CN107144403A - Laod unbalance detection method, device and computer-readable recording medium - Google Patents
Laod unbalance detection method, device and computer-readable recording medium Download PDFInfo
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- CN107144403A CN107144403A CN201710402783.XA CN201710402783A CN107144403A CN 107144403 A CN107144403 A CN 107144403A CN 201710402783 A CN201710402783 A CN 201710402783A CN 107144403 A CN107144403 A CN 107144403A
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- 230000000052 comparative effect Effects 0.000 claims description 21
- 238000005406 washing Methods 0.000 description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/14—Determining imbalance
- G01M1/16—Determining imbalance by oscillating or rotating the body to be tested
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Abstract
The invention discloses a kind of laod unbalance detection method, device and computer-readable recording medium.The present invention is when load is in accelerated service process, torque to the load is detected, current torque minimum value when rotating a circle is supported on described in obtaining, present reference value is determined according to the current torque minimum value and previous a reference value, calculate the difference between the current torque minimum value and present reference value, judge whether the load is in non-equilibrium state according to the difference, it is achieved thereby that the uneven detection of movement segment, the mechanical part of equipment is avoided to collide and cause equipment to be damaged, and testing cost and detection difficulty are relatively low.
Description
Technical field
The present invention relates to load detecting control technology field, more particularly to a kind of laod unbalance detection method, device and
Computer-readable recording medium.
Background technology
When the laod unbalance that variable-frequency motor is driven, the rotating speed of variable-frequency motor is higher, and the vibration of load and noise are just
Can be bigger, so as to reduce the service life of equipment.
In order to reduce vibration and noise, variable-frequency motor needs to find load (for example immediately：Roller) it is uneven, so as to pass through
Adjustment rotating speed or the non-equilibrium state to load are changed, in the prior art there is provided following two uneven detection sides
Method：
(1) whether load is balanced and detected using sensor, but the cost of sensor is higher and be not easy to install, from
And cause detection difficulty big.
(2) in the stable low-speed running stage (i.e. motor is at the uniform velocity operated according to the first fixed rotary speed) and stably
Run at high speed the stage in (i.e. motor is at the uniform velocity operated according to the second fixed rotary speed), according to the rotating speed of variable-frequency motor or
Torque judges whether load balances；However, this method is only capable of carrying out uneven detection in the stabilization sub stage, and it can not realize to dynamic
Stage (the i.e. unstable stage, for example：Boost phase) uneven detection is carried out, and due to being supported on the stable rank that runs at high speed
Section is run at high speed, and uneven detection is carried out during running at high speed, is very easy to make the mechanical part of equipment to touch
Hit and cause equipment to be damaged.
In summary, there is cost height in prior art, detection difficulty is big, can not realize to the uneven inspection of movement segment progress
Survey and when carrying out uneven detection during running at high speed, be very easy to make the mechanical part of equipment to collide and lead
Cause the problem of equipment is damaged.
The above is only used for auxiliary and understands technical scheme, does not represent and recognizes that the above is existing skill
Art.
The content of the invention
It is a primary object of the present invention to provide a kind of laod unbalance detection method, device and computer-readable storage medium
Matter, it is intended to solve the height of cost present in prior art, detection difficulty is big, can not realize to the uneven inspection of movement segment progress
Survey and when carrying out uneven detection during running at high speed, be very easy to make the mechanical part of equipment to collide and lead
The technical problem for causing equipment to be damaged.
To achieve the above object, the present invention provides a kind of laod unbalance detection method, the described method comprises the following steps：
When load is in accelerated service process, the torque to the load is detected, rotation is supported on described in acquisition
Current torque minimum value at one week；
Present reference value is determined according to the current torque minimum value and previous a reference value；
Calculate the difference between the current torque minimum value and present reference value；
Judge whether the load is in non-equilibrium state according to the difference.
Preferably, it is described to judge whether the load is in non-equilibrium state according to the difference, specifically include：
The difference and predetermined threshold value are compared, judge the load whether in uneven shape according to comparative result
State.
