According to one embodiment of present invention, in step s3, by the corresponding rolling of positive going zeror crossing point of described velocity perturbation
Cylinder position is as the starting point of described motor Accelerating running.
According to one embodiment of present invention, in step s 5, by amassing described first integral result with described second
Point result is subtracted each other to calculate the inertia of described roller washing machine.
According to one embodiment of present invention, the electricity to described motor after Preset Time described in described motor Accelerating running
Time of integration that magnetic torque is integrated, the feedback speed after Preset Time described in described motor Accelerating running is integrated
The time of integration is equal with the time of integration that the electromagnetic torque when traveling at the uniform speed to described motor is integrated and is described rolling
The integral multiple of the Machine cycle that cylinder rotates.
According to one embodiment of present invention, in step sl, instructed according to given speed and control described motor so that institute
State cylinder constant revolution.
For reaching above-mentioned purpose, a kind of used amount detection device of roller washing machine that second aspect present invention embodiment proposes
Put, including：Position detecting module, described position detecting module is used for detecting in the cylinder constant revolution of described roller washing machine
The rotor-position of the motor of described roller washing machine；Velocity arithmetic device, described velocity arithmetic device is used for turning according to described motor
The feedback speed of motor described in sub- position calculation；Accelerate starting point computing module, described acceleration starting point computing module is used for root
Estimated by non-equilibrium site according to the rotor-position of described motor and the feedback speed of described motor and obtain described laundry drum
The corresponding cylinder position of positive going zeror crossing point of machine velocity perturbation in unbalanced load；Directive generation module and inertia calculation mould
Block, described directive generation module be used for described velocity perturbation the corresponding cylinder position of positive going zeror crossing point generate assisted instruction with
Control described motor Accelerating running, described inertia calculation module is after described motor Accelerating running Preset Time to described motor
Electromagnetic torque is integrated to obtain first integral result, and described directive generation module is to default described in described motor Accelerating running
Feedback speed after time is integrated instructing with the average speed generating described motor, to control described motor to travel at the uniform speed,
To described motor, the electromagnetic torque when traveling at the uniform speed is integrated to obtain second integral result described inertia calculation module, and
And described inertia calculation module calculates described roller washing machine according to described first integral result and described second integral result
Inertia.
The inertia detection means of roller washing machine according to embodiments of the present invention, in the cylinder constant revolution of roller washing machine
When, detect the rotor-position of the motor of roller washing machine by position detecting module, velocity arithmetic device is counted according to rotor-position
Calculate the feedback speed of motor, accelerate starting point computing module to obtain cylinder according to the rotor-position of motor and the feedback speed of motor
The corresponding cylinder position of positive going zeror crossing point of washing machine velocity perturbation in unbalanced load, then directive generation module is in speed
The corresponding cylinder position of positive going zeror crossing point of fluctuation generates assisted instruction with controlled motor Accelerating running, and inertia calculation module is in electricity
After machine Accelerating running Preset Time, the electromagnetic torque of motor is integrated to obtain first integral result, directive generation module pair
Feedback speed after motor Accelerating running Preset Time is integrated instructing with the average speed generating motor, even with controlled motor
Speed is run, and to motor, the electromagnetic torque when traveling at the uniform speed is integrated to obtain second integral result, inertia calculation module
Inertia calculation module calculates the inertia of roller washing machine according to first integral result and second integral result afterwards.Therefore, the present invention
The inertia detection means of the roller washing machine of embodiment is it is contemplated that the impact of laod unbalance is it is ensured that each accelerate all
Start in the position of the positive going zeror crossing point of velocity perturbation it is ensured that each running orbit accelerating is consistent, the clothing of identical weight can be made
Thing is identical with weighing results in the case of balanced load in unbalanced load, reduces the detection error that unbalanced load brings, and
And, coordinate the movement locus of average speed using accelerating sections, eliminate the impact that roll friction brings, substantially increase detection essence
Degree, thus avoiding causing the weighting error of washing machine, fully meets the needs of user.
According to one embodiment of present invention, described acceleration starting point computing module is by the positive going zeror crossing of described velocity perturbation
The corresponding cylinder position of point is as the starting point of described motor Accelerating running.
