CN108755008A

CN108755008A - Load inertia detection method, system and the device of device for clothing processing

Info

Publication number: CN108755008A
Application number: CN201810614733.2A
Authority: CN
Inventors: 徐磊; 秦向南; 付俊永; 赵小安
Original assignee: Guangdong Welling Motor Manufacturing Co Ltd; Midea Welling Motor Technology Shanghai Co Ltd
Current assignee: Guangdong Welling Motor Manufacturing Co Ltd; Midea Welling Motor Technology Shanghai Co Ltd
Priority date: 2018-06-14
Filing date: 2018-06-14
Publication date: 2018-11-06
Anticipated expiration: 2038-06-14
Also published as: CN108755008B

Abstract

The present invention provides a kind of load inertia detection methods of device for clothing processing, including：In preset duration, the torque or the fluctuation of speed of motor are obtained, using the staving position corresponding to the maximum value or minimum value of torque or the fluctuation of speed as target location；When staving rotate to the speed of target location and staving be pre-set velocity when, control the motor of device for clothing processing and the first operational process carried out with the first acceleration, and the electromagnetic torque of motor is integrated to obtain first integral result；It controls motor and the second operational process is carried out with the second acceleration, and the electromagnetic torque of motor is integrated to obtain second integral result；Acquire the operating parameter of device for clothing processing；The load inertia of motor is calculated according to first integral result, second integral result and operating parameter, the eccentric position with staving of load is defined in calculating process, the further consistency that ensure that inertia detection, improves the precise degrees of the detection of clothing weight.

Description

Load inertia detection method, system and the device of device for clothing processing

Technical field

The present invention relates to device for clothing processing fields, are examined in particular to a kind of load inertia of device for clothing processing Survey method, a kind of load inertia detecting system of device for clothing processing, a kind of device for clothing processing and one kind are computer-readable Storage medium.

Background technology

Existing washing machine being capable of user's Clothes-Storing weight adjustment injection water level and detergent amount, it is ensured that clothes is in most Good wash conditions ensure washing quality, while being also avoided that the power-consuming situation of water wasting occur, and clothes weight is detected in existing product The method of amount is broadly divided into two major classes：One kind is that the weight of clothing is directly measured using weighing sensor；Another kind of is to utilize inspection The motor surveyed in washing machine accelerates or accelerates to the parameters such as time, electric current needed for another rotating speed under different load conditions, The inertia for carrying out clothing in measuring cylinder, due to weight to inertia be substantially it is proportional, just according to the proportionate relationship between them Inertia can be converted into weight.

It needs that weighing sensor additionally is installed in such a way that weighing sensor directly measures the weight of clothing, can cause to produce Product cost increases, and needs a suitable installation space, and existing design installation is mostly inconvenience, and utilizes the electricity in washing machine The method that machine measures clothing inertia does not need special sensor, therefore installation question is not present, in roller washing machine, usually It is to detect load inertia by acceleration and deceleration, does not consider the otherness of washing machine drum friction, lead to accuracy of detection deviation It is larger, while not considering the influence that laod unbalance detects inertia yet, obtained clothes weight error is larger, cannot meet User needs.

Invention content

The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.

For this purpose, the first aspect of the present invention is, a kind of load inertia detection method of device for clothing processing is provided.

The second aspect of the present invention is, provides a kind of load inertia detecting system of device for clothing processing.

The third aspect of the present invention is, provides a kind of device for clothing processing.

The fourth aspect of the present invention is, provides a kind of computer readable storage medium.

In view of this, according to the first aspect of the invention, it is used that the present invention provides a kind of loads of device for clothing processing Quantity measuring method, including：In preset duration, the torque or the fluctuation of speed of motor are obtained, by the maximum of torque or the fluctuation of speed Staving position corresponding to value or minimum value is as target location；When the speed that staving is rotated to target location and staving is default When speed, controls the motor of device for clothing processing and the first operational process is carried out with the first acceleration, and to the electromagnetic torque of motor It is integrated to obtain first integral result；It controls motor and the second operational process is carried out with the second acceleration, and to the electricity of motor Magnetic torque is integrated to obtain second integral result；Acquire the operating parameter of device for clothing processing, wherein operating parameter is at least Including：First operation duration of the first operational process and the two-end-point tachometer value of the first operational process, the second operational process The two-end-point tachometer value of second operation duration and the second operational process；According to first integral result, second integral result and Operating parameter calculates the load inertia of motor.

