CN104372564B - Washings processing equipment and control method thereof - Google Patents

Abstract

The present invention relates to a kind of washings processing equipment and control method thereof.The control method of the washings processing equipment of the present invention includes: First Speed spin step, controls above-mentioned cylinder and accelerates, and makes above-mentioned cylinder rotate with First Speed；Braking step, is braked above-mentioned cylinder；Second speed accelerating step, makes above-mentioned cylinder accelerate to second speed；Current detection step, during above-mentioned cylinder accelerates to above-mentioned second speed, the electric current that above-mentioned motor is applied by detection；And washings amount deciding step, determine washings amount based on the electric current detected at above-mentioned current detection step.

Description

Washings processing equipment and control method thereof

Technical field

The present invention relates to washings processing equipment and the control method of washings processing equipment.

Background technology

Generally, washings processing equipment be washings or washings are applied physics, dress that chemical action processes Put, be referred to as the washing machine for removing the dirt adhering to washings, make to transfer equipped with the cylinder high-speed rotary of washings to make washing The dewaterer of thing dehydration, apply the drying machine etc. that cold wind or hot blast make wet washings be dried to the inside of cylinder.

In this washings processing equipment, perform washing, rinse, be dehydrated, before the operating that is dried etc., detection is put into The amount (hereinafter referred to as washings amount) of the washings of the inside of cylinder, and set output, fortune according to the washings amount detected Carryover sequence, the duration of runs etc..

The detection of washings amount is to utilize different to the load of motor according to washings amount, is used for making cylinder rotate and right The principle that the current value of motor applying is different realizes.But, the load of motor is not only affected by washings amount, and Affected by the state of the washings of the inside of cylinder, therefore be there is asking of detected washings amount generation deviation Topic.

Summary of the invention

To be solved by this invention have a problem in that offer can accurately detect the washings processing equipment of washings amount and wash Wash the control method of thing processing equipment.Especially, it is provided that remove the state of washings of the inside putting into cylinder to determining washing The impact of thing amount such that it is able to determine washings processing equipment and the control of washings processing equipment of washings amount more accurately Method processed.

In the control method of the washings processing equipment of the present invention, above-mentioned washings processing equipment includes to rotate and use In the cylinder housing washings and the motor making above-mentioned cylinder rotate, the control method of above-mentioned washings processing equipment includes: the One speed spin step, controls above-mentioned cylinder and accelerates, and makes above-mentioned cylinder rotate with First Speed；Braking step, to above-mentioned cylinder It is braked；Second speed accelerating step, makes above-mentioned cylinder accelerate to second speed；Current detection step, adds at above-mentioned cylinder During speed extremely above-mentioned second speed, the electric current that above-mentioned motor is applied by detection；And washings amount deciding step, based on The electric current that above-mentioned current detection step detects determines washings amount.

The washings processing equipment of the present invention includes: cylinder, it is possible to rotate and for housing washings；Motor, makes above-mentioned Cylinder rotates；Motor controling part, controls above-mentioned motor, after making above-mentioned cylinder rotate with First Speed, to above-mentioned motor system Dynamic, and again control above-mentioned motor, make above-mentioned cylinder accelerate to second speed；Current detecting part, is controlling by above-mentioned motor During portion controls above-mentioned motor, the electric current that above-mentioned motor is applied by detection；And washings amount test section, in above-mentioned rolling During cylinder accelerates to above-mentioned second speed, determine washings based on the current value detected by above-mentioned current detecting part Amount.

The washings processing equipment of the present invention and the control method of washings processing equipment have following effect, to cylinder Inside put into washings, after the operating of the cylinder performing state for changing above-mentioned input washings, detection is to electricity The current value that machine applies.Therefore, it is possible to make the A-stage putting into the washings of the inside of cylinder for above-mentioned motor is executed The impact of the current value added minimizes, thus determines washings amount more accurately.

Further, the washings processing equipment of the present invention and the control method of washings processing equipment have following effect, In the case of user puts into washings with uneven state, the washings amount detected also can be as reflecting actual washing Wash the reliability index of thing amount.

Accompanying drawing explanation

Fig. 1 is the sectional view of the washings processing equipment of one embodiment of the invention.

Fig. 2 is the block diagram of the control planning between the primary structure of the washings processing equipment illustrating Fig. 1.

Fig. 3 is the flow chart of the control method of the washings processing equipment illustrating one embodiment of the invention.

Fig. 4 is when the control method of one embodiment of the invention operates washings processing equipment, represents and sends out over time The chart of the rotating speed of the cylinder of changing.