According to one embodiment of present invention, described inertia calculation module is passed through described first integral result and described the
Two integral results subtract each other to calculate the inertia of described roller washing machine.
According to one embodiment of present invention, the electricity to described motor after Preset Time described in described motor Accelerating running
Time of integration that magnetic torque is integrated, the feedback speed after Preset Time described in described motor Accelerating running is integrated
The time of integration is equal with the time of integration that the electromagnetic torque when traveling at the uniform speed to described motor is integrated and is described rolling
The integral multiple of the Machine cycle that cylinder rotates.
Additionally, the embodiment of the present invention also proposed a kind of roller washing machine, it includes the inertia of above-mentioned roller washing machine
Detection means.
The roller washing machine of the embodiment of the present invention, when detecting rotary inertia it is contemplated that the impact of laod unbalance,
Can ensure that each acceleration all starts the running orbit one it is ensured that accelerating every time in the position of the positive going zeror crossing point of velocity perturbation
Cause, the medicated clothing of identical weight can be made identical with weighing results in the case of balanced load in unbalanced load, reduce uneven negative
The detection error bringing, and, the movement locus of average speed are coordinated using accelerating sections, eliminate the shadow that roll friction brings
Ring, substantially increasing accuracy of detection, thus avoiding causing weighting error, fully meeting the needs of user.
The aspect that the present invention adds and advantage will be set forth in part in the description, and partly will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description
The above-mentioned and/or additional aspect of the present invention and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and easy to understand, wherein：
Fig. 1 is the curve synoptic diagram of roller washing machine inertia testing result when slope accelerating velocity instructs；
Fig. 2A is the speed actual waveform of inertia identification result maximum point and inertia detection knot in analysis inertia testing result
The schematic diagram of the curve of fruit；
Fig. 2 B is the speed actual waveform of inertia identification result smallest point and inertia detection knot in analysis inertia testing result
The schematic diagram of the curve of fruit；
Fig. 3 is the flow chart of the inertia detection method of the roller washing machine according to the embodiment of the present invention；
Fig. 4 is the flow chart of the estimated speed fluctuation corresponding cylinder position of maximum point according to one embodiment of the invention；
Fig. 5 is the schematic diagram of the movement locus according to one embodiment of the invention；
Fig. 6 is the flow chart of the inertia detection method of the roller washing machine according to one specific embodiment of the present invention；
Fig. 7 is roller washing machine according to the one embodiment of the invention inertia testing result when slope accelerating velocity instructs
Curve synoptic diagram；And
Fig. 8 is the block diagram of the inertia detection means of the roller washing machine according to the embodiment of the present invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of described embodiment is shown in the drawings, wherein from start to finish
The element that same or similar label represents same or similar element or has same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
Following disclosure provides many different embodiments or example for realizing the different structure of the present invention.For letter
Change disclosure of the invention, hereinafter the part and setting of specific examples is described.Certainly, they are only merely illustrative, and
Purpose does not lie in the restriction present invention.Additionally, the present invention can in different examples repeat reference numerals and/or letter.This heavy
It is for purposes of simplicity and clarity again, itself do not indicate the relation between discussed various embodiment and/or setting.This
Outward, the invention provides various specific technique and material example, but those of ordinary skill in the art can be appreciated that
The applicable property of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it
" on " structure can include the first and second features and be formed as the embodiment of directly contact it is also possible to include other feature shape
Become the embodiment between the first and second features, such first and second features may not be directly contact.
In describing the invention, it should be noted that unless otherwise prescribed and limit, term " installation ", " being connected ",
" connection " should be interpreted broadly, for example, it may be the connection of mechanical connection or electrical connection or two element internals, can
To be to be joined directly together it is also possible to be indirectly connected to by intermediary, for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
The inertia detection method of roller washing machine, the cylinder of proposition according to embodiments of the present invention to be described with reference to the accompanying drawings
The inertia detection means of washing machine and the roller washing machine with this inertia detection means.
Fig. 3 is the flow chart of the inertia detection method of the roller washing machine according to the embodiment of the present invention.As shown in figure 3, should
The inertia detection method of roller washing machine comprises the following steps：
S1, in the cylinder constant revolution of roller washing machine, the rotor-position of the motor of detection roller washing machine, and according to
The rotor-position of motor calculates the feedback speed of motor.