The load inertia detection method of device for clothing processing provided by the present invention, in device for clothing processing operational process In, control motor according to the first acceleration carry out the first operational process, in the first operational process to the electromagnetic torque of motor into Row integral obtains first integral result；After terminating the first operational process, control motor carries out the second fortune according to the second acceleration Row process, and the electromagnetic torque of motor in the second operational process is integrated, obtain second integral result；Count clothing processing The operating parameter of device, wherein operating parameter include but not limited to the first operation duration and the first operation in the first operational process The two-end-point rotating speed of the two-end-point tachometer value of process and the second operation duration and the second operational process in the second operational process Value, by first integral result, second integral result, the first operation duration, the first operation duration and second operation duration The tachometer value of start time and finish time and the first operational process and the second operational process two-end-point calculates current motor Load inertia, and then the weight of clothing in present cloth processing unit is calculated according to load inertia, and according to clothes weight Select suitable water level and detergent amount, at the same in order to improve load inertia rate curve consistency, and then improve detection The precision of load weight obtains the torque or the fluctuation of speed of motor in preset duration, determines that torque or the fluctuation of speed are maximum Value or when minimum value staving position, when staving rotate to the speed of target location and staving be pre-set velocity when, calculate electricity The load inertia of machine, the present invention, which is calculated, to be considered by detecting the method that the load inertia of motor determines the weight of clothing at clothing The otherness of the staving friction of device is managed, while in view of the influence that laod unbalance detects inertia, while calculated The eccentric position with staving of load is defined in journey, further be ensure that the consistency of inertia detection, is improved clothing weight Detection precise degrees, reduce the power-consuming situation of water wasting, reduce the waste of resource, improve the usage experience of user.

In addition, the load inertia detection method of device for clothing processing in above-mentioned technical proposal provided by the invention can be with With following additional technical feature：

Above-mentioned technical proposal, it is preferable that the maximum value of torque or the fluctuation of speed or torque ripple or minimum value institute is right After the staving position answered is as target location, when staving rotate to the speed of target location and staving be pre-set velocity when, It controls the motor of device for clothing processing and the first operational process is carried out with the first acceleration, and the electromagnetic torque of motor is integrated Before obtaining first integral result, to further include：The speed of detection staving in real time；When staving speed is pre-set velocity and at least one When the secondary target location for detecting staving, the first operational process is executed；Otherwise control staving is straight according to pre-set velocity uniform rotation To rotating to target location.

In the technical scheme, after determining the rolling target of staving, the speed of staving is detected in real time, judges whether to reach To pre-set velocity, when reaching pre-set velocity and staving is rotated to target location, control motor executes the first operational process, works as bucket The speed of body reaches pre-set velocity, but when staving fails rotation to target location, control staving is rotated according to pre-set velocity, directly Rotated to staving to target location, further unified the design conditions of load inertia so that each computational load inertia with The relative position of staving is consistent, and improves the precision of detection, meanwhile, reach pre-set velocity in the speed of staving, but bucket When body fails rotation to target location, control staving is rotated according to pre-set velocity, until staving is rotated to target location, is at the uniform velocity revolved The staving turned is ensured in the motor for carrying out the first operational process and the first operational process for carrying out load inertia detection next time There is identical acceleration, further improves computational accuracy.

Any of the above-described technical solution, it is preferable that in preset duration, the torque of motor is right in maximum value or minimum value institute The staving position answered is specifically included as target location：In preset duration, the torque of motor is detected in real time, obtains torque most Big value or torque minimum value；Record the rotor-position corresponding to torque maximum value or torque minimum value；According to rotor-position and bucket The correspondence of body position determines target location.

In the technical scheme, in preset duration, the torque of motor is detected, to determine the maximum value and most of motor torque Small value, and determine torque maximum value and the corresponding rotor-position of torque minimum value, and then according to existing rotor-position and staving The correspondence of position finds out corresponding staving position, and using staving position as target location, realizes and rotated using staving Evolution characterizes the state of motor, and first operational process that starts when being rotated to target location by counting staving calculates Load inertia is obtained, the design conditions for realizing load inertia are unified, for the rate curve tool of the load inertia calculated each time Standby consistency provides guarantee.

Any of the above-described technical solution, it is preferable that in preset duration, by the fluctuation of speed of motor in maximum value or minimum value When corresponding staving position as target location, specifically include：In preset duration, the current rotating speed of motor is detected in real time； Current rotating speed is subjected to high-pass filtering, determines the first fluctuation of speed range；Record in the first fluctuation of speed range maximum value or most It is small to be worth corresponding rotor-position；Target location is determined according to the correspondence of rotor-position and staving position.

In the technical scheme, in preset duration, the current rotating speed of motor is detected, using high-pass filtering to current rotating speed It is filtered, obtains the fluctuation of current rotating speed, i.e. the first fluctuation of speed range, since first fluctuation of speed is about one continuous The undulating value of variation determines maximum value and minimum value in first fluctuation of speed by the size of statistical fluctuation value, utilizes waveform Visibility point, as maximum value and minimum value determine the position of current motor rotor, and then according to existing rotor-position and bucket The correspondence of body position finds out corresponding staving position, and using staving position as target location, realizes and revolved using staving Turn evolution to characterize the state of motor, the first operational process for starting when being rotated to target location by counting staving is counted Calculation obtains load inertia, and the design conditions for realizing load inertia are unified, for the rate curve of the load inertia calculated each time Have consistency and guarantee is provided.