Fig. 5 represents that current detecting is interval.

Fig. 6 is the flow chart of the control method of the washings processing equipment illustrating another embodiment of the present invention.

Fig. 7 be illustrate when another embodiment of the present invention control method operate washings processing equipment time, represent along with time Between and the chart of the rotating speed of cylinder that changes.

Detailed description of the invention

Referring to the drawings and the embodiment that is described in detail later, advantages and features of the invention and realize these advantages and feature Method will be clear and definite.But, the invention is not limited in embodiment disclosed below, but can be with mutually different various realities The mode of executing embodies, and the present embodiment only makes disclosure of the invention the most complete, is also only used to lead to technology belonging to the present invention Territory those of ordinary skill provides the most complete invention category to provide, and the present invention defines according to the claimed scope of invention. Reference identical in description full text censures identical structural element.

Fig. 1 is the sectional view of the washings processing equipment of one embodiment of the invention.Fig. 2 is that the washings illustrating Fig. 1 processes The block diagram of the control planning between the primary structure of equipment.

With reference to Fig. 1, the washing machine 100 of one embodiment of the invention includes: shell 111, is formed with washings input port 111a； Door 112, for opening and closing washings input port 111a；Bucket 122, is configured at the inside of shell 111；Cylinder 124, it is possible to rotate and set In the inside of bucket 122, for housing the washings put into by washings input port 111a, motor 113, cylinder 124 is made to revolve Turn；Detergent box 133, is used for housing detergent；And control panel 114.

Being combined with door 112 at shell 111, door 112 can rotate, for opening and closing washings input port 111a.At shell 111 It is provided with control panel 114.At shell 111 so that detergent box 133 can be provided with in the way of drawing.

Bucket 122 is can be configured at the inside of shell 111 by spring 115 and amortisseur 117 in the way of buffering.Bucket 122 For housing washings.Bucket 122 is to be configured at the outside of cylinder 124 in the way of cylinder 124.

Motor 113 generates the revolving force for making cylinder 124 rotate.Motor 113 can along positive direction or with above-mentioned just Reverse direction in opposite direction rotates, it is possible to make cylinder 124 at different rates or different directions rotates.

Cylinder 124 houses washings and rotates.Cylinder 124 is configured at the inside of bucket 122.Cylinder 124 is with drum shape Becoming, above-mentioned cylinder can rotate.Cylinder 124 is formed with multiple through hole, is used for making washings pass through.Cylinder 124 receives motor 113 Revolving force and rotate.

Liner 128 is used for sealing between bucket 122 and shell 111.Liner 128 is configured at entrance and the washings throwing of bucket 122 Between entrance 111a.When cylinder 124 rotates, liner 128 buffers the impact to door 112 transmission, and prevents the inside of bucket 122 Washings spill to outside.Can be provided with for making washings flow in the circulation nozzle 127 of inside of cylinder 124 at liner 128.

Detergent box 133 is for housing such as the detergent of washing detergent, softening agent for fibres or bleach etc..Preferably Ground, detergent box 133 is can be located in the way of drawing before shell 111.When supplying washings, detergent box 133 Internal detergent mixes with washings, flows in the inside of bucket 122.

Preferably, include in the inside of shell 111: feed water valve 131, the washings flowed into from external water source for regulation； Water supply stream 132, makes the washings flowing in feed water valve flow to detergent box 133；Feed pipe 134, make detergent box 133 with The washings of detergent mixing flow in the inside of bucket 122.

Preferably, including in the inside of shell 111: drain pipe 135, the washings of the inside of bucket 122 are by above-mentioned draining Pipe 135 flows out；Pump 136, for making the washings of the inside of bucket 122 flow out；Circulation stream 137, makes washings circulate；Circulation spray Mouth 127, washings flow in the inside of cylinder 124；Drainage flow path 138, makes washings discharge to outside.According to embodiment, pump 136 can be set to circulating pump and draining pump, are connected with circulation stream 137 and drainage flow path 138 respectively.

Motor 113 comprises the steps that stator or stator 113a (stator), is wound with coil；Rotor or wheel 113b (rotor), rotate with coil generation electromagnetic interaction；Hall element 113c (hall element), is used for detecting rotor The position of 113b.

With reference to Fig. 2, the washings processing equipment of one embodiment of the invention can include motor controling part 230, pulsewidth modulation (PWM) operational part 240, inverter 250 and current detecting part 260.