Preferably, it is described to be compared the difference and predetermined threshold value, whether the load is judged according to comparative result
In non-equilibrium state, specifically include：
The difference and predetermined threshold value are compared, when comparative result is that the difference exceedes the predetermined threshold value,
Assert that the load is in non-equilibrium state, comparative result be the difference not less than the predetermined threshold value when, assert described
Load is not in non-equilibrium state.
Preferably, it is described that present reference value is determined according to the current torque minimum value and previous a reference value, specifically include：
The current torque minimum value is contrasted with the previous a reference value, current base is determined according to comparing result
Value.
Preferably, it is described to be contrasted the current torque minimum value with the previous a reference value, according to comparing result
Present reference value is determined, is specifically included：
The current torque minimum value is contrasted with the previous a reference value, is the previous benchmark in comparing result
When value is more than the current torque minimum value, using the current torque minimum value as the present reference value, in comparing result
When being less than or equal to the current torque minimum value for the previous a reference value, the previous a reference value is regard as the current base
Value.
Preferably, the load is roller；
Correspondingly, described to judge whether the load is in after non-equilibrium state according to the difference, methods described is also
Including：
When the load is in non-equilibrium state, the load is controlled to stop accelerated service.
Preferably, after the control load stops accelerated service, methods described also includes：
Judge that the executed of the load shakes loose whether number of operations is more than preset times value, if the executed shakes loose behaviour
Make number of times more than preset times value, then control the load to shut down, otherwise control the load execution to shake loose operation, control
The load reenters accelerated service process, and returns to the step of torque to the load is detected.
Preferably, described to judge whether the load is in after non-equilibrium state according to the difference, methods described is also
Including：
When the load is in poised state, accelerated service is proceeded according to the pre-set control programs control load
Process, and return to the step of torque to the load is detected.
In addition, to achieve the above object, the present invention also provides a kind of laod unbalance detection means, the laod unbalance
Detection means includes：Load, memory, processor and be stored on the memory and can run on the processor it is negative
Uneven detection program is carried, the laod unbalance detection program is arranged for carrying out the step of described laod unbalance detection method
Suddenly.
In addition, to achieve the above object, the present invention also provides a kind of computer-readable recording medium, described computer-readable
The laod unbalance that is stored with storage medium detects program, and the laod unbalance detection program realizes institute when being executed by processor
The step of laod unbalance detection method stated.
The present invention is when load is in accelerated service process, and the torque to the load is detected, obtains the load
Current torque minimum value when rotating a circle, current base is determined according to the current torque minimum value and previous a reference value
Value, calculates the difference between the current torque minimum value and present reference value, and whether the load is judged according to the difference
In non-equilibrium state, it is achieved thereby that the uneven detection of movement segment, it is to avoid the mechanical part of equipment collides and led
Equipment is caused to be damaged, and testing cost and detection difficulty are relatively low.
Brief description of the drawings
Fig. 1 is the laod unbalance structure of the detecting device signal for the hardware running environment that scheme of the embodiment of the present invention is related to
Figure；
Fig. 2 is the schematic flow sheet of laod unbalance detection method first embodiment of the present invention；
Fig. 3 is the control principle drawing of the accelerated service process loaded in the embodiment of the present invention；
Fig. 4 is the waveform diagram of torque in the embodiment of the present invention；
Fig. 5 is the schematic flow sheet of laod unbalance detection method second embodiment of the present invention.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Reference picture 1, Fig. 1 is the laod unbalance detection means knot for the hardware running environment that scheme of the embodiment of the present invention is related to
Structure schematic diagram.
As shown in figure 1, the laod unbalance detection means can include：Processor 1001, such as CPU, load 1002 are used
Family interface 1003, variable-frequency motor 1004 and memory 1005.Wherein, load 1002 is the object controlled by the variable-frequency motor.
User interface 1003 can include display screen (Display), input block such as keyboard (Keyboard), optional user interface
1003 can also include wireline interface, the wave point of standard.Memory 1005 can be high-speed RAM memory or
Stable memory (non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independent
In the storage device of aforementioned processor 1001.