Any of the above-described technical solution, it is preferable that in preset duration, by the fluctuation of speed of motor in maximum value or minimum value When corresponding staving position as target location, specifically include：In preset duration, the current rotating speed of motor is detected in real time； The difference for calculating current rotating speed and preset rotation speed, to obtain the second fluctuation of speed range；It records in the second fluctuation of speed range most Big value or the corresponding rotor-position of minimum value；Target location is determined according to the correspondence of rotor-position and staving position.

In the technical scheme, in preset duration, the current rotating speed of motor is detected, the current rotating speed is calculated and presets The difference of rotating speed, to obtain the second fluctuation of speed range, i.e. the second fluctuation of speed range, due to second fluctuation of speed be one not The disconnected undulating value changed up and down, maximum value and minimum value in second fluctuation of speed are determined by the size of statistical fluctuation value, profit With waveform visibility point, as maximum value and minimum value determine the position of current motor rotor, and then according to existing rotor position It sets and finds out corresponding staving position with the correspondence of staving position, and using staving position as target location, realize and utilize Staving rotation position becomes the state for bringing characterization motor, and first started when being rotated to target location by counting staving ran Load inertia is calculated in journey, and the design conditions for realizing load inertia are unified, for the speed of the load inertia calculated each time Line of writing music has consistency and provides guarantee.

Any of the above-described technical solution, it is preferable that load inertia is calculated by the following formula to obtain：

Wherein, J is load inertia, t_A、t_B、t_C、t_DRespectively the first operation duration and the second operation duration at the beginning of Quarter and finish time；ω_A、ω_B、ω_C、ω_DThe tachometer value of respectively the first operational process and the second operational process two-end-point,WithFor first integral result and second integral result.

In the technical scheme, load inertia J is directly by first integral resultSecond integral resultThe One operation duration and the second operation duration at the beginning of carve and finish time t_A、t_B、t_C、t_D, the first operational process and second fortune The tachometer value ω of row process two-end-point_A、ω_B、ω_C、ω_DIt is calculated, without complicated calculating.

Any of the above-described technical solution, it is preferable that the first operation duration and the second operation duration are device for clothing processing staving Swing circle integral multiple, and the first operation duration and the second operation duration are equal relative to the multiple of swing circle.

In the technical scheme, the first operation duration and the swing circle that the second operation duration is device for clothing processing staving Integral multiple, and the first operation duration and the second operation duration are equal relative to the multiple of swing circle.Such as the first operation duration It is rotated N weeks for staving, the staving of corresponding second operation duration equally rotates N weeks, by being transported to the first operation duration and second The unification of the swing circle of row duration, it is ensured that the load inertia confidence level highest being calculated, and then the clothing weight determined is more It is accurate.

According to the second aspect of the invention, the present invention provides the load inertia detecting system of device for clothing processing, packets It includes：Memory, for storing computer program；Processor, for execute computer program with：In preset duration, institute is obtained The torque or the fluctuation of speed for stating motor, by the staving position corresponding to the torque or fluctuation of speed maximum value or minimum value As target location；When the staving rotate to the speed of the target location and the staving be pre-set velocity when, control institute It states the motor of device for clothing processing and the first operational process is carried out with the first acceleration, and the electromagnetic torque of the motor is accumulated Divide to obtain first integral result；It controls the motor and the second operational process is carried out with the second acceleration, and to the motor Electromagnetic torque is integrated to obtain second integral result；Acquire the operating parameter of the device for clothing processing, wherein the fortune Row parameter includes at least：The two-end-point rotating speed of first operation duration of first operational process and first operational process The two-end-point tachometer value of value, the second operation duration of the second operational process and the second operational process；According to the first integral As a result, the second integral result and the operating parameter calculate the load inertia of the motor.

The load inertia detecting system of device for clothing processing provided by the present invention, the operation control of the device for clothing processing System includes the memory for being stored with computer program and the processor for being able to carry out the computer program, is filled in clothing processing It sets in operational process, control motor carries out the first operational process according to the first acceleration, to motor in the first operational process Electromagnetic torque is integrated to obtain first integral result；After terminating the first operational process, control motor is according to the second acceleration The second operational process is carried out, and the electromagnetic torque of motor in the second operational process is integrated, obtains second integral result；System The operating parameter of device for clothing processing is counted, wherein operating parameter includes but not limited to the first operation duration in the first operational process With the second operation duration and the second operational process in the two-end-point tachometer value and the second operational process of the first operational process Two-end-point tachometer value, by first integral result, second integral result, the first operation duration, the first operation duration and second It carves at the beginning of operation duration and is calculated with finish time and the tachometer value of the first operational process and the second operational process two-end-point The load inertia of current motor, and then the weight of clothing in present cloth processing unit is calculated according to load inertia, and root Select suitable water level and detergent amount according to clothes weight, at the same in order to improve load inertia rate curve consistency, into And the precision for improving detection load weight obtains the torque or the fluctuation of speed of motor in preset duration, determines torque or turns The position of staving when speed fluctuation maximum value or minimum value is pre-set velocity when staving is rotated to the speed of target location and staving When, the load inertia of motor is calculated, the present invention is calculated to be examined by detecting the method that the load inertia of motor determines the weight of clothing Consider the otherness of the staving friction of device for clothing processing, while in view of the influence that laod unbalance detects inertia, together When the eccentric position with staving of load is defined in calculating process, further ensure that the consistency of inertia detection, improve The precise degrees of the detection of clothing weight reduce the power-consuming situation of water wasting, reduce the waste of resource, improve making for user With experience.