Motor controling part 230 controls to be input to the power supply of motor 113.Motor controling part 230 can include position detection part 231, speed controlling portion 233, current control division 235, Coordinate Conversion portion 237.

Motor 113 can include the Hall element 113c of the position for detecting rotor.Above-mentioned Hall element includes that N-type is partly led Body, and the intensity in available Hall effect (hall effect) mensuration magnetic field.Illustrate, if streaming current in Hall element I_H, and along the direction vertical with this electric current, element surface is applied magnetic flux B, then at electric current I_HWith in magnetic flux B along hang down The voltage V that Nogata is directly proportional to the size of magnetic flux B to generation_H.Hall element can be according to this output voltage V_HKnow magnetic pole The kind of N, S and size, especially, it is possible at permasyn morot (PMSM, Permanent Magnet Synchronous Motor) or brushless direct current motor (BLDC, Brushless DC electric motor) detection as permanent magnet turn The position of son.Further, Hall element 113c exports the voltage V being directly proportional to the size of magnetic flux B_H, it is possible to know generation The size of the electric current of magnetic flux, thus be used as current sensor.

Position detection part 231 position based on the rotor 113b detected by Hall element 113c detection cylinder 124 Position.Further, position detection part 231 may be based on the position detection cylinder 124 of rotor 113b or the cylinder 124 detected Rotating speed.According to embodiment, the rotating speed of the current detecting motor 113 that position detection part 231 can be detected by current detecting part 260.

By the position of the rotor 113b that Hall element 113c detects, the i.e. least unit of anglec of rotation θ of cylinder 124 Can be according to being located at the quantity of fixed magnet of rotor 113b and different, in the present embodiment, 15 degree is least unit, but without limitation In this.

The rotor 113b's that speed controlling portion 233 proportions of utilization-integration (PI) controls to detect at position detection part 231 Rotating speed, output order current value, make rotational speed omega follow command speed ω *.D-q axle rotating coordinate system has the direction with magnetic flux Parallel d axle and the q axle with above-mentioned d axle orthogonal, in above-mentioned d-q axle rotating coordinate system, export by speed controlling portion 233 Instruction current can be represented by the vector of d axle command current value Id* and q axle command current value Iq*.

Current control division 235 controls proportional, integral (PI) and generates d axle command voltage value Vd* and q axle command voltage respectively Value Vq*, present current value Id, Iq of making current detecting part 260 detect follow command current value Id*, Iq*.

Coordinate Conversion portion 237 makes d-q axle rotating coordinate system and three-phase (uvw) fixed coordinate system mutually change.Coordinate Conversion Portion 237 makes command voltage value Vd*/Vq* being input to d-q axle rotating coordinate system be converted to three-phase command voltage value.Further, coordinate The current flow of the fixed coordinate system that current detecting part 260 described later is detected by converter section 237 is converted to d-q axle rotational coordinates System.Above-mentioned rotating coordinate system can be rotor coordinate (the Rotor Reference that the speed sync with rotor 113b rotates Frame), in this case, the position θ of the cylinder 124 that Coordinate Conversion portion 237 can detect based on position detection part 231 described later Conversion coordinate.

Pulsewidth modulation (PWM, Pulse Width Modulation) operational part 240 receives and exports from motor controling part 230 The signal of three-phase (uvw) fixed coordinate system, and produce pulse-width signal.

Inverter 250 (inverter) is to produce variable voltage, the exchange of variable frequency from regulation or variable DC power supply The converting means of power supply.Inverter 250 receives pulse-width signal from pulsewidth modulation operational part 240, directly controls at motor 113 The power supply of input.Inverter 250 can not only control to exchange the frequency of out-put supply, and can control the big of the voltage of output Little.According to embodiment, pulsewidth modulation operational part 240 can be included in inverter 250, generally this inverter is referred to as pulsewidth modulation Inverter.

Pulsewidth modulation operational part 240 produces the ON/OFF gate pulse (Gating Pulse) of each phase switch, for by inverse Become device 250 and generate the basic wave electricity with command voltage value Vd*, size (Volt-Second Average) identical for Vq* and frequency Pressure.In the process, can also decide switching mode (pattern), so that unnecessary high frequency or switching losses etc. can be minimized, Optimum voltage modulation system (Optimal/Programmed PWM), triangular wave ratio is had for known in this pulse duration modulation method Relatively voltage modulated mode (Carrier Based PWM), space voltage vector modulation mode (Space Vector PWM) etc..

