CN103966804A - Roller washing machine and inertia detection method and device thereof - Google Patents

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 when a roller rotates at constant speed, 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 the maximum speed fluctuation point or the minimum speed fluctuation point is obtained through unbalance position estimation; an acceleration instruction is generated at the roller position corresponding to the maximum speed fluctuation point or the minimum speed fluctuation point to control the motor to operate in an accelerated mode, and integration is performed on electromagnetic torque on an acceleration operation section to obtain a first integration result; a deceleration instruction is generated at the roller position corresponding to the maximum speed fluctuation point or the minimum speed fluctuation point to control the motor to operate in a decelerated mode, and integration is performed on electromagnetic torque on a deceleration operation section to obtain a second integration result; 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 load unbalance can be considered, so that detection precision is improved.

Description

Roller washing machine and inertia detection method, inertia checkout gear

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

In order to realize the automatic feeding water of washing machine and the rectification building-out for measuring, need to measure the weight of laundry machine barrel underpants clothes.At present, the main method of measurement clothes weight has two large classes: a class is to adopt LOAD CELLS directly to measure the weight of clothing; Another kind of is the inertia of clothing in the drive motors measuring cylinder of utilizing in washing machine, 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 the method for utilizing drive motors to measure clothing inertia does not need special sensor, 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, if laod unbalance while detecting load inertia by acceleration and deceleration can cause acceleration and deceleration waveform asymmetric, greatly affect accuracy of detection, cause the weighting error of washing machine, can not meet user's needs.

Summary of the invention

The technological deficiency that object of the present invention is intended at least solve.

For this reason, first object of the present invention is to propose a kind ofly can consider the impact of laod unbalance 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: 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; Estimate with acquisition speed fluctuation maximum point or cylinder position corresponding to velocity perturbation smallest point by non-equilibrium site according to the feedback speed of the rotor-position of described motor and described motor; Generate assisted instruction to control described motor Accelerating running at described velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, and described motor is carried out to integration to obtain first integral result at the electromagnetic torque of Accelerating running section; Generate deceleration instruction to control described decelerating through motor operation at described velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, and described motor is carried out to integration to obtain second integral result at the electromagnetic torque of the section of running slowly, wherein, acceleration curve and the described motor deceleration curve when running slowly of described motor in the time of Accelerating running keeps Mirror Symmetry; Calculate 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 estimate with acquisition speed fluctuation maximum point or cylinder position corresponding to velocity perturbation smallest point by non-equilibrium site according to the feedback speed of the rotor-position of motor and motor, then generate assisted instruction to control motor Accelerating running at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, and motor is carried out to integration to obtain first integral result at the electromagnetic torque of Accelerating running section, and generate deceleration instruction to control decelerating through motor operation at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, and motor is carried out to integration to obtain second integral result at the electromagnetic torque of the section of running slowly, finally according to the inertia of first integral result and second integral result calculating roller washing machine.Therefore, when the inertia detection method of the roller washing machine of the embodiment of the present invention detects the inertia of roller washing machine by acceleration and deceleration, can consider the impact of laod unbalance, be to generate assisted instruction and deceleration instruction at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, thereby make acceleration curve and the motor deceleration curve when running slowly of motor in the time of Accelerating running keep Mirror Symmetry, can ensure so also can accurately detect the inertia of roller washing machine in the situation that unbalanced load exists, 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, described acceleration curve according to operation curve corresponding to described assisted instruction with form taking described velocity perturbation maximum point or velocity perturbation smallest point as the velocity perturbation curve combining of the zero hour, described deceleration curve according to operation curve corresponding to described deceleration instruction with form taking described velocity perturbation maximum point or velocity perturbation smallest point as the velocity perturbation curve combining of the zero hour.

According to one embodiment of present invention, by described first integral result and described second integral result being subtracted each other to calculate the inertia of described roller washing machine.

Equate and be the integral multiple of the Machine cycle that described cylinder rotates the time of integration of according to one embodiment of present invention, described motor being carried out the time of integration of integration and described motor is carried out to integration in the section of running slowly in Accelerating running section.