In addition, the load inertia detecting system of device for clothing processing in above-mentioned technical proposal provided by the invention can be with With following additional technical feature：

Above-mentioned technical proposal, it is preferable that processor, be specifically used for execute computer program with：The speed of detection staving in real time Degree；When staving speed is pre-set velocity and detects the target location of staving at least once, the first operational process is executed；Otherwise Control staving is according to pre-set velocity uniform rotation until rotating to target location.

Above-mentioned technical proposal, it is preferable that processor, be specifically used for execute computer program with：In preset duration, in real time The torque for detecting motor, obtains torque maximum value or torque minimum value；It records corresponding to torque maximum value or torque minimum value Rotor-position；Target location is determined according to the correspondence of rotor-position and staving position.

Above-mentioned technical proposal, it is preferable that processor, be specifically used for execute computer program with：In preset duration, in real time Detect the current rotating speed of motor；Current rotating speed is subjected to high-pass filtering, determines the first fluctuation of speed range；Record the first rotating speed wave Maximum value or the corresponding rotor-position of minimum value in dynamic range；Target is determined according to the correspondence of rotor-position and staving position Position.

Above-mentioned technical proposal, it is preferable that processor, be specifically used for execute computer program with：In preset duration, in real time Detect the current rotating speed of motor；The difference for calculating current rotating speed and preset rotation speed, to obtain the second fluctuation of speed range；Record the Maximum value or the corresponding rotor-position of minimum value in two fluctuation of speed ranges；According to the correspondence of rotor-position and staving position Determine target location.

According to the third aspect of the present invention, the present invention provides a kind of device for clothing processing, including any of the above-described clothing The operation control system of object processing unit.

A kind of device for clothing processing proposed by the present invention includes the operation control system of any of the above-described device for clothing processing System, has whole advantageous effects of the operation control system of device for clothing processing, details are not described herein.

According to the fourth aspect of the present invention, a kind of computer readable storage medium is provided, computer is stored thereon with Program, the step of method as described in any of the above-described technical solution is realized when computer program is executed by processor.

Computer readable storage medium provided by the invention, can be real when the computer program stored thereon is executed by processor The step of showing the method described in any of the above-described technical solution, thus the progress control method with above-mentioned device for clothing processing is complete Portion's advantageous effects, details are not described herein.

The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description Obviously, or practice through the invention is recognized.

Description of the drawings

The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment Obviously and it is readily appreciated that, wherein：

Fig. 1 shows the signal stream of the load inertia detection method of device for clothing processing according to an embodiment of the invention Cheng Tu；

Fig. 2 shows the signals of the load inertia detection method of device for clothing processing in accordance with another embodiment of the present invention Flow chart；

Fig. 3 shows the signal of the load inertia detection method according to the device for clothing processing of further embodiment of the present invention Flow chart；

Fig. 4 shows the signal of the load inertia detection method of the device for clothing processing according to another embodiment of the invention Flow chart；

Fig. 5 shows the signal of the load inertia detection method of the device for clothing processing according to another embodiment of the invention Flow chart；

Fig. 6 shows the schematic block of the load inertia detecting system of device for clothing processing according to an embodiment of the invention Figure；

Fig. 7 shows device for clothing processing schematic block diagram according to an embodiment of the invention；

Fig. 8 shows the actual speed, command speed and torque of roller washing machine according to an embodiment of the invention Relation schematic diagram between three；

Fig. 9 shows the relation schematic diagram between computational load inertia each section according to an embodiment of the invention；

Figure 10 shows the flow diagram of computational load inertia according to an embodiment of the invention；

Figure 11 shows the actual speed, command speed and motor of roller washing machine according to an embodiment of the invention Relation schematic diagram between rotating speed filtered signal three；

Figure 12 shows the relation schematic diagram between computational load inertia each section according to an embodiment of the invention；

Figure 13 shows the flow diagram of computational load inertia according to an embodiment of the invention；

Figure 14 shows the actual speed, command speed and rotating speed of roller washing machine according to an embodiment of the invention Relation schematic diagram between fluctuation information three；

Figure 15 shows the relation schematic diagram between computational load inertia each section according to an embodiment of the invention；

Figure 16 shows the flow diagram of computational load inertia according to an embodiment of the invention.