Wherein, according to one embodiment of present invention, in step sl, by the given speed controlling cylinder constant revolution
Instruction, then instructs controlled motor so that cylinder constant revolution according to given speed.
S2, the rotor-position according to motor and the feedback speed of motor are estimated by non-equilibrium site and are obtained laundry drum
The corresponding cylinder position of positive going zeror crossing point of machine velocity perturbation in unbalanced load.
Wherein, after drum speed reaches certain value, in cylinder, object will be adjacent to cylinder by centrifugal action, uneven
Position think that opposing roller is fixed.When therefore drum speed is constant, the uneven velocity perturbation producing is the ripple determining frequency
Dynamic, the corresponding cylinder position of velocity perturbation maximum point and velocity perturbation smallest point pair be can be obtained by by non-equilibrium site estimation
The cylinder position answered, and the positive going zeror crossing of velocity perturbation point is velocity perturbation smallest point to velocity perturbation maximum point change procedure
In zero crossing, therefore, by non-equilibrium site estimation obtain the corresponding cylinder position of velocity perturbation maximum point and velocity perturbation
It is possible to obtain the corresponding cylinder position of positive going zeror crossing point of velocity perturbation after the corresponding cylinder position of smallest point.
Specifically, according to one embodiment of present invention, the corresponding cylinder of maximum point as shown in figure 4, estimated speed fluctuates
The flow process of position comprises the following steps：
S301, the feedback speed Vfdb of motor that real time record velocity arithmetic device calculates and the electricity of position detecting module detection
The rotor position of machine.
S302, setting speed amount of storage Vs and position amount of storage θ s.
S303, judges whether Vs is more than Vfdb.If it is, execution step S304；If not, end flow process.
S304, makes Vs=Vfdb, and records rotor-position now, θ s=θ.
S305, after cylinder rotates a circle, the rotor-position recorded is velocity perturbation maximum point corresponding cylinder position
Put.
Equally can be evaluated whether to obtain the corresponding cylinder position of velocity perturbation smallest point according to above-mentioned flow process, and then just can obtain
The corresponding cylinder position of positive going zeror crossing point to velocity perturbation.
S3, generates assisted instruction in the corresponding cylinder position of positive going zeror crossing point of velocity perturbation and accelerates fortune with controlled motor
OK, and after motor Accelerating running Preset Time, the electromagnetic torque of motor is integrated to obtain first integral result.
According to one embodiment of present invention, in step s3, by the corresponding cylinder position of positive going zeror crossing point of velocity perturbation
Put the starting point as motor Accelerating running, so ensure that each acceleration all in the position of the positive going zeror crossing point of velocity perturbation
Put and start it is ensured that each running orbit accelerating is consistent.
S4, is integrated referring to the average speed generating motor to the feedback speed after motor Accelerating running Preset Time
Order, is traveled at the uniform speed with controlled motor, and the electromagnetic torque when traveling at the uniform speed is integrated to obtain second integral to motor
Result.
Specifically, according to one embodiment of present invention, by movement locus as shown in Figure 5 come to roller washing machine
Inertia is detected.As shown in figure 5, one constant speed of motor first passing through given roller washing machine instructs to control cylinder constant speed
Rotate, then using the corresponding cylinder position of positive going zeror crossing point of velocity perturbation as the starting point of motor Accelerating running, give one
Individual slope accelerating velocity instruction controlled motor Accelerating running, and start the electromagnetism to motor after motor Accelerating running Preset Time
Torque is integrated to obtain first integral result, and the integral multiple of the Machine cycle that time of integration rotates for cylinder is AB section,
It can be for example a cylinder cycle.When motor accelerates to certain speed, controlled motor is traveled at the uniform speed with this speed, Ran Houzai
Controlled motor is decelerated to the average speed of motor, and wherein this average speed is according to the feedback after motor Accelerating running Preset Time
Speed is integrated being calculated, and the time of integration is the time of AB section, and controlled motor is traveled at the uniform speed with this average speed, to electricity
The electromagnetic torque when traveling at the uniform speed for the machine is integrated to obtain second integral result, and the time of integration is similarly cylinder rotation
The integral multiple of Machine cycle is CD section, for example, can be a cylinder cycle, and default described in described motor Accelerating running
Time of integration of after time, the electromagnetic torque of described motor being integrated, to Preset Time described in described motor Accelerating running after
Time of integration of being integrated of feedback speed and the integration that the electromagnetic torque when traveling at the uniform speed is integrated to described motor
Time is equal.