Washings processing equipment according to the setting by control panel 114, performs washing, the fortune rinsing, being dehydrated, be dried etc. Turn, according to the amount (hereinafter referred to as washings amount) of the washings of the inside putting into cylinder 124, set output, cylinder 124 Rotating speed, rotation program, the concrete parameter of duration of runs etc., thus implement operating optimized to washings amount.This washing Thing processing equipment, before performing each above-mentioned operating, performs the step of detection washings amount.Embodiment explained below is for being used for Illustrate to detect the step of washings amount, embodiment certainly can wash, rinse, be dehydrated, before any program enforcement that is dried etc. Detection washings amount, it is possible to implement above-described embodiment during carrying out said procedure.Further, each step may be not only suitable for Detection supply water in cylinder 124 before the situation of dry cleaning thing amount, it is possible to be applicable to after detection supplies water in cylinder 124 The situation of wet washing thing amount.

Washings amount test section 239 determines washings amount based on the current value applying motor 113.Can be based on by electric current Current flow Id, Iq that test section 260 detects determines washings amount, according to embodiment, the most above-mentioned current flow, motor The counter electromotive force (counter electromotive force) of 113 also can consider together.

Fig. 3 is the flow chart of the control method of the washings processing equipment illustrating one embodiment of the invention.Fig. 4 is when this During the control method operating washings processing equipment of a bright embodiment, represent over time and the rotating speed of the cylinder changed Chart.Fig. 5 illustrates that current detecting is interval.Hereinafter, with reference to Fig. 3 to Fig. 5, to the washings processing equipment of one embodiment of the invention Control method illustrates.

Washings puts into the inside of cylinder 124, and cylinder is accelerated (step A1, [t1, t2]).At speed controlling portion The command speed ω * of 233 inputs is First Speed ω 1, and the rotational speed omega of cylinder 124 improves in the way of following First Speed ω 1. First Speed ω 1 is the speed of the state variable of the washings of the inside of cylinder 124, is contained in the washing of the inside of cylinder 124 Should flowing at least partially of thing, illustrates, and improves speed and may be set to the speed between 46rpm to 60rpm.

If the rotational speed omega passing through the cylinder 124 that position detection part 231 detects reaches First Speed ω 1 (step A2), then Speed controlling portion 233 by control proportional, integral (PI), control cylinder 124 with regulation First Speed ω 1 rotate (step A3, [t2, t3]).

If reaching t3 from t2 through the stipulated time, then motor 113 be braked and make cylinder 124 stop (step A4, [t3, t4]).The mode being braked cylinder 124 can use regenerative braking (Regenerative Braking) or dynamic brake Any one in (Dynamic Braking).

In order to calculate the number of occurrence of current detecting described later (step A8, step A9), n is set as 0 (step A5).

Position permutation before the cylinder 124 stopped accelerates again is interval ([t4, t5]), it is possible to permutation cylinder 124 Position (step A6, A61).Stator 113a magnetizes in the way of making rotor 113b be positioned at accurate location, now, can pass through electric current control Portion 235 processed mainly exports d shaft current.In the process, it is possible to the resistance of motor 113 and the error of information of voltage detected.Rolling The position permutation of cylinder 124 also can interval in the position permutation of the period repeatedly accelerating to second speed ω 2 described later (A62, A63, A64, A65) implement.

When asking identical command speed ω *, in order to make present speed ω follow above-mentioned command speed, according to washings The torque value measured and produce by motor 113 answers difference.For electric current aspect, the current value applying motor 113 should difference.Cause This, the current value applying motor 113 can be as the index of reflection washings amount.

The current value decision washings amount that can detect based on the arbitrary interval rotated at cylinder 124, but preferably, can base The current value applying motor 113 detected in the interval that the washings in the rotation by cylinder 124 is elevated determines to wash Wash thing amount.The decision of this washings amount can be performed at washings amount test section 239.

The current value applying motor 113 is the present current value from inverter 250 output, can be by current detecting part 260 and detect.D axle present current value Id that present current value can be fastened by d-q axle rotational coordinates and q axle present current value Iq Represent, wherein, occur the composition of the moment of torsion for rotor 113b to be mainly q shaft current composition, it is therefore preferred that washing Thing amount determines based on q axle present current value Iq.

Further, determine washings amount and required present current value can use from be used for making cylinder 124 rotate and to motor 113 time points applying electric current start the value detected, but because stator 113a is realized in magnetized degree and cylinder 124 The various factors such as the configuration status of portion's washings, the present current value detected at the rotation initial stage of cylinder 124 can not be the most anti- Reflect washings amount.It is therefore preferred that the current flow detected after halted state rotates the stipulated time based on cylinder 124 Value determines washings amount.