Specific implementation mode

It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that aforementioned aspect of the present invention, feature and advantage Mode is applied the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application Feature in example and embodiment can be combined with each other.

Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also To be implemented different from other modes described here using other, therefore, protection scope of the present invention is not by described below Specific embodiment limitation.

The embodiment of the first aspect of the present invention provides a kind of progress control method of device for clothing processing.

Fig. 1 shows the signal stream of the load inertia detection method of device for clothing processing according to an embodiment of the invention Cheng Tu.

As shown in Figure 1, the load inertia detection method of the device for clothing processing of one embodiment of the present of invention includes：

S102 obtains the torque or the fluctuation of speed of motor in preset duration, by the maximum value of torque or the fluctuation of speed or Staving position corresponding to minimum value is as target location；

S104, when staving rotate to the speed of target location and staving be pre-set velocity when, control device for clothing processing Motor carries out the first operational process with the first acceleration, and is integrated to the electromagnetic torque of motor to obtain first integral knot Fruit；

S106, control motor carries out the second operational process with the second acceleration, and is integrated to the electromagnetic torque of motor To obtain second integral result；

S108 acquires the operating parameter of device for clothing processing；

S110 calculates the load inertia of motor according to first integral result, second integral result and operating parameter.

Wherein, operating parameter includes at least：First operation duration of the first operational process and the two of the first operational process The two-end-point tachometer value of endpoint tachometer value, the second operation duration of the second operational process and the second operational process.

Fig. 2 shows the signals of the load inertia detection method of device for clothing processing in accordance with another embodiment of the present invention Flow chart.

As shown in Fig. 2, the load inertia detection method of the device for clothing processing of one embodiment of the present of invention includes：

S202 obtains the torque or the fluctuation of speed of motor in preset duration, by the maximum value of torque or the fluctuation of speed or Staving position corresponding to minimum value is as target location；

S204 detects the speed of staving in real time；

S206 executes the first fortune when staving speed is pre-set velocity and detects the target location of staving at least once Row process；Otherwise staving is controlled according to pre-set velocity uniform rotation until rotating to target location；

S208, when staving rotate to the speed of target location and staving be pre-set velocity when, control device for clothing processing Motor carries out the first operational process with the first acceleration, and is integrated to the electromagnetic torque of motor to obtain first integral knot Fruit；

S210, control motor carries out the second operational process with the second acceleration, and is integrated to the electromagnetic torque of motor To obtain second integral result；

S212 acquires the operating parameter of device for clothing processing；

S214 calculates the load inertia of motor according to first integral result, second integral result and operating parameter.

In this embodiment, after determining the rolling target of staving, the speed of staving is detected in real time, judges whether to reach Pre-set velocity, when reaching pre-set velocity and staving is rotated to target location, control motor executes the first operational process, works as staving Speed reach pre-set velocity, but when staving fails rotation to target location, control staving is rotated according to pre-set velocity, until Staving is rotated to target location, has further unified the design conditions of load inertia so that each computational load inertia and bucket The relative position of body is consistent, and improves the precision of detection, meanwhile, reach pre-set velocity in the speed of staving, but staving When failing rotation to target location, control staving is rotated according to pre-set velocity, until staving is rotated to target location, is at the uniform velocity rotated Staving ensure carry out the first operational process motor with carry out next time load inertia detect the first operational process have Identical acceleration, further improves computational accuracy.

Fig. 3 shows the signal of the load inertia detection method according to the device for clothing processing of further embodiment of the present invention Flow chart.

As shown in figure 3, the progress control method of the device for clothing processing of one embodiment of the present of invention includes：

S302 detects the torque of motor, obtains torque maximum value or torque minimum value in real time in preset duration；

S304 records the rotor-position corresponding to torque maximum value or torque minimum value；

S306 determines target location according to the correspondence of rotor-position and staving position；

S308 detects the speed of staving in real time；

S310 executes the first fortune when staving speed is pre-set velocity and detects the target location of staving at least once Row process；Otherwise staving is controlled according to pre-set velocity uniform rotation until rotating to target location；

S312, when staving rotate to the speed of target location and staving be pre-set velocity when, control device for clothing processing Motor carries out the first operational process with the first acceleration, and is integrated to the electromagnetic torque of motor to obtain first integral knot Fruit；

S314, control motor carries out the second operational process with the second acceleration, and is integrated to the electromagnetic torque of motor To obtain second integral result；

S316 acquires the operating parameter of device for clothing processing；

S318 calculates the load inertia of motor according to first integral result, second integral result and operating parameter.