According to one embodiment of present invention, 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, non-equilibrium site estimation block, described non-equilibrium site estimation block is for estimating with acquisition speed fluctuation maximum point or cylinder position corresponding to velocity perturbation smallest point by non-equilibrium site according to the feedback speed of the rotor-position of described motor and described motor, instruction generation module and inertia calculation module, described instruction generation module is for generating assisted instruction to control described motor Accelerating running at described velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, described inertia calculation module is carried out integration to obtain first integral result to described motor at the electromagnetic torque of Accelerating running section, and described instruction generation module is for generating deceleration instruction to control described decelerating through motor operation at described velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, described inertia calculation module is carried out integration to obtain second integral result to described motor at the electromagnetic torque of the section of running slowly, 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, wherein, acceleration curve and the described motor deceleration curve when running slowly of described motor in the time of Accelerating running keeps Mirror Symmetry.

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, non-equilibrium site estimation block is estimated with acquisition speed fluctuation maximum point or cylinder position corresponding to velocity perturbation smallest point by non-equilibrium site according to the feedback speed of the rotor-position of motor and motor, then instruction generation module generates assisted instruction to control motor Accelerating running at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, inertia calculation module is carried out integration to obtain first integral result to motor at the electromagnetic torque of Accelerating running section, and instruction generation module generates deceleration instruction to control decelerating through motor operation at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, inertia calculation module is carried out integration to obtain second integral result to motor at the electromagnetic torque of the section of running slowly, last inertia calculation module is calculated the inertia of roller washing machine according to first integral result and second integral result.Therefore, when the inertia checkout gear of the roller washing machine of the embodiment of the present invention detects the inertia of roller washing machine by acceleration and deceleration, can consider the impact of laod unbalance, be to generate assisted instruction and deceleration instruction at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, thereby make acceleration curve and the motor deceleration curve when running slowly of motor in the time of Accelerating running keep Mirror Symmetry, can ensure so also can accurately detect the inertia of roller washing machine in the situation that unbalanced load exists, 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, described acceleration curve according to operation curve corresponding to described assisted instruction with form taking described velocity perturbation maximum point or velocity perturbation smallest point as the velocity perturbation curve combining of the zero hour, described deceleration curve according to operation curve corresponding to described deceleration instruction with form taking described velocity perturbation maximum point or velocity perturbation smallest point as the velocity perturbation curve combining of the zero hour.

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.

Equate and be the integral multiple of the Machine cycle that described cylinder rotates the time of integration of according to one embodiment of present invention, described motor being carried out the time of integration of integration and described motor is carried out to integration in the section of running slowly in Accelerating running section.

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, while detecting rotary inertia by acceleration and deceleration, can consider the impact of laod unbalance, be to generate assisted instruction and deceleration instruction at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, thereby make acceleration curve and the motor deceleration curve when running slowly of motor in the time of Accelerating running keep Mirror Symmetry, can ensure so also can accurately detect rotary inertia in the situation that unbalanced load exists, 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 schematic diagram of the acceleration and deceleration running orbit of correlation technique intermediate roll washing machine while detecting inertia by acceleration and deceleration;

Fig. 2 is according to the flow chart of the inertia detection method of the roller washing machine of the embodiment of the present invention;

Fig. 3 is the flow chart of the cylinder position that estimated speed fluctuation maximum point is corresponding according to an embodiment of the invention;

The schematic diagram of acceleration and deceleration curves Mirror Symmetry when Fig. 4 A is the given acceleration and deceleration instruction of identical according to an embodiment of the invention unbalanced starting point;

Fig. 4 B can cause the asymmetric schematic diagram of acceleration and deceleration curves during for the given acceleration and deceleration instruction of different according to an embodiment of the invention unbalanced starting points;

Fig. 5 is the flow chart of the inertia detection method of the roller washing machine of a specific embodiment according to the present invention.

Fig. 6 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.