It will be understood by those skilled in the art that the laod unbalance structure of the detecting device shown in Fig. 1 is not constituted to negative
The restriction of uneven detection means is carried, can be included than illustrating more or less parts, some parts or or not are combined
Same part arrangement.
In the specific implementation, the laod unbalance detection means can be roller washing machine, certainly, or other set
It is standby, for example：The equipment such as cooking preparation device, the hydraulic turbine or centrifuge, the present embodiment is not any limitation as to this.
As shown in figure 1, as operating system, Yong Hujie can be included in a kind of memory 1005 of computer-readable storage medium
Mouth mold block and laod unbalance detection program.
In the laod unbalance detection means shown in Fig. 1, the laod unbalance detection means passes through processor 1001
Call the laod unbalance stored in memory 1005 to detect program, and perform following operate：
When load is in accelerated service process, the torque to the load is detected, rotation is supported on described in acquisition
Current torque minimum value at one week；
Present reference value is determined according to the current torque minimum value and previous a reference value；
Calculate the difference between the current torque minimum value and present reference value；
Judge whether the load is in non-equilibrium state according to the difference.
Further, processor 1001 can call the laod unbalance stored in memory 1005 to detect program, also hold
Row is following to be operated：
The difference and predetermined threshold value are compared, judge the load whether in uneven shape according to comparative result
State.
Further, processor 1001 can call the laod unbalance stored in memory 1005 to detect program, also hold
Row is following to be operated：
The difference and predetermined threshold value are compared, when comparative result is that the difference exceedes the predetermined threshold value,
Assert that the load is in non-equilibrium state, comparative result be the difference not less than the predetermined threshold value when, assert described
Load is not in non-equilibrium state.
Further, processor 1001 can call the laod unbalance stored in memory 1005 to detect program, also hold
Row is following to be operated：
The current torque minimum value is contrasted with the previous a reference value, current base is determined according to comparing result
Value.
Further, processor 1001 can call the laod unbalance stored in memory 1005 to detect program, also hold
Row is following to be operated：
The current torque minimum value is contrasted with the previous a reference value, is the previous benchmark in comparing result
When value is more than the current torque minimum value, using the current torque minimum value as the present reference value, in comparing result
When being less than or equal to the current torque minimum value for the previous a reference value, the previous a reference value is regard as the current base
Value.
Further, the load is roller, and processor 1001 can call the load stored in memory 1005 uneven
Weigh detection program, also performs following operate：
When the load is in non-equilibrium state, the load is controlled to stop accelerated service.
Further, processor 1001 can call the laod unbalance stored in memory 1005 to detect program, also hold
Row is following to be operated：
Judge that the executed of the load shakes loose whether number of operations is more than preset times value, if the executed shakes loose behaviour
Make number of times more than preset times value, then control the load to shut down, otherwise control the load execution to shake loose operation, control
The load reenters accelerated service process, and returns to the step of torque to the load is detected.
Further, processor 1001 can call the laod unbalance stored in memory 1005 to detect program, also hold
Row is following to be operated：
When the load is in poised state, accelerated service is proceeded according to the pre-set control programs control load
Process, and return to the step of torque to the load is detected.
The present embodiment is by such scheme, and when load is in accelerated service process, the torque to the load is examined
Survey, current torque minimum value when rotating a circle is supported on described in acquisition, according to the current torque minimum value and previous benchmark
Value determines present reference value, calculates the difference between the current torque minimum value and present reference value, is sentenced according to the difference
Whether the disconnected load is in non-equilibrium state, it is achieved thereby that the uneven detection of movement segment, it is to avoid the Machinery Ministry of equipment
Part collides and causes equipment to be damaged, and testing cost and detection difficulty are relatively low.
Based on above-mentioned hardware configuration, laod unbalance detection method embodiment of the present invention is proposed.
Reference picture 2, Fig. 2 is the schematic flow sheet of laod unbalance detection method first embodiment of the present invention.