In this embodiment, in preset duration, the torque of motor is detected, to determine the maximum value and minimum of motor torque Value, and determine torque maximum value and the corresponding rotor-position of torque minimum value, and then according to existing rotor-position and staving position The correspondence set finds out corresponding staving position, and using staving position as target location, realizes and rotate position using staving The state for becoming and bringing characterization motor is set, the first operational process for starting calculates when being rotated to target location by counting staving To load inertia, the design conditions for realizing load inertia are unified, and the rate curve of the load inertia to calculate each time has Consistency provides guarantee.

Fig. 4 shows the signal of the load inertia detection method of the device for clothing processing according to another embodiment of the invention Flow chart.

As shown in figure 4, the load inertia detection method of the device for clothing processing of one embodiment of the present of invention includes：

S402 detects the current rotating speed of motor in real time in preset duration；

Current rotating speed is carried out high-pass filtering by S404, determines the first fluctuation of speed range；

S406 records maximum value or the corresponding rotor-position of minimum value in the first fluctuation of speed range；

S408 determines target location according to the correspondence of rotor-position and staving position；

S410 detects the speed of staving in real time；

S412 executes the first fortune when staving speed is pre-set velocity and detects the target location of staving at least once Row process；Otherwise staving is controlled according to pre-set velocity uniform rotation until rotating to target location；

S414, when staving rotate to the speed of target location and staving be pre-set velocity when, control device for clothing processing Motor carries out the first operational process with the first acceleration, and is integrated to the electromagnetic torque of motor to obtain first integral knot Fruit；

S416, control motor carries out the second operational process with the second acceleration, and is integrated to the electromagnetic torque of motor To obtain second integral result；

S418 acquires the operating parameter of device for clothing processing；

S420 calculates the load inertia of motor according to first integral result, second integral result and operating parameter.

In this embodiment, in preset duration, detect the current rotating speed of motor, using high-pass filtering to current rotating speed into Row filtering, obtains the fluctuation of current rotating speed, i.e. the first fluctuation of speed range, constantly becomes up and down since first fluctuation of speed is one The undulating value of change determines maximum value and minimum value in first fluctuation of speed by the size of statistical fluctuation value, bright using waveform Aobvious position, as maximum value and minimum value determine the position of current motor rotor, and then according to existing rotor-position and staving The correspondence of position finds out corresponding staving position, and using staving position as target location, realizes and rotated using staving Evolution characterizes the state of motor, and first operational process that starts when being rotated to target location by counting staving calculates Load inertia is obtained, the design conditions for realizing load inertia are unified, for the rate curve tool of the load inertia calculated each time Standby consistency provides guarantee.

Fig. 5 shows the signal of the load inertia detection method of the device for clothing processing according to another embodiment of the invention Flow chart.

As shown in figure 5, the load inertia detection method of the device for clothing processing of one embodiment of the present of invention includes：

S502 detects the current rotating speed of motor in real time in preset duration；

S504 calculates the difference of current rotating speed and preset rotation speed, to obtain the second fluctuation of speed range；

S506 records maximum value or the corresponding rotor-position of minimum value in the second fluctuation of speed range；

S508 determines target location according to the correspondence of rotor-position and staving position；

S510 detects the speed of staving in real time；

S512 executes the first fortune when staving speed is pre-set velocity and detects the target location of staving at least once Row process；Otherwise staving is controlled according to pre-set velocity uniform rotation until rotating to target location；

S514, when staving rotate to the speed of target location and staving be pre-set velocity when, control device for clothing processing Motor carries out the first operational process with the first acceleration, and is integrated to the electromagnetic torque of motor to obtain first integral knot Fruit；

S516, control motor carries out the second operational process with the second acceleration, and is integrated to the electromagnetic torque of motor To obtain second integral result；

S518 acquires the operating parameter of device for clothing processing；

S520 calculates the load inertia of motor according to first integral result, second integral result and operating parameter.

In this embodiment, in preset duration, the current rotating speed of motor is detected, the current rotating speed is calculated and turns with default The difference of speed, to obtain the second fluctuation of speed range, i.e. the second fluctuation of speed range, since second fluctuation of speed is one continuous The undulating value changed up and down determines maximum value and minimum value in second fluctuation of speed by the size of statistical fluctuation value, utilizes Waveform visibility point, as maximum value and minimum value determine the position of current motor rotor, and then according to existing rotor-position Corresponding staving position is found out with the correspondence of staving position, and using staving position as target location, realizes and utilizes bucket Body rotation position becomes the state for bringing characterization motor, the first operational process started when being rotated to target location by counting staving Load inertia is calculated, the design conditions for realizing load inertia are unified, for the speed of the load inertia calculated each time Curve has consistency and provides guarantee.

In one embodiment of the invention, load inertia is calculated by the following formula to obtain：

In this embodiment, load inertia J is directly by first integral resultSecond integral resultFirst Operation duration and the second operation duration at the beginning of carve and finish time t_A、t_B、t_C、t_D, the first operational process and second operation The tachometer value ω of process two-end-point_A、ω_B、ω_C、ω_DIt is calculated, without complicated calculating.