Referring again to Fig. 3, to for determining that the step of washings amount is described in detail.

The cylinder 124 of halted state is accelerated (step A7, [t5, t9]).Instruction speed in speed controlling portion 233 input Degree ω * is second speed ω 2, and the rotational speed omega of cylinder 124 improves in the way of following second speed ω 2.Second speed ω 2 can set It is set to the speed less than First Speed ω 1, illustrates, may be set to 46rpm.

Wherein, cylinder 124 is not necessary to accelerate to the ω 2 as command speed.That is, in each accelerating step shown in Fig. 4 Intermediate roll 124 is finally reached command speed ω 2 and is braked, but this is the most illustratively, adds trot above-mentioned In Zhou, cylinder 124 accelerates in the way of following predetermined command speed.Command speed in each accelerating step preferably has Identical value.

Further, in accelerating step, according to the driving time of motor 113, the maximum of rotating speed is also possible to not reach finger Make speed omega 2, but in this case, above-mentioned maximum is it is also preferred that be less than First Speed ω 1.

With reference to Fig. 5, during making cylinder 124 accelerate, become the in the position of cylinder 124 from first anglec of rotation θ 1 First current detecting interval A81 of two anglecs of rotation θ 2 measures current flow Id/Iq (step A8).It is preferred that can Washings amount is determined based on the q axle present current value Iq in above-mentioned present current value.Afterwards, cylinder 124 is braked, makes rolling Cylinder 124 stops (step A9, [t8, t9])

Fig. 5 illustrates the change in location of the cylinder 124 of the driving according to motor 113, i.e. by first anglec of rotation θ 1 to the second The change of anglec of rotation θ 2.P is the minimum point of the cylinder 124 being shown in halted state permutation position, hereinafter referred to as datum mark. Fig. 5 illustrate cylinder 124 along with rotating clockwise from halted state, and datum mark rise to anglec of rotation θ 1 and θ 2 it Between state.H illustrates the horizontal line of the center C through cylinder 124, and V is shown under the state that cylinder 124 stops, datum mark P institute The vertical line at place.Hereinafter, current detecting interval is defined as the interval from first anglec of rotation θ 1 to the second anglec of rotation θ 1.

Washings amount has distribution according to the state of the washings of the inside putting into cylinder 124.Put into by user The washings of the inside of cylinder 124 also can be amesiality in the inside of cylinder 124, and especially, washings is commonly located at and is provided with washing The front of thing input port 111a rather than the depths, rear of cylinder 124.If in this state, cylinder 124 is made to accelerate immediately, And electric current detected in above-mentioned current detecting interval, then because of the deflection of washings with to the frictional force of effect between door 112 Etc. factor, motor 113 being applied more than the load of Actual laundering thing amount, therefore, the present current value now detected can not be accurate Really reflection washings amount.In order to solve this problem, the control method of the washings processing equipment of one embodiment of the invention makes rolling Cylinder 124 rotates the stipulated time with First Speed ω 1, after making the state of the washings of the inside at cylinder 124 change, again makes Cylinder accelerates with second speed ω 2, and detects current flow, determines washings amount based on the present current value now detected.

The step (second speed accelerating step) making cylinder 124 accelerate to second speed ω 2 can be repeated setting time Number (step A10, step A11), make cylinder 124 accelerate during, based on current detecting interval A81, A82, A82, The present current value that A83, A84, A85 detect determines washings amount.In the present embodiment, cylinder 124 is accelerated to for 5 times repeatedly Second speed ω 2, but it is not limited to this.

Such as Formula 1 below, washings amount operational part 239 can be obtained the current electricity detected at current detecting interval A81 The current integration values Iint of flow valuve Iq integration.

Formula 1

$\mathrm{Iint}={\∫}_{t\left(\mathrm{\θ}1\right)}^{t\left(\mathrm{\θ}2\right)}{I}_q\mathrm{dt}$

Current detecting interval A81, A82, A83, A84, A85 of performing later also can obtain these each current integration values. The each current integration values obtained at current detecting interval A81, A82, A83, A84, A85 below be referred to as Iint (1), Iint (2), Iint(3)、Iint(4)、Iint(5)。

Washings amount operational part 239 determines washings amount based on the present current value detected in current detecting interval.Excellent Selection of land, washings amount operational part 239 can determine washings amount LD based on current integration values.

