CN106702665A - Washing machine and inertia detection method and device of washing machine - Google Patents
Washing machine and inertia detection method and device of washing machine Download PDFInfo
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- CN106702665A CN106702665A CN201611147609.7A CN201611147609A CN106702665A CN 106702665 A CN106702665 A CN 106702665A CN 201611147609 A CN201611147609 A CN 201611147609A CN 106702665 A CN106702665 A CN 106702665A
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- motor
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- integral value
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F33/00—Control of operations performed in washing machines or washer-dryers
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- D06F2202/065—
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- D06F2204/06—
Abstract
The invention discloses a washing machine and an inertia detection method and device of the washing machine. The method comprises the steps of obtaining a position of a washing bucket corresponding to a reverse zero crossing point of velocity fluctuation under an imbalanced load in the process when the washing bucket runs at a first preset rotation speed, and controlling a motor to run at a decelerating speed in the position of the washing bucket corresponding to the reverse zero crossing point of velocity fluctuation; conducting integration on an electromagnetic torque of the motor to obtain a first integration value, and conducting integration on the feedback speed of the motor to obtain an average speed command of the motor after a first preset time is prolonged; controlling the motor to run in a constant speed according to the average speed command, and conducting integration of the electromagnetic torque of the motor to obtain second first integration value in the process of the running of the motor in the constant speed; calculating inertia of the washing machine according to the first integration value and the second integration value. According to the washing machine and the inertia detection method and device of the washing machine, the influences of the load imbalance and drum friction can be taken into consideration, so that the precision of inertia detection is improved.
Description
Technical field
The present invention relates to household electrical appliance technical field, the inertia detection method of more particularly to a kind of washing machine, a kind of laundry
The inertia detection means of machine and a kind of washing machine with the inertia detection means.
Background technology
User is when using washing machine, it is desirable to which washing machine can automatically provide suitable water level and wash according to the weight of clothing
Dosage is washed, so as to avoid blindly selecting the clothes washing for bringing unclean, or the problem for wasting hydroelectric resources.
At present, the main method of measurement clothes weight has two major classes：One class is using weighing sensor direct measurement clothing
Weight；Another kind of is to accelerate using the motor detected in washing machine or decelerate to another rotating speed institute under different load conditions
The parameter such as time, electric current for needing measures the inertia of clothing in washing tub, due to weight and inertia be substantially it is proportional,
The weight of clothing can be thus obtained according to proportionate relationship between the two.
Wherein, the weight of clothing is detected using weighing sensor, it is necessary to install weighing sensor in washing machine, not only
Cost can be increased, and inconvenience is installed, and accuracy of detection is influenceed very big by mounting process.And surveyed using the motor in washing machine
Amount clothing inertia, without special sensor, therefore in the absence of installation question, applies relatively broad, especially in washing machine field
It is in roller washing machine.For example, in roller washing machine, load inertia is detected by acceleration and deceleration, to the clothing in washing machine
Thing is weighed.But, when detecting load inertia by acceleration and deceleration, the otherness of washing machine drum friction is not accounted for, lead
Cause accuracy of detection deviation larger, and also do not consider that laod unbalance, for the influence that inertia is detected, largely effects on accuracy of detection,
Cause the weighting error of washing machine, it is impossible to meet user's actual need.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.Therefore, of the invention
One purpose is the inertia detection method for proposing a kind of washing machine, it can be considered that the influence of laod unbalance and roll friction and
Improve the precision of inertia detection.
It is another object of the present invention to the inertia detection means for proposing a kind of washing machine.
A further object of the present invention is to propose a kind of washing machine.