S5, calculates the inertia of roller washing machine according to first integral result and second integral result.
It should be noted that in an embodiment of the present invention it is contemplated that the situation of laod unbalance, roller washing machine is in inspection
When surveying inertia, the equation of motion of motor is：
Wherein, Te is the electromagnetic torque of motor, and B is the coefficient of viscosity, and ω is the rotating speed of motor, and J is rotary inertia, and Td is not
Balancing moment.
As shown in figure 5, AB section and CD section are a cylinder cycle, then the speed command of CD section is the average speed of motor
Spending instruction is：
Wherein, T=TAB=TCD.
When not considering the impact of unbalanced load, in accelerating sections AB section, the electromagnetic torque of motor output is：
In at the uniform velocity section CD section, the electromagnetic torque of motor output is：
Te=B ω (4)
Torque T in view of laod unbalanced, in accelerating sections AB section, the electromagnetic torque of motor output is：
Formula (5) both sides were integrated within the AB section time, obtain：
In at the uniform velocity section CD section, the electromagnetic torque of motor output is：
Formula (7) both sides were integrated within the CD section time, obtain：
According to one embodiment of present invention, in step s 5, by amassing described first integral result with described second
Point result is subtracted each other to calculate the inertia of described roller washing machine, will subtract each other with formula (8) formula (7), obtains：
Wherein, the differential of CD section speed integrated within a cylinder cycle is zero, that is,Because CD section
Speed command be constant, but due to uneven impact, so actual speed has fluctuation, actual waveform is sine wave, then
Differential or sine wave are carried out to the speed of CD section, and sine wave integral result in a cycle is equal to zero, therefore formula (9)
For：
If ∫ is B ωABDt=∫ B ωCDDt, then
WhereinFor constant, then the inertia J of roller washing machine be proportional to AB section and CD section torque integration it
Difference, thus the inertia J of roller washing machine can be calculated.
It follows that in an embodiment of the present invention, by the calculating of the average speed to motor, offset accelerating sections cylinder
The impact of frictional resistance, improves the accuracy of detection of inertia.
Specifically, according to one embodiment of present invention, as shown in fig. 6, the inertia detection side of above-mentioned roller washing machine
Method comprises the following steps：
S501, judges whether that load enables.If it is, entering next step S502；If not, terminating.
S502, speed command plans first paragraph, the speed command such as 80rpm of given motor one constant revolution, controls rolling
Cylinder constant revolution.
S503, accelerates starting point to calculate, and can calculate the positive going zeror crossing point pair of velocity perturbation by non-equilibrium site estimation
The cylinder position answered, and using the positive going zeror crossing point of velocity perturbation as acceleration starting point.
S504, speed command plans second segment, given slope assisted instruction, accelerates the positive mistake that starting point is velocity perturbation
Zero point.
S505, is integrated to the electromagnetic torque that the electromagnetic torque after motor Accelerating running Preset Time is accelerating sections AB section
To obtain first integral result, the time of integration is a cylinder cycle.
S506, is integrated to the feedback speed of accelerating sections AB section motor to calculate the average speed of motor, the time of integration
For a cylinder cycle.
S507, speed command plans the 3rd section, given average speed instruction, and controlled motor is traveled at the uniform speed with average speed.
S508, to motor average speed section electromagnetic torque be CD section electromagnetic torque be integrated with obtain second amass
Divide result, the time of integration is a cylinder cycle.
S509, first integral result and second integral result are subtracted each other to calculate the inertia of roller washing machine.
In an embodiment of the present invention, under unbalanced load, adopting identical to accelerate starting point is all with speed
When the corresponding cylinder position of positive going zeror crossing point of fluctuation is to accelerate starting point, roller washing machine is used when slope accelerating velocity instructs
Measure the curve of testing result as shown in fig. 7, compared to Figure 1, the song of roller washing machine inertia testing result in unbalanced load
Line fluctuation is less, and measurement result is essentially identical twice to accelerate starting point identical.