According to embodiment, can be by that seek current integration values and obtain washings amount LD.Each current integration values can be composed Give weighted value ki, with following formula 2 as said method in a kind of example.

Formula 2

M is that second speed (ω 2) accelerates the number of occurrence

The biggest close to the difference of the average current integrated value of the difference of current integration values, weighted value Ki can give the biggest value.

Fig. 6 is the flow chart of the control method of the washings processing equipment illustrating another embodiment of the present invention.Fig. 7 is for illustrating When the control method of another embodiment of the present invention operates washings processing equipment, turning of the cylinder changed over time The chart of speed.Hereinafter, with reference to Fig. 6 and Fig. 7

, the control method of another embodiment of the present invention washings processing equipment is illustrated.

Washings puts into the inside of cylinder 124, and cylinder is accelerated (step B1, [t1, t2]).At speed controlling portion The command speed ω * of 233 inputs is First Speed ω 1, and the rotational speed omega of cylinder 124 improves in the way of following First Speed ω 1. First Speed ω 1 is the speed of the state variable of the washings of the inside of cylinder 124, is contained in the washing of the inside of cylinder 124 Should flowing at least partially of thing, illustrates, and improves speed and may be set to the speed between 46rpm to 60rpm.

If the rotational speed omega passing through the cylinder 124 that position detection part 231 detects reaches First Speed ω 1 (step A2), then Speed controlling portion 233 by control proportional, integral (PI), control cylinder 124 with regulation First Speed ω 1 rotate (step B3, [t2, t3]).

During cylinder 124 rotates with First Speed ω 1, measure the counter electromotive force (step B4) of motor 113.Drive The loop of motor 113 can be represented by following equivalent equation formula.

Formula 3

$\mathrm{Vin}=\mathrm{Leq}\·\frac{\mathrm{dI}}{\mathrm{dt}}+I\·\mathrm{Req}+\mathrm{Vemf}$

Vin is the voltage being applied to motor 113 from inverter 250, and I is to be applied to motor 113 from inverter 250 apply Electric current, Vemf is the counter electromotive force of motor 113.Leq is the equivalent inductance of motor 113, and Req is the electricity of equal value of motor 113 Resistance, is all the value that can be obtained by experiment in advance.

During the rotational speed omega utilizing motor controling part 230 to control cylinder 124 follows command speed ω 1, washings amount Test section 239 is based on the magnitude of voltage Vin exported from inverter 250 and the present current value detected by current detecting part 260 Obtain counter electromotive force Vemf.According to embodiment, the counter electromotive force detection sensor for detecting counter electromotive force Vemf can be provided with (not Diagram).

Preferably, after the stator 113a or rotor 113b of motor 113 fully magnetize, counter electromotive force, the present embodiment are measured In, reach the interval survey of the time point t2 of First Speed ω 1 [t23, t3] after the stipulated time at the rotating speed from cylinder 124 Fixed.Further, counter electromotive force is affected by the current value applying motor 113, therefore, the inertia of motor 113 fully become big and Speed fluctuation diminishes, and thus, reaches time of state that the change of counter electromotive force is fully slower than the response of current control division 235 Point, i.e. after making cylinder 124 rotate the stipulated time with First Speed ω 1, (after t23) measures and can obtain more accurately Value.

If reaching t3 from t2 through the stipulated time, then motor 113 is braked and makes cylinder 124 stop (step B5).To rolling The mode that cylinder 124 is braked can use regenerative braking (Regenerative Braking) or dynamic brake (Dynamic Braking) any one in.In order to calculate the number of occurrence of current detecting described later (step B9, step B10), n is set as 0 (step B6).

Position permutation before the cylinder 124 stopped accelerates again is interval ([t4, t5]), it is possible to permutation cylinder 124 Position (step B7, B71).Stator 113a magnetizes in the way of making rotor 113b be positioned at accurate location, now, can pass through electric current control Portion 235 processed exports d shaft current.In the process, it is possible to the resistance of motor 113 and the error of information of voltage detected.Cylinder 124 Position permutation also can be at the position permutation of the period repeatedly accelerating to second speed ω 2 described later interval (B72, B 73, B 74, B 75) implement.

The cylinder 124 of halted state is accelerated (step B8, [t5, t9]).Instruction speed in speed controlling portion 233 input Degree ω * is second speed ω 2, and the rotational speed omega of cylinder 124 improves in the way of following second speed ω 2.Second speed ω 2 can set It is set to the speed less than First Speed ω 1, illustrates, may be set to 46rpm.