To achieve the above object, one aspect of the present invention embodiment proposes a kind of inertia detection method of washing machine, described
Washing machine includes washing tub and the motor for driving the washing tub operating, the described method comprises the following steps：Washed described
During clothing bucket is operated with the first preset rotation speed, the reverse zero passage of washing machine velocity perturbation under unbalanced load is obtained
The position of the corresponding washing tub is put, and the position of the corresponding washing tub of reverse zero crossing in the velocity perturbation is controlled
Make the decelerating through motor operation；After the Preset Time of time delay first, the electromagnetic torque to the motor is integrated to obtain first
Integrated value, and the feedback speed of the motor is integrated is instructed with obtaining the average speed of motor；According to the average speed
The degree instruction control motor travels at the uniform speed, and during the motor travels at the uniform speed, to the electromagnetic torque of the motor
It is integrated to obtain second integral value；And the washing machine is calculated according to the first integral value and the second integral value
Inertia.
The inertia detection method of washing machine according to embodiments of the present invention, in the mistake that washing tub is operated with the first preset rotation speed
Cheng Zhong, first, the position of acquisition washing machine corresponding washing tub of reverse zero crossing of velocity perturbation under unbalanced load, and
The position control motor of the corresponding washing tub of reverse zero crossing of velocity perturbation runs slowly, right after the Preset Time of time delay first
The electromagnetic torque of motor is integrated to obtain first integral value, and feedback speed to motor is integrated to obtain motor
Average speed is instructed, and then, instructs controlled motor to travel at the uniform speed according to average speed, and during motor travels at the uniform speed,
Electromagnetic torque to motor is integrated to obtain second integral value, finally, is calculated according to first integral value and second integral value
The inertia of washing machine.The method it can be considered that the influence of laod unbalance and roll friction and improve inertia detection precision.
According to one embodiment of present invention, it is described obtain the washing machine in laod unbalance velocity perturbation it is reverse
The position of the corresponding washing tub of zero crossing, including：Obtain the rotor-position of the motor；Rotor position according to the motor
Put the feedback speed for calculating the motor；The feedback speed of rotor-position and the motor according to the motor is by imbalance
Position estimation method obtains washing machine corresponding washing tub of the reverse zero crossing of velocity perturbation in laod unbalance
Position.
According to one embodiment of present invention, it is described according to the first integral value and the second integral value are calculated
The inertia of washing machine, including：Subtract each other with the first integral value to calculate the washing machine by by the second integral value
Inertia.
According to one embodiment of present invention, the electromagnetic torque to the motor is integrated to obtain first integral value
The time of integration, the feedback speed to the motor are integrated to obtain the time of integration of the average speed instruction of motor, to institute
The electromagnetic torque for stating motor is integrated to obtain the Machine cycle that the time of integration of second integral value is the washing tub
Integral multiple, and the number of turns of the correspondence washing tub operating is identical.
To achieve the above object, another aspect of the present invention embodiment proposes a kind of inertia detection means of washing machine, institute
Motor of the washing machine including washing tub and for driving the washing tub operating is stated, described device includes：First acquisition unit, uses
During being operated with the first preset rotation speed in the washing tub, washing machine velocity perturbation under unbalanced load is obtained
The corresponding washing tub of reverse zero crossing position；Deceleration unit, for the reverse zero crossing pair in the velocity perturbation
Decelerating through motor operation described in the position control of the washing tub answered；First integral unit, for controlling the decelerating through motor
After first Preset Time of operation, the electromagnetic torque to the motor is integrated to obtain first integral value, and to the electricity
The feedback speed of machine is integrated and is instructed with obtaining the average speed of motor；Control unit, for being referred to according to the average speed
The order control motor is traveled at the uniform speed, and during the motor travels at the uniform speed, the electromagnetic torque to the motor is carried out
Integration calculates the used of the washing machine to obtain second integral value according to the first integral value and the second integral value
Amount.
The inertia detection means of washing machine according to embodiments of the present invention, in the mistake that washing tub is operated with the first preset rotation speed
Cheng Zhong, the corresponding washing tub of reverse zero crossing of washing machine velocity perturbation under unbalanced load is obtained by first acquisition unit
Position, deceleration unit runs slowly in the position control motor of the corresponding washing tub of reverse zero crossing of velocity perturbation, in control
After first Preset Time of decelerating through motor operation processed, first integral unit is integrated to obtain first to the electromagnetic torque of motor
Integrated value, and the feedback speed of motor is integrated is instructed with obtaining the average speed of motor, control unit, for according to institute
The average speed instruction control motor is stated to travel at the uniform speed, and during motor travels at the uniform speed, to the electromagnetic torque of motor
It is integrated to obtain second integral value, and the inertia of washing machine is calculated according to first integral value and second integral value.The device
It can be considered that the influence of laod unbalance and roll friction and improve inertia detection precision.