Therefore, the inertia detection method of roller washing machine according to embodiments of the present invention, in the cylinder constant of roller washing machine
When speed rotates, calculate the feedback speed of motor by detecting the rotor-position of the motor of roller washing machine, and according to motor
The positive going zeror crossing point that rotor-position obtains roller washing machine velocity perturbation in unbalanced load with the feedback speed of motor is corresponding
Cylinder position, then velocity perturbation the corresponding cylinder position of positive going zeror crossing point generate assisted instruction with controlled motor accelerate
Run, and after motor Accelerating running Preset Time, the electromagnetic torque of motor is integrated to obtain first integral result, with
And the feedback speed after motor Accelerating running Preset Time is integrated instructing with the average speed generating motor, to control
State motor to travel at the uniform speed, traveled at the uniform speed with average speed with controlled motor, then the electromagnetic torque when traveling at the uniform speed to motor
It is integrated to obtain second integral result, calculate roller washing machine finally according to first integral result and second integral result
Inertia.Therefore, the inertia detection method of the roller washing machine of the embodiment of the present invention, it is contemplated that the impact of laod unbalance,
Can ensure that each acceleration all starts the running orbit one it is ensured that accelerating every time in the position of the positive going zeror crossing point of velocity perturbation
Cause, the medicated clothing of identical weight can be made identical with weighing results in the case of balanced load in unbalanced load, reduce uneven negative
The detection error bringing, and, the movement locus of average speed are coordinated using accelerating sections, eliminate the shadow that roll friction brings
Ring, substantially increasing accuracy of detection, thus avoiding causing the weighting error of washing machine, fully meeting the needs of user.
Fig. 8 is the block diagram of the inertia detection means of the roller washing machine according to the embodiment of the present invention.As Fig. 8 institute
Show, the inertia detection means of this roller washing machine includes：Position detecting module 10, velocity arithmetic device 20, acceleration starting point calculate
Module 30, directive generation module 40 and inertia calculation module 50.
Wherein, position detecting module 10 is used for detecting that described cylinder is washed in the cylinder constant revolution of described roller washing machine
The rotor position of the motor M of clothing machine, the rotor position that velocity arithmetic device 20 is used for according to described motor calculates described motor
Feedback speed Vfdb.Accelerate starting point computing module 30 for the feedback speed of the rotor-position according to described motor and described motor
Degree estimates the positive going zeror crossing point pair obtaining the velocity perturbation in unbalanced load of described roller washing machine by non-equilibrium site
The cylinder position answered, wherein, can get the velocity perturbation in unbalanced load for the roller washing machine by non-equilibrium site estimation
Maximum point and the corresponding cylinder position of velocity perturbation smallest point, and the positive going zeror crossing of velocity perturbation point is velocity perturbation smallest point
Zero crossing in velocity perturbation maximum point change procedure, therefore, obtains velocity perturbation maximum point by non-equilibrium site estimation
It is possible to obtain the positive going zeror crossing point of velocity perturbation after corresponding cylinder position and the corresponding cylinder position of velocity perturbation smallest point
Corresponding cylinder position.
Directive generation module 40 is used for referring in the positive going zeror crossing point corresponding cylinder position generation acceleration of described velocity perturbation
To control described motor Accelerating running, inertia calculation module 50 is after described motor Accelerating running Preset Time to described motor for order
Electromagnetic torque be integrated to obtain first integral result, directive generation module 40 is to default described in described motor Accelerating running
Feedback speed after time is integrated instructing with the average speed generating described motor, to control described motor to travel at the uniform speed,
To described motor, the electromagnetic torque when traveling at the uniform speed is integrated to obtain second integral result inertia calculation module 50, and
Inertia calculation module 50 calculates 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 passed through described first integral result and described second
Integral result subtracts each other to calculate the inertia of described roller washing machine.
In an embodiment of the present invention, as shown in figure 8, torque calculation module 60 calculates according to the feedback current Ifdb of motor
The electromagnetic torque of motor, then exports calculated electromagnetic torque to inertia calculation module 50.Speed control 70 basis
Error between the feedback speed Vfdb of the speed command Vref of directive generation module 40 output and velocity arithmetic device 20 output
Verr generates torque instruction Tasr, torque instruction Tasr and feedback current that current controller 80 exports according to speed control 70
Ifdb generates current-order I to be controlled to motor M.