In one embodiment of the invention, the first operation duration and the second operation duration are device for clothing processing staving The integral multiple of swing circle, and the first operation duration and the second operation duration are equal relative to the multiple of swing circle.

In this embodiment, the first operation duration and the second operation duration are the swing circle of device for clothing processing staving Integral multiple, and the first operation duration and the second operation duration are equal relative to the multiple of swing circle.As the first operation duration is Staving rotates N weeks, and the staving of corresponding second operation duration equally rotates N weeks, by being run to the first operation duration and second The unification of the swing circle of duration, it is ensured that the load inertia confidence level highest being calculated, and then the clothing weight determined is more Accurately.

The embodiment of the second aspect of the present invention provides a kind of load inertia detecting system of device for clothing processing.

Fig. 6 shows the schematic block of the load inertia detecting system of device for clothing processing according to an embodiment of the invention Figure.

As shown in fig. 6, the load inertia detecting system 600 of the device for clothing processing of one embodiment of the present of invention includes：

Memory 602, for storing computer program；Processor 604, for execute computer program with：

In preset duration, the torque or the fluctuation of speed of the motor are obtained, by the torque or fluctuation of speed maximum value Or the staving position corresponding to minimum value is as target location；When the staving is rotated to the target location and the bucket When the speed of body is pre-set velocity, controls the motor of the device for clothing processing and the first operational process is carried out with the first acceleration, And the electromagnetic torque of the motor is integrated to obtain first integral result；The motor is controlled to carry out with the second acceleration Second operational process, and the electromagnetic torque of the motor is integrated to obtain second integral result；It acquires at the clothing Manage the operating parameter of device, wherein the operating parameter includes at least：First operation duration of first operational process and The two of the two-end-point tachometer value of first operational process, the second operation duration of the second operational process and the second operational process Endpoint tachometer value；The motor is calculated according to the first integral result, the second integral result and the operating parameter Load inertia.

The load inertia detecting system of device for clothing processing provided by the present invention, the operation control of the device for clothing processing System includes the memory 602 for being stored with computer program and the processor 604 for being able to carry out the computer program, in clothing In processing unit operational process, control motor carries out the first operational process according to the first acceleration, right in the first operational process The electromagnetic torque of motor is integrated to obtain first integral result；After terminating the first operational process, control motor is according to second Acceleration carries out the second operational process, and is integrated to the electromagnetic torque of motor in the second operational process, obtains second integral As a result；The operating parameter of device for clothing processing is counted, wherein operating parameter includes but not limited to first in the first operational process The two-end-point tachometer value and the second operation duration in the second operational process and the second fortune of operation duration and the first operational process The two-end-point tachometer value of row process passes through first integral result, second integral result, the first operation duration, the first operation duration And carved at the beginning of the second operation duration and finish time and the first operational process and the second operational process two-end-point turn Speed value calculates the load inertia of current motor, and then the weight of clothing in present cloth processing unit is calculated according to load inertia Amount, and suitable water level and detergent amount are selected according to clothes weight, at the same in order to improve load inertia rate curve one Cause property, and then the precision of detection load weight is improved, in preset duration, the torque or the fluctuation of speed of motor are obtained, determines and turns Square either fluctuation of speed maximum value or when minimum value staving position, when the speed that staving is rotated to target location and staving is When pre-set velocity, the load inertia of motor is calculated, the present invention calculates the weight that clothing is determined by detecting the load inertia of motor Method in view of device for clothing processing staving friction otherness, while in view of laod unbalance detects inertia It influences, while defining the eccentric position with staving of load in calculating process, further ensure that the consistent of inertia detection Property, the precise degrees of the detection of clothing weight are improved, the power-consuming situation of water wasting is reduced, reduces the waste of resource, improves The usage experience of user.

Preferably, processor 604, be specifically used for execute computer program with：The speed of detection staving in real time；When staving speed When degree is pre-set velocity and detects the target location of staving at least once, the first operational process is executed；Otherwise control staving is pressed According to pre-set velocity uniform rotation until rotating to target location.

Preferably, processor 604, be specifically used for execute computer program with：In preset duration, motor is detected in real time Torque obtains torque maximum value or torque minimum value；Record the rotor-position corresponding to torque maximum value or torque minimum value；Root Target location is determined according to the correspondence of rotor-position and staving position.

Preferably, processor 604, be specifically used for execute computer program with：In preset duration, motor is detected in real time Current rotating speed；Current rotating speed is subjected to high-pass filtering, determines the first fluctuation of speed range；It records in the first fluctuation of speed range most Big value or the corresponding rotor-position of minimum value；Target location is determined according to the correspondence of rotor-position and staving position.