According to one embodiment of present invention, the first acquisition unit includes：First position acquiring unit, for obtaining
The rotor-position of the motor；Speed computing unit, the feedback for calculating the motor according to the rotor-position of the motor
Speed；Second place acquiring unit, the feedback speed for the rotor-position according to the motor and the motor passes through injustice
Weighing apparatus position estimation method obtains washing machine corresponding laundry of the reverse zero crossing of velocity perturbation in laod unbalance
The position of bucket.
According to one embodiment of present invention, described control unit is according to the first integral value and the second integral value
When calculating the inertia of the washing machine, wherein, described control unit is by by the second integral value and the first integral value
Subtract each other to calculate the inertia of the washing machine.
According to one embodiment of present invention, the electromagnetic torque to the motor is integrated to obtain first integral value
The time of integration, the feedback speed to the motor are integrated to obtain the time of integration of the average speed instruction of motor, to institute
The electromagnetic torque for stating motor is integrated to obtain the Machine cycle that the time of integration of second integral value is the washing tub
Integral multiple, and the number of turns of the correspondence washing tub operating is identical.
To achieve the above object, another aspect of the invention embodiment proposes a kind of washing machine, including：Washing tub；For
Drive the motor of the washing tub operating；The inertia detection means of above-mentioned washing machine.
Washing machine according to embodiments of the present invention, by the inertia detection means of above-mentioned washing machine, it can be considered that load
The influence of uneven and roll friction and improve the precision of inertia detection.
Brief description of the drawings
Fig. 1 is the flow chart of the inertia detection method of washing machine according to embodiments of the present invention；
Fig. 2 is the curve synoptic diagram of washing machine inertia testing result when slope geard-down speed is instructed；
Fig. 3 is the flow chart of the inertia detection method of washing machine according to an embodiment of the invention；
Fig. 4 is the block diagram of the inertia detection means of washing machine according to embodiments of the present invention；
Fig. 5 is the block diagram of the inertia detection means of washing machine according to an embodiment of the invention；
Fig. 6 is the structural representation of the control system of washing machine according to an embodiment of the invention；And
Fig. 7 is the block diagram of washing machine according to an embodiment of the invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, it is intended to for explaining the present invention, and be not considered as limiting the invention.
The inertia detection method of the washing machine of proposition according to embodiments of the present invention, washing machine described with reference to the accompanying drawings
Inertia detection means and the washing machine with the inertia detection means.
Fig. 1 is the flow chart of the inertia detection method of washing machine according to embodiments of the present invention.In embodiments of the invention
In, washing machine may include washing tub and the motor for driving washing tub to operate.
As shown in figure 1, the inertia detection method of the washing machine may include following steps：
S1, during washing tub is operated with the first preset rotation speed, obtains washing machine speed wave under unbalanced load
The position of the dynamic corresponding washing tub of reverse zero crossing, and velocity perturbation the corresponding washing tub of reverse zero crossing position control
Decelerating through motor operation processed.
Specifically, when the inertia to washing tub is detected, it is impossible to which proof load is in complete equipilibrium state, and bears
Carrying unbalanced presence can cause velocity perturbation, then when inertia is detected, default movement locus can random and speed wave
Fold adds, and the velocity wave form finally occurred between different tests differs greatly, and then it is big to cause testing result to fluctuate, accuracy of detection
It is low.Accordingly, it is considered to the situation of laod unbalance is arrived, using identical deceleration starting point, for example, with the reverse zero passage of velocity perturbation
The starting point that point (value close to command value) corresponding cylinder position runs as decelerating through motor, so may insure deceleration every time
Running orbit it is consistent so that the clothing of identical weight unbalanced load with balanced load in the case of weighing results it is identical,
Reduce the detection error that unbalanced load brings, so as to improve accuracy of detection.