Wherein, according to one embodiment of present invention, accelerate starting point computing module 30 by the forward direction of described velocity perturbation
The corresponding cylinder position of zero crossing, as the starting point of described motor Accelerating running, so ensures that each acceleration all in speed
The position of the positive going zeror crossing point of degree fluctuation starts it is ensured that each running orbit accelerating is consistent.
In an embodiment of the present invention, after Preset Time described in described motor Accelerating running, the electromagnetism of described motor is turned
Time of integration that square is integrated, the integration that the feedback speed after Preset Time described in described motor Accelerating running is integrated
Time is equal with the time of integration that the electromagnetic torque when traveling at the uniform speed to described motor is integrated and is described cylinder and turns
The integral multiple of dynamic Machine cycle.
The inertia detection means of roller washing machine according to embodiments of the present invention, in the cylinder constant revolution of roller washing machine
When, detect the rotor-position of the motor of roller washing machine by position detecting module, velocity arithmetic device is counted according to rotor-position
Calculate the feedback speed of motor, accelerate starting point computing module to obtain cylinder according to the rotor-position of motor and the feedback speed of motor
The corresponding cylinder position of positive going zeror crossing point of washing machine velocity perturbation in unbalanced load, then directive generation module is in speed
The corresponding cylinder position of positive going zeror crossing point of fluctuation generates assisted instruction with controlled motor Accelerating running, and inertia calculation module is in electricity
After machine Accelerating running Preset Time, the electromagnetic torque of motor is integrated to obtain first integral result, directive generation module pair
Feedback speed after motor Accelerating running Preset Time is integrated instructing with the average speed generating motor, even with controlled motor
Speed is run, and to motor, the electromagnetic torque when traveling at the uniform speed is integrated to obtain second integral result, inertia calculation module
Inertia calculation module calculates the inertia of roller washing machine according to first integral result and second integral result afterwards.Therefore, the present invention
The inertia detection means of the roller washing machine of embodiment is it is contemplated that the impact of laod unbalance is it is ensured that each accelerate all
Start in the position of the positive going zeror crossing point of velocity perturbation it is ensured that each running orbit accelerating is consistent, the clothing of identical weight can be made
Thing is identical with weighing results in the case of balanced load in unbalanced load, reduces the detection error that unbalanced load brings, and
And, coordinate the movement locus of average speed using accelerating sections, eliminate the impact that roll friction brings, substantially increase detection essence
Degree, thus avoiding causing the weighting error of washing machine, fully meets the needs of user.
Additionally, the embodiment of the present invention also proposed a kind of roller washing machine, it includes the inertia of above-mentioned roller washing machine
Detection means.
The roller washing machine of the embodiment of the present invention, when detecting rotary inertia it is contemplated that the impact of laod unbalance,
Can ensure that each acceleration all starts the running orbit one it is ensured that accelerating every time in the position of the positive going zeror crossing point of velocity perturbation
Cause, the medicated clothing of identical weight can be made identical with weighing results in the case of balanced load in unbalanced load, reduce uneven negative
The detection error bringing, and, the movement locus of average speed are coordinated using accelerating sections, eliminate the shadow that roll friction brings
Ring, substantially increasing accuracy of detection, thus avoiding causing weighting error, fully meeting the needs of user.
In flow chart or here any process described otherwise above or method description are construed as, represent and include
The module of the code of executable instruction of one or more steps for realizing specific logical function or process, fragment or portion
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, including according to involved function by substantially simultaneously in the way of or in the opposite order, carry out perform function, this should be by the present invention
Embodiment person of ordinary skill in the field understood.
Represent in flow charts or here logic described otherwise above and/or step, for example, it is possible to be considered as to use
In the order list of the executable instruction realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (system as computer based system, including processor or other can hold from instruction
Row system, device or equipment instruction fetch the system of execute instruction) use, or with reference to these instruction execution systems, device or set
Standby and use.For the purpose of this specification, " computer-readable medium " can any can be comprised, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress using with reference to these instruction execution systems, device or equipment
Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following：There is the electricity of one or more wirings
Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program thereon or other are suitable
Medium, because edlin, interpretation or if necessary with it can then be entered for example by carrying out optical scanning to paper or other media
His suitable method is processed to electronically obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, the software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realizing.For example, if realized with hardware, and the same in another embodiment, can use well known in the art under
Any one of row technology or their combination are realizing：There is the logic gates for data signal is realized with logic function
Discrete logic, there is the special IC of suitable combinational logic gate circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part step that above-described embodiment method carries
Suddenly the program that can be by completes come the hardware to instruct correlation, and described program can be stored in a kind of computer-readable storage medium
In matter, this program upon execution, including one or a combination set of the step of embodiment of the method.