In the first embodiment, the laod unbalance detection method comprises the following steps：
S10：When load is in accelerated service process, the torque to the load is detected, is supported on described in acquisition
Current torque minimum value when rotating a circle；
It should be noted that the accelerated service process is the process that load is continuously increased speed, it can add to be constant
The accelerated service process of speed, i.e., the operation process accelerated according to a fixed acceleration, or non-permanent acceleration fortune
Journey is turned over, i.e., the operation process accelerated according to revocable acceleration, the present embodiment is not any limitation as to this.
It will be appreciated that because accelerated service process is a lasting process, so, the torque to the load is carried out
Detection is also a lasting process, that is to say, that, can be routinely to the load when load is in accelerated service process
Torque detected.
When in the specific implementation, the load is in accelerated service process, load can constantly rotate, and be rotated a circle in load
Afterwards, the current torque minimum value being supported in this week can be obtained, correspondingly, the current torque minimum value is that can be regarded as working as
The torque minimum value that the preceding moment obtains.
It should be understood that the accelerated service process of load would generally realize that reference picture 3 can root using Automatic Control Theory
According to control instruction generation target velocity Vref, the actual speed V that target velocity is sent with velocity arithmetic device is calculated by subtracterreal
Between velocity deviation Verr, by speed control according to the velocity deviation VerrDetermine corresponding target torque Tasr, electric current control
Device processed is according to the actual current I of variable-frequency motorfdbActual torque is calculated (due to the actual torque and actual current IfdbBetween have
There is conversion coefficient, therefore, the actual current I can be passed throughfdbAnd conversion coefficient calculates actual torque), turned according to the target
Square TasrTarget current I is determined with the actual torque calculated, and the target current I is transmitted to variable-frequency motor, position detection
Unit obtains the anglec of rotation θ of the variable-frequency motor, and velocity arithmetic device can be calculated according to the anglec of rotation θ and rotational time
Actual speed Vreal, torque-calculation unit can calculate the actual torque of the variable-frequency motor, finally can be by torque-calculation unit meter
The anglec of rotation θ conducts for the variable-frequency motor that the actual torque and the position detection unit for the variable-frequency motor calculated are obtained
The data source of above-mentioned laod unbalance detection method, that is to say, that determine whether the load revolves according to the anglec of rotation θ
Circle, and the current torque being supported on when rotating a circle described in being determined according to the actual torque of the variable-frequency motor is minimum
Value.
S20：Present reference value is determined according to the current torque minimum value and previous a reference value；
It should be noted that after current torque minimum value is obtained, can be according to current torque minimum value and previous a reference value
Present reference value is determined, the present reference value is a reference value that can be regarded as current time, because accelerated service process is one
Individual lasting process, therefore, in addition to first time determines present reference value, can exist previous during determination present reference value afterwards
The previous a reference value that moment determines, certainly, it is assumed that when current time is determines present reference value for the first time, can be according to described current
Torque minimum value and initial baseline value determine present reference value.
For ease of determining in the present reference value, the present embodiment, can by the current torque minimum value with it is described previous
A reference value is contrasted, and present reference value is determined according to comparing result.
In order to ensure the accuracy rate of the laod unbalance state-detection, it is necessary to make the present reference value be current torque
Minimum value in minimum value and history torque minimum value (each torque minimum value obtained before), in the specific implementation, can
The current torque minimum value is contrasted with the previous a reference value, is more than institute in comparing result for the previous a reference value
When stating current torque minimum value, using the current torque minimum value as the present reference value, before comparing result is described
When one a reference value is less than or equal to the current torque maximum, the previous a reference value is regard as the present reference value.
Certainly, the initial baseline value needs to be more than all torque minimum values, accordingly, it would be desirable to which the initial baseline value is set
Torque minimum value that a ratio is likely to occur all big values are set to, in the specific implementation, would generally be by each a reference value using default
Data type is stored, now, and the initial baseline value can be set to the maximum of the preset data type, to compile
Device is 16 and exemplified by preset data type is int types, the initial baseline value can be set into 32767, certainly, may be used also
Other numerical value are set to, the present embodiment is not any limitation as to this.