In correlation technique, when roller washing machine detects inertia by acceleration and deceleration, the equation of motion of motor is:

$T_e-T_l-\mathrm{B\ω}=J\frac{\mathrm{d\ω}}{\mathrm{dt}}---\left(1\right)$

Wherein, T _ethe electromagnetic torque of motor, T _lbe load torque, B is the coefficient of viscosity, the rotating speed that ω is motor, and J is rotary inertia.

Suppose for constant, can build so a movement locus as shown in Figure 1.As shown in Figure 1, in time, speed given curve at the uniform velocity accelerates to ω from 0 _x, time is interior from ω _xat the uniform velocity decelerate to 0.Wherein, T _xrepresent the time of acceleration and deceleration.

Suppose that load is constant, i.e. T _lfor constant, because motor is to same direction rotation, therefore, T _l, B ω is the same at the action direction of accelerating region and deceleration area, the electromagnetic torque of supposing accelerating region is T _e1, the electromagnetic torque of deceleration area is T _e2, at the equation of motion of the motor of accelerating region be so:

$T_{e1}-T_l-\mathrm{B\ω}=J\left|\frac{\mathrm{d\ω}}{\mathrm{dt}}\right|---\left(2\right)$

Formula (2) both sides while integration is obtained:

$\underset{0}{\overset{\frac{T_x}{2}}{\∫}}{T}_{e1}\mathrm{dt}+\underset{0}{\overset{\frac{T_x}{2}}{\∫}}(-T_l-\mathrm{B\ω})\mathrm{dt}=J\underset{0}{\overset{\frac{T_x}{2}}{\∫}}\left|\frac{\mathrm{d\ω}}{\mathrm{dt}}\right|\mathrm{dt}---\left(3\right)$

The equation of motion of the motor of deceleration area is:

$T_{e2}-T_l-\mathrm{B\ω}=-J\left|\frac{\mathrm{d\ω}}{\mathrm{dt}}\right|---\left(4\right)$

Formula (4) both sides while integration is obtained:

$\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}{T}_{e2}\mathrm{dt}+\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}(-T_l-\mathrm{B\ω})\mathrm{dt}=-J\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}\left|\frac{\mathrm{d\ω}}{\mathrm{dt}}\right|\mathrm{dt}---\left(5\right)$

As shown in Figure 1, accelerating region and deceleration area are symmetrical, therefore also have speed correspondence and T with it at deceleration area certain speed of accelerating region is inevitable _lagain constant, so following formula is set up:

$\underset{0}{\overset{\frac{T_x}{2}}{\∫}}(-T_l-\mathrm{B\ω})\mathrm{dt}=\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}({-T}_l-\mathrm{B\ω})\mathrm{dt}---\left(6\right)$

Formula (3) is deducted to formula (5), can obtain:

$\underset{0}{\overset{\frac{T_x}{2}}{\∫}}{T}_{e1}\mathrm{dt}-\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}{T}_{e2}\mathrm{dt}=2J\underset{0}{\overset{\frac{T_x}{2}}{\∫}}\left|\frac{\mathrm{d\ω}}{\mathrm{dt}}\right|\mathrm{dt}---\left(7\right)$

Ignore the error between given and feedback, can obtain:

$\underset{0}{\overset{\frac{T_x}{2}}{\∫}}{T}_{e1}\mathrm{dt}-\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}{T}_{e2}\mathrm{dt}=2J{\mathrm{\ω}}_x---\left(8\right)$

Wherein, the q shaft current of electromagnetic torque and motor is directly proportional, i.e. Tel=KIq1, and Te2=KIq2, K is moment coefficient, can obtain thus:

$J=K\frac{\underset{0}{\overset{\frac{T_x}{2}}{\∫}}{I}_{q1}\mathrm{dt}-\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}{I}_{q2}\mathrm{dt}}{{2\mathrm{\ω}}_x}---\left(9\right)$

In sum, when roller washing machine detects inertia by acceleration and deceleration, the acceleration and deceleration curves full symmetric while needing acceleration and deceleration, otherwise formula (6) is just untenable.But under the impact of unbalanced load, given running orbit and velocity perturbation stack, finally cause acceleration and deceleration curves to be easy to occur asymmetric situation, causes detecting inertia and occur error, affects accuracy of detection.