During making cylinder 124 accelerate, become second anglec of rotation in the position of cylinder 124 from first anglec of rotation θ 1 First current detecting interval B91 detection current flow Id/Iq (step B9) of degree θ 2.It is preferred that can be based on above-mentioned Q axle present current value Iq in present current value determines washings amount.Afterwards, cylinder 124 be braked and stop (step B10, [t8, t9]).

Cylinder 124 is braked and stops (step B10, [t8, t9]), comes back to step B7.

The second speed accelerating step making cylinder 124 accelerate to second speed ω 2 can be repeated set point number (step B11, step B12), during making cylinder 124 accelerate, examine based at current detecting interval B91, B92, B93, B94, B95 The present current value measured determines washings amount.In the present embodiment, cylinder 124 is accelerated to second speed ω 25 times repeatedly, But it is not limited to this.

As described in above-described embodiment, washings amount operational part 239 can be obtained and detect at above-mentioned current detecting interval B91 The current integration values lint (with reference to formula 1) of present current value integration.Perform later with second speed ω 2 accelerate in electricity Stream detection interval B92, B93, B94, B95 also can obtain these each current integration values.Below current detecting interval B81, B82, Each current integration values that B83, B84, B85 obtain is referred to as Iint (1), Iint (2), Iint (3), Iint (4), Iint (5).

Washings amount operational part 239 determines washings amount based on the present current value detected in current detecting interval.Excellent Selection of land, washings amount operational part 239 can determine washings amount LD based on current integration values.

In the present embodiment, it is used for determining washings amount, is not used only in the current value that current detecting interval detects, and And use the counter electromotive force Vemf controlling to detect during cylinder 124 controls with First Speed ω 1.

The moment of torsion produced by motor 113 is directly proportional to counter electromotive force Vemf and present current value I.Therefore, to control Counter electromotive force Vemf that the interval that cylinder 124 rotates with fixing speed detects and interval current make that cylinder 124 accelerates Current value determines washings amount as the factor.

Now, current electricity can be obtained in the arbitrary interval in the interval B 81 making cylinder 124 accelerate, B82, B83, B84, B85 Flow valuve, as described in above-described embodiment, ask current integration values and obtain present current value.Each current integration values can be given and add Weights ki (with reference to Fig. 2).

According to above explanation, the formula obtaining washings amount LD in the present embodiment can be represented by following formula.

Formula 4

M is that second speed (ω 2) accelerates the number of occurrence.

Claims (17)

1. a control method for washings processing equipment, above-mentioned washings processing equipment includes to rotate and washing for housing The cylinder washing thing and the motor making above-mentioned cylinder rotate, the control method of above-mentioned washings processing equipment is characterised by, including:

First accelerating step, makes above-mentioned cylinder accelerate to First Speed from the first halted state；

First Speed spin step, makes above-mentioned cylinder with First Speed rotation set time；

Counter electromotive force detecting step, detects the counter electromotive force of above-mentioned motor with First Speed when above-mentioned cylinder rotates；

First braking step, makes above-mentioned cylinder brake to the second halted state from above-mentioned First Speed；

Second accelerating step, makes above-mentioned cylinder accelerate to second speed from above-mentioned second halted state；

Current detection step, during above-mentioned cylinder accelerates to above-mentioned second speed, the electricity that above-mentioned motor is applied by detection Stream；And

Washings amount deciding step, above-mentioned counter electromotive force and current value based on detecting determine washings amount.

The control method of washings processing equipment the most according to claim 1, it is characterised in that walk in above-mentioned current detecting In Zhou, measure in the position of above-mentioned cylinder becomes the interval of second anglec of rotation from first anglec of rotation and above-mentioned motor is applied Electric current, above-mentioned first anglec of rotation that the second halted state at above-mentioned cylinder detects be more than 0.

The control method of washings processing equipment the most according to claim 2, it is characterised in that in above-mentioned first anglec of rotation Between degree and above-mentioned second anglec of rotation, washings rotates together with above-mentioned cylinder with the state adhering to above-mentioned cylinder.

The control method of washings processing equipment the most according to claim 1, it is characterised in that

In above-mentioned current detection step, on the basis of d-q axle rotating coordinate system, measure the q shaft current that above-mentioned motor is applied Value,

Above-mentioned washings amount is determined according to above-mentioned counter electromotive force and above-mentioned q shaft current value.

The control method of washings processing equipment the most according to claim 4, it is characterised in that in the position of above-mentioned cylinder Becoming from first anglec of rotation in the interval of second anglec of rotation, integrated value based on above-mentioned q shaft current value determines above-mentioned washing Washing thing amount, above-mentioned first anglec of rotation that the second halted state at above-mentioned cylinder detects is more than 0.