S30：Calculate the difference between the current torque minimum value and present reference value；
S40：Judge whether the load is in non-equilibrium state according to the difference.
, can be by the difference and default threshold for ease of judging whether the load is in non-equilibrium state, the present embodiment
Value is compared, and judges whether the load is in non-equilibrium state according to comparative result.
It should be noted that when the difference is excessive, can assert that the load is in non-equilibrium state, implement
In, the difference and predetermined threshold value can be compared, when comparative result is that the difference exceedes the predetermined threshold value, assert
The load is in non-equilibrium state, comparative result be the difference not less than the predetermined threshold value when, assert the load
It is not in non-equilibrium state.
The process that laod unbalance is detected is illustrated with a specific example below, but does not limit the present invention's
Protection domain.Reference picture 4, it is assumed that R1 represents the last week of load rotation, R2 representatives are supported on one week of current time rotation, if
Tmin1For the current torque minimum value obtained in R1, Tmin2For the current torque minimum value obtained in R2, if the previous benchmark in R1
It is worth for B0, the present reference value determined in R1 is B1, the present reference value determined in R2 is B2, predetermined threshold value is Ct。
, can be by T when carrying out uneven detection in R1min1And B0Contrasted, be B in comparing result0More than Tmin1When,
By Tmin1It is used as B1；It is B in comparing result0Less than or equal to Tmin1When, by B0It is used as B1；
Calculate the Tmin1And B1Between difference Tmin1-B1, by difference Tmin1-B1With CtIt is compared, in comparative result
For the difference Tmin1-B1More than CtWhen, assert that the load is in non-equilibrium state, be the difference T in comparative resultmin1-
B1Not less than the CtWhen, assert that the load is not in non-equilibrium state.
Assuming that the testing result in R1 is not in non-equilibrium state for load, now, R2 can be entered.
, can be by T when carrying out uneven detection in R2min2And B1Contrasted, be B in comparing result1More than Tmin2When,
By Tmin2It is used as B2；It is B in comparing result1Less than or equal to Tmin2When, by B1It is used as B2；
Calculate the Tmin2And B2Between difference Tmin2-B2, by difference Tmin2-B2With CtIt is compared, in comparative result
For the difference Tmin2-B2More than CtWhen, assert that the load is in non-equilibrium state, be the difference T in comparative resultmin2-
B2Not less than the CtWhen, assert that the load is not in non-equilibrium state.
The present embodiment is when load is in accelerated service process, and the torque to the load is detected, obtains described negative
Current torque minimum value when rotating a circle is loaded in, current base is determined according to the current torque minimum value and previous a reference value
Value, calculates the difference between the current torque minimum value and present reference value, and whether the load is judged according to the difference
In non-equilibrium state, it is achieved thereby that the uneven detection of movement segment, it is to avoid the mechanical part of equipment collides and led
Equipment is caused to be damaged, and testing cost and detection difficulty are relatively low.
Further, as shown in figure 5, proposing that laod unbalance detection method second of the present invention is implemented based on first embodiment
In example, the present embodiment so that laod unbalance detection means is roller washing machine as an example, correspondingly, the load is roller.
In the present embodiment, after step S40, methods described also includes：
S50：When the load is in non-equilibrium state, the load is controlled to stop accelerated service.
It should be noted that the control load stops accelerated service, it will be appreciated that be no longer to proceed the load
Accelerate, that is to say, that the load can be made at the uniform velocity to be operated according to present speed, the load is carried out deceleration fortune
OK, so as to avoid the load from keeping accelerated service process, the mechanical part in turn resulting in equipment collides and caused
Equipment is damaged.
It will be appreciated that for roller washing machine, when there is non-equilibrium state due to roller, can generally use and shake loose
Function makes the clothing in roller scatter, but because the clothing in roller sometimes by shaking loose operation can not make it scatter, if roller
Washing machine, which is always held at, to be shaken loose in operation, can waste electric energy, while influenceing washing efficiency.