The application brings the inaccurate problem of detection inertia to propose in order to solve laod unbalance just.Below just with reference to accompanying drawing describe 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. 2 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 2, 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, by the speed command of given index drum constant revolution, then according to given speed instruction control motor so that cylinder constant revolution.

S2, estimates with acquisition speed fluctuation maximum point or cylinder position corresponding to velocity perturbation smallest point by non-equilibrium site according to the feedback speed of the rotor-position of motor and motor.

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, is estimated and just can be obtained the cylinder position that velocity perturbation maximum point is corresponding by non-equilibrium site.

Particularly, according to one embodiment of present invention, as shown in Figure 3, 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.

S3, generates assisted instruction to control described motor Accelerating running at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, and motor is carried out to integration to obtain first integral result at the electromagnetic torque of Accelerating running section.

S4, generate deceleration instruction to control decelerating through motor operation at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, and motor is carried out to integration to obtain second integral result at the electromagnetic torque of the section of running slowly, wherein, acceleration curve and the motor deceleration curve when running slowly of motor in the time of Accelerating running keeps Mirror Symmetry.

It should be noted that, in an embodiment of the present invention, consider the situation of laod unbalance, when roller washing machine detects inertia by acceleration and deceleration, the equation of motion of motor is:

$T_e-T_l-\mathrm{B\ω}-T_d=J\frac{\mathrm{d\ω}}{\mathrm{dt}}---\left(10\right)$

Wherein, T _dfor uneven torque.

Suppose that load is constant, i.e. T _lfor constant, because motor is to same direction rotation, therefore, T _l, B ω is the same at the action direction of accelerating region and deceleration area, the electromagnetic torque of supposing accelerating region is T _e3, the electromagnetic torque of deceleration area is T _e4, at the equation of motion of the motor of accelerating region be so:

$T_{e3}-T_l-T_d=J\left|\frac{\mathrm{d\ω}}{\mathrm{dt}}\right|---\left(11\right)$

Formula (11) both sides while integration is obtained:

$\underset{0}{\overset{\frac{T_x}{2}}{\∫}}{T}_{e3}\mathrm{dt}+\underset{0}{\overset{\frac{T_x}{2}}{\∫}}(-T_l-\mathrm{B\ω}-T_d)\mathrm{dt}=J\underset{0}{\overset{\frac{T_x}{2}}{\∫}}\left|\frac{\mathrm{d\ω}}{\mathrm{dt}}\right|\mathrm{dt}---\left(12\right)$

The equation of motion of the motor of deceleration area is:

$T_{e4}-T_l-\mathrm{B\ω}-T_d=-J\left|\frac{\mathrm{d\ω}}{\mathrm{dt}}\right|---\left(13\right)$

Formula (13) both sides while integration is obtained:

$\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}{T}_{e4}\mathrm{dt}+\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}(-T_l-\mathrm{B\ω}-T_d)\mathrm{dt}=-J\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}\left|\frac{\mathrm{d\ω}}{\mathrm{dt}}\right|\mathrm{dt}---\left(14\right)$

So the in the situation that of unbalanced load, when roller washing machine carries out inertia detection, need to revise above-mentioned formula (6), will meet following formula (15), the rate curve Mirror Symmetry of guarantee acceleration and deceleration:

$\underset{0}{\overset{\frac{T_x}{2}}{\∫}}(-T_l-\mathrm{B\ω}-T_d)\mathrm{dt}=\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}({-T}_l-\mathrm{B\ω}-T_d)\mathrm{dt}---\left(15\right)$

According to one embodiment of present invention, acceleration curve according to operation curve corresponding to described assisted instruction with form taking described velocity perturbation maximum point or velocity perturbation smallest point as the velocity perturbation curve combining of the zero hour, described deceleration curve according to operation curve corresponding to described deceleration instruction with form taking described velocity perturbation maximum point or velocity perturbation smallest point as the velocity perturbation curve combining of the zero hour.