The control method of washings processing equipment the most according to claim 1, it is characterised in that above-mentioned second speed is less than Above-mentioned First Speed.

The control method of washings processing equipment the most according to claim 1, it is characterised in that

Also include the second braking step making above-mentioned cylinder from above-mentioned second speed braking to the 3rd halted state,

Pre-determined number implements above-mentioned second speed accelerating step and above-mentioned second braking step repeatedly；

In above-mentioned washings amount deciding step, above-mentioned current value is the electricity detected in each above-mentioned second speed accelerating step The sum of flow valuve.

The control method of washings processing equipment the most according to claim 1, it is characterised in that examine at above-mentioned counter electromotive force Survey in step, after above-mentioned First Speed rotation set time, detect above-mentioned counter electromotive force at above-mentioned cylinder.

9. a washings processing equipment, it is characterised in that including:

The cylinder that can rotate, is used for housing washings；

Motor, makes above-mentioned cylinder rotate；

Motor controling part, controls above-mentioned motor and makes above-mentioned cylinder accelerate to First Speed from the first halted state, control above-mentioned electricity Machine makes above-mentioned cylinder with First Speed rotation set time, controls above-mentioned motor and makes above-mentioned cylinder brake to second from First Speed Halted state, controls above-mentioned motor and makes above-mentioned cylinder accelerate to second speed from the second halted state；

Current detecting part, during above-mentioned motor controling part controls above-mentioned motor, the electric current that above-mentioned motor is applied by detection； And

Washings amount test section, during above-mentioned cylinder rotates with above-mentioned First Speed, detects the most electronic of above-mentioned motor Gesture,

Above-mentioned washings amount test section based on by above-mentioned cylinder during the second halted state accelerates to second speed The above-mentioned counter electromotive force detected and current value are to determine washings amount.

Washings processing equipment the most according to claim 9, it is characterised in that stop from above-mentioned second at above-mentioned cylinder The electric current that state detects during accelerating to above-mentioned second speed is to become from first anglec of rotation in the position of above-mentioned cylinder It is the value of the interval interior detection of second anglec of rotation, above-mentioned first anglec of rotation that the second halted state at above-mentioned cylinder detects Degree is more than 0.

11. washings processing equipments according to claim 10, it is characterised in that in above-mentioned first anglec of rotation and above-mentioned Between second anglec of rotation, the state adhering to above-mentioned cylinder with washings rotates.

12. washings processing equipments according to claim 9, it is characterised in that

Above-mentioned motor controling part includes Coordinate Conversion portion, and above-mentioned Coordinate Conversion portion will be for detecting by above-mentioned current detecting part Electric current be converted to d shaft current value and the q shaft current value that d-q axle rotational coordinates is fastened；

Above-mentioned washings amount test section accelerates to the mistake of above-mentioned second speed based at above-mentioned cylinder from above-mentioned second halted state The above-mentioned q shaft current value detected in journey is to determine washings amount.

13. washings processing equipments according to claim 12, it is characterised in that in the position of above-mentioned cylinder from the first rotation Gyration becomes the interval of second anglec of rotation, and integrated value based on above-mentioned q shaft current value determines above-mentioned washings amount, upper State above-mentioned first anglec of rotation that the second halted state of cylinder detects more than 0.

14. washings processing equipments according to claim 9, it is characterised in that above-mentioned second speed is less than above-mentioned first Speed.

15. washings processing equipments according to claim 9, it is characterised in that

Above-mentioned motor controling part controls above-mentioned motor makes above-mentioned cylinder brake to the 3rd halted state from above-mentioned second speed；

It is repeated and makes above-mentioned cylinder accelerate to second speed from the second halted state and make above-mentioned cylinder from second speed system Move the step to the 3rd halted state,

Above-mentioned washings amount test section accelerates to above-mentioned second speed based at each above-mentioned cylinder from above-mentioned second halted state During detect current value and determine washings amount.

16. according to the washings processing equipment according to any one of claim 9 to 15, it is characterised in that above-mentioned cylinder with During First Speed rotates, detect the anti-electricity of above-mentioned motor based on the current value detected by above-mentioned current detecting part Kinetic potential.

17. washings processing equipments according to claim 16, it is characterised in that at above-mentioned cylinder with above-mentioned First Speed Above-mentioned counter electromotive force is detected after rotation set time.