According to one embodiment of present invention, the reverse zero crossing pair of washing machine velocity perturbation in laod unbalance is obtained
The position of the washing tub answered, including：Obtain the rotor-position of motor；Rotor-position according to motor calculates the feedback speed of motor
Degree；The feedback speed of rotor-position and motor according to motor obtains washing machine and is loading not by non-equilibrium site evaluation method
The position of the corresponding washing tub of reverse zero crossing of velocity perturbation during balance.
Specifically, during washing tub is operated with the first preset rotation speed, object receives centrifugal action in washing tub
Washing tub will be close to, non-equilibrium site is regarded as fixation with respect to washing tub.Therefore, the uneven velocity perturbation that produces is
Determine frequency fluctuation, position and the speed of the corresponding washing tub of velocity perturbation maximum point are can obtain by non-equilibrium site evaluation method
The position of the fluctuation corresponding washing tub of smallest point, the then position according to the corresponding washing tub of velocity perturbation maximum point and speed wave
The position of the corresponding washing tub of dynamic smallest point, you can obtain the corresponding cylinder position of reverse zero crossing of velocity perturbation.
S2, after the Preset Time of time delay first, the electromagnetic torque to motor is integrated to obtain first integral value, and to electricity
The feedback speed of machine is integrated and is instructed with obtaining the average speed of motor.
Wherein, the first Preset Time can be demarcated according to actual conditions.
S3, instructs controlled motor to travel at the uniform speed according to average speed, and during motor travels at the uniform speed, to motor
Electromagnetic torque is integrated to obtain second integral value.
In one embodiment of the invention, after decelerating through motor runs the first Preset Time, to the electromagnetic torque of motor
It is integrated to obtain the time of integration of first integral value, be integrated to obtain the average speed of motor the feedback speed of motor
The time of integration of degree instruction, the electromagnetic torque to motor are integrated and are washing tub to obtain the time of integration of second integral value
Machine cycle integral multiple, and correspondence washing tub operating the number of turns it is identical.That is, the time of triple integral is equal,
And the integral multiple of the Machine cycle for washing tub.
Specifically, can be detected come the inertia to washing machine by movement locus as shown in Figure 2.As shown in Fig. 2
Control washing tub is operated with the first preset rotation speed (such as 150rpm) first, and then the reverse zero crossing of acquisition speed fluctuation is corresponding
Washing tub position, and after the position is got, using the starting point that the position is run as decelerating through motor, now, give one
Slope geard-down speed instruction carrys out controlled motor and runs slowly.After the first Preset Time of decelerating through motor operation, to the electricity of motor
Magnetic torque is integrated to obtain first integral value, and the time of integration is the integral multiple of the Machine cycle of washing tub, for example, can be
One Machine cycle (such as AB sections) of washing tub, meanwhile, the feedback speed to motor is integrated to obtain the average speed of motor
Degree instruction, its time of integration can be AB of time.
When decelerating through motor is to certain speed, controlled motor is traveled at the uniform speed with present speed, then further according to average speed
Instruction controlled motor speedup to corresponding average speed, and controlled motor is traveled at the uniform speed with the average speed, and in motor average rate
During operation, the electromagnetic torque to motor is integrated to obtain second integral value, and its time of integration is CD sections, and CD sections
Time of the time with AB it is equal.
S4, the inertia of washing machine is calculated according to first integral value and second integral value.
According to one embodiment of present invention, the inertia of washing machine, bag are calculated according to first integral value and second integral value
Include：Subtract each other to calculate the inertia of washing machine by by second integral value and first integral value.
Specifically, the equation of motion of motor is：
Wherein, Te is the electromagnetic torque of motor, and Td is uneven torque, and B is adhesive tape coefficient, and ω is the rotating speed of motor, and J is
Rotary inertia.