Particularly, as shown in Figure 4 A, be the given acceleration and deceleration instruction of identical unbalanced starting point, can ensure that like this acceleration curve and deceleration curve keep Mirror Symmetry.I.e. speech, in the time accelerating, selecting velocity perturbation maximum point or velocity perturbation smallest point is the zero hour, correspondingly, in the time slowing down, same corresponding selection velocity perturbation maximum point or velocity perturbation smallest point are the zero hour, due to operation curve corresponding to assisted instruction and operation curve maintenance Mirror Symmetry corresponding to deceleration instruction, and the drum speed of roller washing machine is when constant, the uneven velocity perturbation producing is for determining frequency fluctuation, so just can ensure that acceleration and deceleration curves is also to keep Mirror Symmetry in the time of unbalanced load, as shown in Figure 4 A.And when the given acceleration and deceleration instruction of different unbalanced starting points, can cause like this acceleration curve and deceleration curve asymmetric, as shown in Figure 4 B.

S5, according to the inertia of first integral result and second integral result calculating roller washing machine.

Wherein, first integral result is:

$\underset{0}{\overset{\frac{T_x}{2}}{\∫}}{T}_{e3}\mathrm{dt}=-\underset{0}{\overset{\frac{T_x}{2}}{\∫}}(-T_l-\mathrm{B\ω}-T_d)\mathrm{dt}+J\underset{0}{\overset{\frac{T_x}{2}}{\∫}}\left|\frac{\mathrm{d\ω}}{\mathrm{dt}}\right|\mathrm{dt}---\left(16\right)$

Second integral result is:

$\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}{T}_{e4}\mathrm{dt}=-\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}(-T_l-\mathrm{B\ω}-T_d)\mathrm{dt}-J\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}\left|\frac{\mathrm{d\ω}}{\mathrm{dt}}\right|\mathrm{dt}---\left(17\right)$

According to one embodiment of present invention, 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 and can obtain by formula (16) and formula (17):

$\underset{0}{\overset{\frac{T_x}{2}}{\∫}}{T}_{e3}\mathrm{dt}-\underset{\frac{T_x}{2}}{\overset{T_x}{\∫}}{T}_{e4}\mathrm{dt}=2J\underset{0}{\overset{\frac{T_x}{2}}{\∫}}\left|\frac{\mathrm{d\ω}}{\mathrm{dt}}\right|\mathrm{dt}---\left(18\right)$

Then, can calculate the inertia of roller washing machine according to formula (18).

Equate and be the integral multiple of the Machine cycle that described cylinder rotates the time of integration of in an embodiment of the present invention, described motor being carried out the time of integration of integration and described motor is carried out to integration in the section of running slowly in Accelerating running section.That is to say, be necessary for the Machine cycle that the cylinder of integer rotates the time of integration, to described motor in Accelerating running section is carried out time of integration of integration and described motor cylinder in the section of running slowly is carried out time of integration of integration is turned over to integer turn.

Particularly, according to one embodiment of present invention, as shown in Figure 5, 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 speed command of given motor one constant revolution for example a given index drum with the speed command of 90rpm constant revolution, index drum constant revolution.

S503, non-equilibrium site estimation, estimates the cylinder position that velocity perturbation maximum point is corresponding.

S504, speed command planning second segment, given slope assisted instruction, accelerating starting point is the uneven velocity perturbation maximum point producing.

S505, carries out integration to obtain first integral result to motor at the electromagnetic torque of Accelerating running section, and be drum rotating one week the time of integration.

S506, after Accelerating running section finishes, the 3rd section of speed command planning, the speed command of given motor one constant revolution for example a given index drum with the speed command of 150rpm constant revolution, index drum constant revolution again.

S507, the 4th section of speed command planning, given slope deceleration instruction, deceleration starting point is the uneven velocity perturbation maximum point producing.