To avoid in the problem, step S50, control after the load stopping accelerated service, methods described may also include：
S60：Judge that the executed of the load shakes loose whether number of operations is more than preset times value, if the executed is trembled
Dissipate number of operations and be more than preset times value, then control the load to shut down, otherwise control the load execution to shake loose operation,
The control load reenters accelerated service process, and returns to the step S10.
Certainly, after step S40, methods described also includes：
S70：When the load is in poised state, proceed to accelerate according to the pre-set control programs control load
Operation process, and the step S10 is returned, proceed uneven detection, so as to ensure that the load is in accelerated service
Cheng Shi, often rotates a circle and carries out once uneven detection.
In the specific implementation, the pre-set control programs can be inputted by user by above-mentioned user interface.
In addition, the embodiment of the present invention also proposes a kind of computer-readable recording medium, the computer-readable recording medium
On be stored with laod unbalance detection program, laod unbalance detection program realizes following operation when being executed by processor：
When load is in accelerated service process, the torque to the load is detected, rotation is supported on described in acquisition
Current torque minimum value at one week；
Present reference value is determined according to the current torque minimum value and previous a reference value；
Calculate the difference between the current torque minimum value and present reference value；
Judge whether the load is in non-equilibrium state according to the difference.
Further, following operation is also realized when the laod unbalance detection program is executed by processor：
The difference and predetermined threshold value are compared, judge the load whether in uneven shape according to comparative result
State.
Further, following operation is also realized when the laod unbalance detection program is executed by processor：
The difference and predetermined threshold value are compared, when comparative result is that the difference exceedes the predetermined threshold value,
Assert that the load is in non-equilibrium state, comparative result be the difference not less than the predetermined threshold value when, assert described
Load is not in non-equilibrium state.
Further, following operation is also realized when the laod unbalance detection program is executed by processor：
The current torque minimum value is contrasted with the previous a reference value, current base is determined according to comparing result
Value.
Further, following operation is also realized when the laod unbalance detection program is executed by processor：
The current torque minimum value is contrasted with the previous a reference value, is the previous benchmark in comparing result
When value is more than the current torque minimum value, using the current torque minimum value as the present reference value, in comparing result
When being less than or equal to the current torque minimum value for the previous a reference value, the previous a reference value is regard as the current base
Value.
Further, the load is roller, and the laod unbalance detection program is also realized such as when being executed by processor
Lower operation：
When the load is in non-equilibrium state, the load is controlled to stop accelerated service.
Further, following operation is also realized when the laod unbalance detection program is executed by processor：
Judge that the executed of the load shakes loose whether number of operations is more than preset times value, if the executed shakes loose behaviour
Make number of times more than preset times value, then control the load to shut down, otherwise control the load execution to shake loose operation, control
The load reenters accelerated service process, and returns to the step of torque to the load is detected.
Further, following operation is also realized when the laod unbalance detection program is executed by processor：
When the load is in poised state, accelerated service is proceeded according to the pre-set control programs control load
Process, and return to the step of torque to the load is detected.
The present embodiment is by such scheme, and when load is in accelerated service process, the torque to the load is examined
Survey, current torque minimum value when rotating a circle is supported on described in acquisition, according to the current torque minimum value and previous benchmark
Value determines present reference value, calculates the difference between the current torque minimum value and present reference value, is sentenced according to the difference
Whether the disconnected load is in non-equilibrium state, it is achieved thereby that the uneven detection of movement segment, it is to avoid the Machinery Ministry of equipment
Part collides and causes equipment to be damaged, and testing cost and detection difficulty are relatively low.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property is included, so that process, method, article or system including a series of key elements not only include those key elements, and
And also including other key elements being not expressly set out, or also include for this process, method, article or system institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Also there is other identical element in process, method, article or the system of key element.