It is as shown in Fig. 2 AB sections is a Machine cycle for washing tub with CD sections, then CD sections of speed command, i.e., electric
The average speed of machine is instructed：
Wherein, T=TAB(AB of time)=TCD(CD of time).
When the influence of unbalanced load is not considered, at braking section AB sections, the electromagnetic torque of motor output is：
At at the uniform velocity section CD sections, the electromagnetic torque of motor output is：
Te=B ω (4)
When laod unbalance torque Td is considered, at braking section AB section, the electromagnetic torque that motor is exported is：
At at the uniform velocity section CD sections, the electromagnetic torque of motor output is：
Then, formula (5) both sides are integrated within AB time, obtain first integral value：
Formula (6) both sides are integrated within CD time, second integral value is obtained：
So, difference is taken to above-mentioned formula (7) and formula (8), is can obtain：
Wherein, CD sections of speed inverted being integrated again in a Machine cycle for washing tub is zero, i.e.,So above-mentioned formula (9) can be written as：
If ∫ B ωABDt=∫ B ωCDDt, then above-mentioned formula (10) can be write as：
Wherein,It is constant, therefore, the inertia of washing machine is proportional to the AB sections of electromagnetic torque with CD sections and integrates it
Difference, so as to the inertia of washing machine can be calculated.Therefore, by the calculating of the average speed to motor, braking section laundry is offset
The influence of bucket frictional resistance, improves the accuracy of detection of inertia.
To make those skilled in the art be better understood upon the present invention, Fig. 3 is laundry according to an embodiment of the invention
The flow chart of the inertia detection method of machine.As shown in figure 3, the inertia detection method of the washing machine may include following steps：
S101, starts.
S102, judges whether that load is enabled.If it is, performing step S103；If not, performing step S110.
S103, speed command planning first paragraph：Washing tub command speed is set as 150rpm.
S104, deceleration starting point is calculated, and the reverse zero passage of velocity perturbation can be calculated by non-equilibrium site evaluation method
The corresponding washing tub position of point, and using the reverse zero point of velocity perturbation as deceleration starting point.
S105, speed command planning second segment：Given slope deceleration instruction, deceleration starting point is the reverse mistake of velocity perturbation
The corresponding washing tub position of zero point.
S106, is integrated to obtain first integral value to AB sections of electromagnetic torque.
S107, speed command plans the 3rd section：Given average speed instruction, controlled motor is traveled at the uniform speed with average speed.
S108, the electromagnetic torque at the uniform velocity section CD is integrated to obtain second integral value.
S109, the inertia=first integral value-second integral value of washing machine.
S110, terminates.
In sum, the inertia detection method of washing machine according to embodiments of the present invention, in washing tub with first default turn
During speed operating, first, the corresponding washing tub of reverse zero crossing of washing machine velocity perturbation under unbalanced load is obtained
Position, and the position control motor of the corresponding washing tub of reverse zero crossing in velocity perturbation runs slowly, and time delay first is pre-
If after the time, the electromagnetic torque of motor is integrated to obtain first integral value, and feedback speed to motor is integrated
Instructed with the average speed for obtaining motor, then, instruct controlled motor to travel at the uniform speed according to average speed, and at the uniform velocity transported in motor
In capable process, the electromagnetic torque to motor is integrated to obtain second integral value, finally, according to first integral value and second
Integrated value calculates the inertia of washing machine.The method is it is contemplated that the influence of laod unbalance, it is ensured that slow down all exist every time
The position of the reverse zero crossing of velocity perturbation starts, it is ensured that the running orbit for slowing down every time is consistent, can make the clothing of identical weight
It is identical with weighing results in the case of balanced load in unbalanced load, reduce the detection error that unbalanced load brings, also,
Coordinate the movement locus of average speed using braking section, eliminate the influence that roll friction brings, substantially increase accuracy of detection, from
And avoid causing the weighting error of washing machine, the need for fully meeting user.
Fig. 4 is the block diagram of the inertia detection means of washing machine according to embodiments of the present invention.As shown in figure 4, washing
Clothing machine may include washing tub 100, the motor 200 for driving washing tub to operate.The inertia detection means of washing machine may include
One acquiring unit 10, deceleration unit 20, first integral unit 30 and control unit 40.