S508, carries out integration to obtain second integral result to motor at the electromagnetic torque of the section of running slowly, and be drum rotating one week the time of integration.

S509, first integral result and second integral result subtract each other to calculate the inertia of roller washing machine.

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 estimate with acquisition speed fluctuation maximum point or cylinder position corresponding to velocity perturbation smallest point by non-equilibrium site according to the feedback speed of the rotor-position of motor and motor, then generate assisted instruction to control motor Accelerating running at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, and motor is carried out to integration to obtain first integral result at the electromagnetic torque of Accelerating running section, and generate deceleration instruction to control decelerating through motor operation at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, and motor is carried out to integration to obtain second integral result at the electromagnetic torque of the section of running slowly, finally according to the inertia of first integral result and second integral result calculating roller washing machine.Therefore, when the inertia detection method of the roller washing machine of the embodiment of the present invention detects the inertia of roller washing machine by acceleration and deceleration, can consider the impact of laod unbalance, be to generate assisted instruction and deceleration instruction at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, thereby make acceleration curve and the motor deceleration curve when running slowly of motor in the time of Accelerating running keep Mirror Symmetry, can ensure so also can accurately detect the inertia of roller washing machine in the situation that unbalanced load exists, greatly improve accuracy of detection, thereby avoid causing the weighting error of washing machine, fully meet user's needs.

Fig. 6 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 6, the inertia checkout gear of this roller washing machine comprises: position detecting module 10, speed arithmetic unit 20, non-equilibrium site estimation block 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.Non-equilibrium site estimation block 30 is for estimating with acquisition speed fluctuation maximum point or cylinder position corresponding to velocity perturbation smallest point by non-equilibrium site according to the feedback speed of the rotor-position of described motor and described motor, i.e. speech, velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point of roller washing machine when the unbalanced load can be obtained by non-equilibrium site estimation, the zero hour of roller washing machine velocity perturbation maximum point in the time of unbalanced load or the zero hour of velocity perturbation smallest point can be obtained.

Instruction generation module 40 is for generating assisted instruction to control described motor Accelerating running at described velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point according to the feedback speed of motor, inertia calculation module 50 is carried out integration to obtain first integral result to described motor at the electromagnetic torque of Accelerating running section, and instruction generation module 40 is also for generating deceleration instruction to control described decelerating through motor operation at described velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point according to the feedback speed of motor, inertia calculation module 50 is carried out integration to obtain second integral result to described motor at the electromagnetic torque of the section of running slowly, 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, wherein, acceleration curve and the described motor deceleration curve when running slowly of described motor in the time of Accelerating running keeps Mirror Symmetry.

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 6, 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, described acceleration curve according to operation curve corresponding to described assisted instruction with form taking described velocity perturbation maximum point or velocity perturbation smallest point as the velocity perturbation curve combining of the zero hour, described deceleration curve according to operation curve corresponding to described deceleration instruction with form taking described velocity perturbation maximum point or velocity perturbation smallest point as the velocity perturbation curve combining of the zero hour.

Equate and be the integral multiple of the Machine cycle that described cylinder rotates the time of integration of in an embodiment of the present invention, described motor being carried out the time of integration of integration and described motor is carried out to integration in the section of running slowly in Accelerating running section.That is to say, be necessary for the Machine cycle that the cylinder of integer rotates the time of integration, to described motor in Accelerating running section is carried out time of integration of integration and described motor cylinder in the section of running slowly is carried out time of integration of integration is turned over to integer turn.