The embodiments of the present invention are for illustration only, and the quality of embodiment is not represented.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Understood based on such, technical scheme is substantially done to prior art in other words
Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions to cause a station terminal equipment (can be mobile phone,
Computer, server, air conditioner, or network equipment etc.) perform method described in each of the invention embodiment.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of laod unbalance detection method, it is characterised in that the described method comprises the following steps：
When load is in accelerated service process, the torque to the load is detected, is supported on and is rotated a circle described in acquisition
When current torque minimum value；
Present reference value is determined according to the current torque minimum value and previous a reference value；
Calculate the difference between the current torque minimum value and present reference value；
Judge whether the load is in non-equilibrium state according to the difference.
2. the method as described in claim 1, it is characterised in that described to judge the load whether in not according to the difference
Poised state, is specifically included：
The difference and predetermined threshold value are compared, judge whether the load is in non-equilibrium state according to comparative result.
3. method as claimed in claim 2, it is characterised in that described to be compared the difference and predetermined threshold value, according to
Comparative result judges whether the load is in non-equilibrium state, specifically includes：
The difference and predetermined threshold value are compared, when comparative result is that the difference exceedes the predetermined threshold value, assert
The load is in non-equilibrium state, comparative result be the difference not less than the predetermined threshold value when, assert the load
It is not in non-equilibrium state.
4. the method as described in claim 1, it is characterised in that described according to the current torque minimum value and previous a reference value
Present reference value is determined, is specifically included：
The current torque minimum value is contrasted with the previous a reference value, present reference value is determined according to comparing result.
5. method as claimed in claim 4, it is characterised in that described by the current torque minimum value and the previous benchmark
Value is contrasted, and present reference value is determined according to comparing result, is specifically included：
The current torque minimum value is contrasted with the previous a reference value, is that the previous a reference value is big in comparing result
It is institute in comparing result using the current torque minimum value as the present reference value when current torque minimum value
When stating previous a reference value less than or equal to the current torque minimum value, the previous a reference value is regard as the present reference value.
6. such as method according to any one of claims 1 to 5, it is characterised in that the load is roller；
Correspondingly, described to judge whether the load is in after non-equilibrium state according to the difference, methods described also includes：
When the load is in non-equilibrium state, the load is controlled to stop accelerated service.
7. method as claimed in claim 6, it is characterised in that the control load stops after accelerated service, described
Method also includes：
Judge that the executed of the load shakes loose whether number of operations is more than preset times value, if the executed shakes loose operation time
Number is more than preset times value, then controls the load to shut down, and otherwise controls the load execution to shake loose operation, control is described
Load reenters accelerated service process, and returns to the step of torque to the load is detected.
8. such as method according to any one of claims 1 to 5, it is characterised in that described to judge described negative according to the difference
Carry and whether be in after non-equilibrium state, methods described also includes：
When the load is in poised state, accelerated service is proceeded according to the pre-set control programs control load
Journey, and return to the step of torque to the load is detected.
9. a kind of laod unbalance detection means, it is characterised in that the laod unbalance detection means includes：Load, storage
The laod unbalance detection program that device, processor and being stored in can be run on the memory and on the processor, it is described
Laod unbalance detection program is arranged for carrying out the laod unbalance detection method as any one of claim 1 to 8
Step.
10. a kind of computer-readable recording medium, it is characterised in that load is stored with the computer-readable recording medium not
Balance detection program, the laod unbalance detection program is realized such as any one of claim 1 to 8 institute when being executed by processor
The step of laod unbalance detection method stated.
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| DE102009046787A1 (en) * | 2008-12-03 | 2010-06-10 | BSH Bosch und Siemens Hausgeräte GmbH | Device for detecting unbalance and/or torsion of drum in e.g. washing machine for care of laundry items, has two sets of condensers with common condenser plate, which is rotatable around rotational axis |
| US20110303252A1 (en) * | 2010-06-14 | 2011-12-15 | Askoll Holding S.R.L. | Method for measuring the moment of inertia of a drum of a washing machine and washing machine arranged to implement said method |
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