Wherein, first acquisition unit 10 is used to during washing tub 100 is operated with the first preset rotation speed, obtain laundry
The position of machine corresponding washing tub 100 of the reverse zero crossing of velocity perturbation under unbalanced load.Deceleration unit 20 is used in speed
The position control motor 200 for spending the corresponding washing tub 100 of reverse zero crossing of fluctuation runs slowly.First integral unit 30 is used for
After the first Preset Time that controlled motor 200 runs slowly, the electromagnetic torque to motor 200 is integrated to obtain the first product
Score value, and the feedback speed of motor 200 is integrated is instructed with obtaining the average speed of motor.Control unit 40 is used for basis
Average speed instruction controlled motor 200 travels at the uniform speed, and during motor 200 travels at the uniform speed, the electromagnetism to motor 200 turns
Square is integrated to obtain second integral value, and the inertia of washing machine is calculated according to first integral value and second integral value.
Fig. 5 is the block diagram of the inertia detection means of washing machine according to an embodiment of the invention.Such as Fig. 5 institutes
Show, first acquisition unit 10 includes first position acquiring unit 11, speed computing unit 12 and second place acquiring unit 13.Its
In, first position acquiring unit 11 is used to obtain the rotor-position of motor 200, and speed computing unit 12 is used for according to motor 200
Rotor-position calculate the feedback speed of motor 200, second place acquiring unit 13 be used for according to the rotor-position of motor 200 and
The feedback speed of motor 200 by non-equilibrium site evaluation method obtain washing machine in laod unbalance velocity perturbation it is reverse
The position of the corresponding washing tub 100 of zero crossing.
According to one embodiment of present invention, control unit 40 calculates washing machine according to first integral value and second integral value
Inertia when, wherein, control unit 40 is subtracted each other to calculate the inertia of washing machine by by second integral value and first integral value.
According to one embodiment of present invention, the electromagnetic torque to motor 200 is integrated to obtain first integral value
The time of integration, the feedback speed to motor 200 are integrated to obtain the time of integration of the average speed instruction of motor, to motor
200 electromagnetic torque is integrated to obtain the integer that the time of integration of second integral value is the Machine cycle of washing tub 100
Times, and the number of turns of the correspondence operating of washing tub 100 is identical.
As a specific example, as shown in fig. 6, the inertia detection means of washing machine may include position detection unit 101,
Velocity arithmetic device 102, deceleration starting point computing unit 103, instruction generation unit 104, inertia calculation module 105, torque calculation
Module 106, speed control 107 and current controller 108.Wherein, position detection unit 101 is used to detect turning for motor 200
Sub- position θ；Velocity arithmetic device 102 is to the feedback speed Vfdb according to the rotor position of motor 200 acquisition motor 200；Slow down
Starting point computing unit 103 is used for according to the rotor position of motor 200 and the feedback speed Vfdb of motor 200 by imbalance
Position estimation is obtaining washing machine corresponding position of washing tub 100 of the reverse zero crossing of velocity perturbation in unbalanced load；Refer to
Generation module 104 is made to generate deceleration instruction to control for the corresponding position of washing tub 100 of reverse zero crossing in velocity perturbation
Motor 200 runs slowly, and the feedback speed after the Preset Time that is additionally operable to run slowly motor 200 is integrated to generate motor
200 average speed instruction；Inertia calculation module 105 turns after motor 200 runs slowly Preset Time to the electromagnetism of motor 200
Square is integrated to obtain first integral result, be additionally operable to the electromagnetic torque to motor 200 when traveling at the uniform speed be integrated with
Obtain second integral result；Torque calculation module 106 calculates the electromagnetic torque of motor 200 according to the feedback current Ifdb of motor 200,
Then the electromagnetic torque that will be calculated is exported to inertia calculation module 105；Speed control 107 is according to directive generation module
Error Verr generation torques between the speed command Vref of 104 outputs and the feedback speed Vfdb of the output of velocity arithmetic device 102
Instruction Tasr；Torque instruction Tasr and feedback current Ifdb generation electricity that current controller 108 is exported according to speed control 107
Stream instruction I is controlled with to motor 200.