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, non-equilibrium site estimation block is estimated with acquisition speed fluctuation maximum point or cylinder position corresponding to velocity perturbation smallest point by non-equilibrium site according to the feedback speed of the rotor-position of motor and motor, then instruction generation module generates assisted instruction to control motor Accelerating running at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, inertia calculation module is carried out integration to obtain first integral result to motor at the electromagnetic torque of Accelerating running section, and instruction generation module generates deceleration instruction to control decelerating through motor operation at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, inertia calculation module is carried out integration to obtain second integral result to motor at the electromagnetic torque of the section of running slowly, last inertia calculation module is calculated the inertia of roller washing machine according to first integral result and second integral result.Therefore, when the inertia checkout gear of the roller washing machine of the embodiment of the present invention detects the inertia of roller washing machine by acceleration and deceleration, can consider the impact of laod unbalance, be to generate assisted instruction and deceleration instruction at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, thereby make acceleration curve and the motor deceleration curve when running slowly of motor in the time of Accelerating running keep Mirror Symmetry, can ensure so also can accurately detect the inertia of roller washing machine in the situation that unbalanced load exists, 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, while detecting rotary inertia by acceleration and deceleration, can consider the impact of laod unbalance, be to generate assisted instruction and deceleration instruction at velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, thereby make acceleration curve and the motor deceleration curve when running slowly of motor in the time of Accelerating running keep Mirror Symmetry, can ensure so also can accurately detect rotary inertia in the situation that unbalanced load exists, 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:

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;

Estimate with acquisition speed fluctuation maximum point or cylinder position corresponding to velocity perturbation smallest point by non-equilibrium site according to the feedback speed of the rotor-position of described motor and described motor;

Generate assisted instruction to control described motor Accelerating running at described velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, and described motor is carried out to integration to obtain first integral result at the electromagnetic torque of Accelerating running section;

Generate deceleration instruction to control described decelerating through motor operation at described velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, and described motor is carried out to integration to obtain second integral result at the electromagnetic torque of the section of running slowly, wherein, acceleration curve and the described motor deceleration curve when running slowly of described motor in the time of Accelerating running keeps Mirror Symmetry;

Calculate 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 characterized in that, described acceleration curve according to operation curve corresponding to described assisted instruction with form taking described velocity perturbation maximum point or velocity perturbation smallest point as the velocity perturbation curve combining of the zero hour, described deceleration curve according to operation curve corresponding to described deceleration instruction with form taking described velocity perturbation maximum point or velocity perturbation smallest point as the velocity perturbation curve combining of the zero hour.

3. the inertia detection method of roller washing machine as claimed in claim 1, is characterized in that, 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, equate and be the integral multiple of the Machine cycle that described cylinder rotates the time of integration that described motor is carried out the time of integration of integration and described motor is carried out to integration in the section of running slowly in Accelerating running section.

5. the inertia detection method of roller washing machine as claimed in claim 1, is characterized in that, 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;

Non-equilibrium site estimation block, described non-equilibrium site estimation block is for estimating with acquisition speed fluctuation maximum point or cylinder position corresponding to velocity perturbation smallest point by non-equilibrium site according to the feedback speed of the rotor-position of described motor and described motor;

Instruction generation module and inertia calculation module, described instruction generation module is for generating assisted instruction to control described motor Accelerating running at described velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, described inertia calculation module is carried out integration to obtain first integral result to described motor at the electromagnetic torque of Accelerating running section, and described instruction generation module is for generating deceleration instruction to control described decelerating through motor operation at described velocity perturbation maximum point or cylinder position corresponding to velocity perturbation smallest point, described inertia calculation module is carried out integration to obtain second integral result to described motor at the electromagnetic torque of the section of running slowly, 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, wherein, acceleration curve and the described motor deceleration curve when running slowly of described motor in the time of Accelerating running keeps Mirror Symmetry.

7. the inertia checkout gear of roller washing machine as claimed in claim 6, it is characterized in that, described acceleration curve according to operation curve corresponding to described assisted instruction with form taking described velocity perturbation maximum point or velocity perturbation smallest point as the velocity perturbation curve combining of the zero hour, described deceleration curve according to operation curve corresponding to described deceleration instruction with form taking described velocity perturbation maximum point or velocity perturbation smallest point as the velocity perturbation curve combining of the zero hour.

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, equate and be the integral multiple of the Machine cycle that described cylinder rotates the time of integration that described motor is carried out the time of integration of integration and described motor is carried out to integration in the section of running slowly in Accelerating running section.

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.