Additionally, can be integrated in a processing module in each functional unit in each embodiment of the present invention it is also possible to
It is that unit is individually physically present it is also possible to two or more units are integrated in a module.Above-mentioned integrated mould
Block both can be to be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.Described integrated module is such as
Fruit using in the form of software function module realize and as independent production marketing or use when it is also possible to be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read only memory, disk or CD etc..
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy describing with reference to this embodiment or example
Point is contained at least one embodiment or the example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, permissible
Understand and can carry out multiple changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention by claims and its equivalent limits.
Claims (10)
1. a kind of inertia detection method of roller washing machine is it is characterised in that comprise the following steps：
S1, in the cylinder constant revolution of described roller washing machine, detects the rotor-position of the motor of described roller washing machine, and
Rotor-position according to described motor calculates the feedback speed of described motor；
S2, described in the feedback speed of the rotor-position according to described motor and described motor is estimated by non-equilibrium site and is obtained
The corresponding cylinder position of positive going zeror crossing point of roller washing machine velocity perturbation in unbalanced load；
S3, generates assisted instruction to control described motor to accelerate in the corresponding cylinder position of positive going zeror crossing point of described velocity perturbation
Run, and after described motor Accelerating running Preset Time, the electromagnetic torque of described motor is integrated amassing to obtain first
Divide result, wherein, the positive going zeror crossing point of described velocity perturbation is that velocity perturbation smallest point changed to velocity perturbation maximum point
Zero crossing in journey；
S4, is integrated to the feedback speed after Preset Time described in described motor Accelerating running to generate the average of described motor
Speed command, to control described motor to travel at the uniform speed, and the electromagnetic torque when traveling at the uniform speed is integrated to described motor
To obtain second integral result；
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 it is characterised in that in step s3, will be described
The corresponding cylinder position of positive going zeror crossing point of velocity perturbation is as the starting point of described motor Accelerating running.
3. the inertia detection method of roller washing machine as claimed in claim 1 is it is characterised in that in step s 5, by will
Described first integral result and described second integral result are subtracted each other to calculate the inertia of described roller washing machine.
4. the inertia detection method of the roller washing machine as any one of claim 1-3 is it is characterised in that in described electricity
Time of integration of after Preset Time described in machine Accelerating running, the electromagnetic torque of described motor being integrated, described motor is accelerated
Run the time of integration and the electromagnetism when traveling at the uniform speed to described motor that the feedback speed after described Preset Time is integrated
The time of integration that torque is integrated is equal and integral multiple that be the Machine cycle that described cylinder rotates.
5. the inertia detection method of roller washing machine as claimed in claim 1 is it is characterised in that in step sl, according to giving
Determine speed command and control described motor so that described cylinder constant revolution.
6. a kind of inertia detection means of roller washing machine is it is characterised in that include：
Position detecting module, it is described that described position detecting module is used for the detection in the cylinder constant revolution of described roller washing machine
The rotor-position of the motor of roller washing machine；
Velocity arithmetic device, the rotor-position that described velocity arithmetic device is used for according to described motor calculates the feedback speed of described motor
Degree；
Accelerate starting point computing module, described acceleration starting point computing module is used for according to the rotor-position of described motor and described
The feedback speed of motor is estimated by non-equilibrium site and is obtained the velocity perturbation in unbalanced load of described roller washing machine
The corresponding cylinder position of positive going zeror crossing point, wherein, the positive going zeror crossing point of described velocity perturbation is velocity perturbation smallest point to speed
Zero crossing in degree fluctuation maximum point change procedure；
Directive generation module and inertia calculation module, described directive generation module is used for the positive going zeror crossing point in described velocity perturbation
Corresponding cylinder position generates assisted instruction to control described motor Accelerating running, and described inertia calculation module adds in described motor
After speed operation Preset Time, the electromagnetic torque of described motor is integrated to obtain first integral result, described instruction generates mould
Block is integrated to the feedback speed after Preset Time described in described motor Accelerating running to generate the average speed of described motor
Instruction, to control described motor to travel at the uniform speed, described inertia calculation module electromagnetic torque when traveling at the uniform speed to described motor
It is integrated to obtain second integral result, and described inertia calculation module is according to described first integral result and described second
Integral result calculates the inertia of described roller washing machine.