It should be noted that the details not disclosed in the inertia detection means of the washing machine of the embodiment of the present invention, refer to
Details disclosed in the inertia detection method of the washing machine of the embodiment of the present invention, specifically repeats no more here.
The inertia detection means of washing machine according to embodiments of the present invention, in the mistake that washing tub is operated with the first preset rotation speed
Cheng Zhong, the corresponding washing tub of reverse zero crossing of washing machine velocity perturbation under unbalanced load is obtained by first acquisition unit
Position, deceleration unit runs slowly in the position control motor of the corresponding washing tub of reverse zero crossing of velocity perturbation, in control
After first Preset Time of decelerating through motor operation processed, first integral unit is integrated to obtain first to the electromagnetic torque of motor
Integrated value, and the feedback speed of motor is integrated is instructed with obtaining the average speed of motor, control unit, for according to institute
The average speed instruction control motor is stated to travel at the uniform speed, and during motor travels at the uniform speed, to the electromagnetic torque of motor
It is integrated to obtain second integral value, and the inertia of washing machine is calculated according to first integral value and second integral value.The device
It is contemplated that the influence of laod unbalance, it is ensured that slow down all opened in the position of the reverse zero crossing of velocity perturbation every time
Begin, it is ensured that the running orbit for slowing down every time is consistent, can make the clothing of identical weight in unbalanced load and balanced loaded situation
Lower weighing results are identical, reduce the detection error that unbalanced load brings, also, coordinate the motion of average speed using braking section
Track, eliminates the influence that roll friction brings, and substantially increases accuracy of detection, so as to avoid causing the weighting error of washing machine,
The need for fully meeting user.
Fig. 7 is the block diagram of washing machine according to an embodiment of the invention.As shown in fig. 7, the washing machine 1000
May include washing tub 100, drive the motor 200 of the operating of washing tub 100 and the inertia detection means 300 of above-mentioned washing machine.
Washing machine according to embodiments of the present invention, by the inertia detection means of above-mentioned washing machine, it is contemplated that negative
Carry unbalanced influence, it is ensured that slow down all start in the position of the reverse zero crossing of velocity perturbation every time, it is ensured that subtract every time
The running orbit of speed is consistent, can make the clothing of identical weight weighing results phase in the case of unbalanced load with balanced load
Together, reduce the detection error that unbalanced load brings, also, coordinate the movement locus of average speed using braking section, eliminate rolling
The influence that cylinder friction belt is come, substantially increases accuracy of detection, so as to avoid causing the weighting error of washing machine, fully meets user
The need for.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, must rather than the device or element for indicating or imply meaning
With specific orientation, with specific azimuth configuration and operation, therefore must be not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In the description of the invention, " multiple " is meant that at least two, such as two, three
It is individual etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integrally；Can be that machinery connects
Connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be in two elements
The connection in portion or two interaction relationships of element, unless otherwise clearly restriction.For one of ordinary skill in the art
For, can as the case may be understand above-mentioned term concrete meaning in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be with
It is the first and second feature directly contacts, or the first and second features are by intermediary mediate contact.And, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be with office
Combined in an appropriate manner in one or more embodiments or example.Additionally, in the case of not conflicting, the skill of this area
Art personnel can be tied the feature of the different embodiments or example described in this specification and different embodiments or example
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (9)
1. the inertia detection method of a kind of washing machine, it is characterised in that the washing machine includes washing tub and described for driving
The motor of washing tub operating, the described method comprises the following steps：
During the washing tub is operated with the first preset rotation speed, washing machine speed wave under unbalanced load is obtained
The position of the corresponding washing tub of dynamic reverse zero crossing, and reverse zero crossing in the velocity perturbation corresponding described washes
Decelerating through motor operation described in the position control of clothing bucket；
After the Preset Time of time delay first, the electromagnetic torque to the motor is integrated to obtain first integral value, and to described
The feedback speed of motor is integrated and is instructed with obtaining the average speed of motor；
Traveled at the uniform speed according to the average speed instruction control motor, and during the motor travels at the uniform speed, it is right
The electromagnetic torque of the motor is integrated to obtain second integral value；And
The inertia of the washing machine is calculated according to the first integral value and the second integral value.
2. the inertia detection method of washing machine as claimed in claim 1, it is characterised in that the acquisition washing machine is negative
The position of the corresponding washing tub of reverse zero crossing of velocity perturbation when carrying uneven, including：
Obtain the rotor-position of the motor；
Rotor-position according to the motor calculates the feedback speed of the motor；
The feedback speed of rotor-position and the motor according to the motor is by described in the acquisition of non-equilibrium site evaluation method
The position of washing machine corresponding washing tub of the reverse zero crossing of velocity perturbation in laod unbalance.
3. the inertia detection method of washing machine as claimed in claim 1 or 2, it is characterised in that described according to the described first product
Score value and the second integral value calculate the inertia of the washing machine, including：
Subtract each other with the first integral value to calculate the inertia of the washing machine by by the second integral value.
4. the inertia detection method of washing machine as claimed in claim 3, it is characterised in that the electromagnetic torque to the motor enters
Row integration is obtaining the time of integration of first integral value, the feedback speed of the motor is integrated to obtain the average of motor
The time of integration of speed command, the electromagnetic torque to the motor are integrated and are with obtaining the time of integration of second integral value
The integral multiple of the Machine cycle of the washing tub, and the number of turns of the correspondence washing tub operating is identical.
5. the inertia detection means of a kind of washing machine, it is characterised in that the washing machine includes washing tub and described for driving
The motor of washing tub operating, described device includes：
First acquisition unit, during being operated with the first preset rotation speed in the washing tub, is obtained the washing machine and existed
The position of the corresponding washing tub of the reverse zero crossing of velocity perturbation under unbalanced load；
Deceleration unit, for the corresponding washing tub of reverse zero crossing in the velocity perturbation position control described in motor
Run slowly；
First integral unit, for after the first Preset Time for controlling the decelerating through motor operation, to the electromagnetism of the motor
Torque is integrated to obtain first integral value, and feedback speed to the motor is integrated to obtain the average speed of motor
Degree instruction；
Control unit, for being traveled at the uniform speed according to the average speed instruction control motor, and at the uniform velocity transports in the motor
In capable process, the electromagnetic torque to the motor is integrated to obtain second integral value, and according to the first integral value
With the inertia that the second integral value calculates the washing machine.
6. the inertia detection means of washing machine as claimed in claim 5, it is characterised in that the first acquisition unit includes：
First position acquiring unit, the rotor-position for obtaining the motor；
Speed computing unit, the feedback speed for calculating the motor according to the rotor-position of the motor；
Second place acquiring unit, the feedback speed for the rotor-position according to the motor and the motor passes through imbalance
Position estimation method obtains washing machine corresponding washing tub of the reverse zero crossing of velocity perturbation in laod unbalance
Position.
7. the inertia detection means of the washing machine as described in claim 5 or 6, it is characterised in that described control unit is according to institute
When stating first integral value and the second integral value and calculating the inertia of the washing machine, wherein,
Described control unit calculates the used of the washing machine by the way that the second integral value is subtracted each other with the first integral value
Amount.
8. the inertia detection means of washing machine as claimed in claim 7, it is characterised in that the electromagnetic torque to the motor enters
Row integration is obtaining the time of integration of first integral value, the feedback speed of the motor is integrated to obtain the average of motor
The time of integration of speed command, the electromagnetic torque to the motor are integrated and are with obtaining the time of integration of second integral value
The integral multiple of the Machine cycle of the washing tub, and the number of turns of the correspondence washing tub operating is identical.
9. a kind of washing machine, it is characterised in that including：
Washing tub；
Motor for driving the washing tub operating；
The inertia detection means of the washing machine as any one of claim 5-8.
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