7. the inertia detection means of roller washing machine as claimed in claim 6 is it is characterised in that described acceleration starting point calculates
Module using the corresponding cylinder position of positive going zeror crossing point of described velocity perturbation as described motor Accelerating running starting point.
8. the inertia detection means of roller washing machine as claimed in claim 6 is it is characterised in that described inertia calculation module is led to
Cross and subtract each other described first integral result and described second integral result to calculate the inertia of described roller washing machine.
9. the inertia detection means of the roller washing machine as any one of claim 6-8 is it is characterised in that in described electricity
Time of integration of after Preset Time described in machine Accelerating running, the electromagnetic torque of described motor being integrated, described motor is accelerated
Run the time of integration and the electromagnetism when traveling at the uniform speed to described motor that the feedback speed after described Preset Time is integrated
The time of integration that torque is integrated is equal and integral multiple that be the Machine cycle that described cylinder rotates.
10. a kind of roller washing machine is it is characterised in that include the roller washing machine as any one of claim 6-9
Inertia detection means.
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| CN201410179198.4A CN103966799B (en) | 2014-04-29 | 2014-04-29 | Roller washing machine and inertia detection method and device thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104963164B (en) | 2015-07-31 | 2017-05-10 | 广东威灵电机制造有限公司 | Roller washing machine and control method and device thereof |
| CN105429549B (en) * | 2015-12-11 | 2018-01-23 | 珠海格力电器股份有限公司 | Method and device for processing operation data of washing machine |
| JP6807063B2 (en) * | 2016-08-10 | 2021-01-06 | 青島海爾洗衣机有限公司ＱｉｎｇＤａｏ Ｈａｉｅｒ Ｗａｓｈｉｎｇ Ｍａｃｈｉｎｅ Ｃｏ．，Ｌｔｄ． | How to control the drum-type washing machine |
| CN106702665B (en) * | 2016-12-13 | 2019-03-15 | 广东威灵电机制造有限公司 | Washing machine and its inertia detection method and device |
| CN107130393A (en) * | 2017-05-31 | 2017-09-05 | 广东威灵电机制造有限公司 | Roller washing machine and its control method, device and machinable medium |
| CN107059326B (en) * | 2017-05-31 | 2020-04-03 | 广东威灵电机制造有限公司 | Inertia detection method of washing machine, washing machine and storage medium |
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| CN108774849B (en) * | 2018-06-14 | 2021-03-16 | 广东威灵电机制造有限公司 | Operation control method and system for clothes processing device and storage medium |
| CN108755009B (en) * | 2018-06-14 | 2021-02-23 | 广东威灵电机制造有限公司 | Operation control method, system, device and storage medium for clothes processing device |
| CN108547116B (en) * | 2018-06-14 | 2021-03-30 | 广东威灵电机制造有限公司 | Operation control method, system, device and storage medium for clothes processing device |
| CN108547115B (en) * | 2018-06-14 | 2021-04-09 | 广东威灵电机制造有限公司 | Operation control method, system, device and storage medium for clothes processing device |
| CN108755008B (en) * | 2018-06-14 | 2021-03-16 | 广东威灵电机制造有限公司 | Load inertia detection method, system and device of clothes treatment device |
| CN108547117B (en) * | 2018-06-14 | 2021-03-26 | 广东威灵电机制造有限公司 | Operation control method and system of clothes treatment device and clothes treatment device |
| CN111118821B (en) * | 2018-10-15 | 2021-11-16 | 广东威灵电机制造有限公司 | Drum washing machine, control method and control device thereof, and computer-readable storage medium |
| CN111676653B (en) * | 2020-05-21 | 2022-08-23 | 海信冰箱有限公司 | Washing machine |
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