Preferably, processor 604, be specifically used for execute computer program with：In preset duration, motor is detected in real time Current rotating speed；The difference for calculating current rotating speed and preset rotation speed, to obtain the second fluctuation of speed range；Record second fluctuation of speed Maximum value or the corresponding rotor-position of minimum value in range；Target position is determined according to the correspondence of rotor-position and staving position It sets.

The embodiment of the third aspect of the present invention provides a kind of device for clothing processing.

Fig. 7 shows 700 schematic block diagram of device for clothing processing according to an embodiment of the invention.

As shown in fig. 7, the device for clothing processing 700 of one embodiment of the present of invention includes：The operation of device for clothing processing Control system 702.

Device for clothing processing 700 proposed by the present invention includes the operation control system 702 of device for clothing processing, wherein clothing The operation control system 702 of processing unit has whole technique effects of the operation control system of above-mentioned device for clothing processing, because This, device for clothing processing 700 is likewise supplied with whole technique effects of the operation control system of above-mentioned device for clothing processing, herein not It repeats again.

The embodiment of the fourth aspect of the present invention provides a kind of computer readable storage medium, is stored thereon with computer Program, the step of method as described in any of the above-described technical solution is realized when computer program is executed by processor.

Fig. 8 shows the actual speed, command speed and torque of roller washing machine according to an embodiment of the invention Relation schematic diagram between three.

Fig. 9 shows the relation schematic diagram between computational load inertia each section according to an embodiment of the invention.

Figure 10 shows the flow diagram of computational load inertia according to an embodiment of the invention.

It should be noted that shift process onto as follows for the load inertia Computing Principle of the application device for clothing processing：

Coefficient of viscosity B in view of motor movement equation under normal conditions is smaller, is ignoring coefficient of viscosity B When, the equation of motion of motor can be transformed into：

Wherein T_dFor uneven torque, by taking roller washing machine as an example, uneven torque is according to drum rotation speed mechanical periodicity, T_f For friction torque.

As shown in figure 8, the time inner roller rotation of A-B is turned around, electromagnetic torque is known as T_e1, the time inner roller of C-D is revolved It turns around, electromagnetic torque is known as T_e2, 1 both sides of formula are integrated in A-B and C-D simultaneously, are obtained

It further calculates to obtain:

Wherein,Then change formula 3 to be changing into：

Wherein t_AAnd t_BFor the time of A, B point.

Similarly it is calculated

It is obtained after friction torque is unitized：

Formula 6, which is subtracted, using formula 5 obtains load inertia：

As shown in figure 9, weighing to ensure that the consistent performance of the rate curve of each inertia detection improves washing machine load Precision.In actual loading, it is random to load the eccentric position occurred.Eccentric position detection device determines in roller The relative position of the bias and roller of clothing controls motor with the first acceleration Accelerating running in fixed relative position；In advance If fixing the first run time, in the first run time, First Speed is preset, is started in First Speed point, rotated in roller Integral is carried out to the electromagnetic torque of motor in integer week and obtains first integral value, records two tachometer values of integrating range, First rotating speed, the second rotating speed；After first run time, control motor is default to fix the with the second acceleration Accelerating running Two run times are preset second speed, are started in second speed point, at roller rotation integer numbers week in the second run time In integral carried out to the electromagnetic torque of motor obtain second integral value, record two tachometer values of integrating range, third rotating speed, 4th rotating speed；The laundry drum is calculated according to the first integral result and the second integral result and four tachometer values The inertia of machine.Wherein, motor torque is detected in real time, records the motor position of torque maximum of points, as eccentric relative position； It maps to obtain roller and eccentric relative position by motor position and transmission ratio, or detects motor torque in real time, record turns The motor position of square minimum point, as eccentric relative position, by motor position and transmission ratio map to obtain roller with partially The relative position of the heart.

In short, before inertia detection, real-time detection motor torque information, record torque maximum value (or minimum value Point) motor position cylinder position is mapped to according to the transmission ratio of motor and roller, record the position P of roller at this time, if The speed for determining A points is speed A, and when speed reaches speed A, the speed that remains a constant speed A operations until detection cylinder position P, then are opened Beginning is accelerated at the beginning with acceleration.

When ensureing each inertia detection, load is eccentric consistent with the relative position of roller, when to ensure that inertia detects The consistency of actual speed curve improves accuracy of detection, and specifically, the flow of the computational load inertia of computational load inertia is illustrated Figure such as Figure 10.

Figure 11 shows the actual speed, command speed and motor of roller washing machine according to an embodiment of the invention Relation schematic diagram between rotating speed filtered signal three.

Figure 12 shows the relation schematic diagram between computational load inertia each section according to an embodiment of the invention.

Figure 13 shows the flow diagram of computational load inertia according to an embodiment of the invention.

As shown in figure 12, it weighs to ensure that the consistent performance of the rate curve of each inertia detection improves washing machine load Precision.In actual loading, it is random, eccentric position detection device to load the eccentric position occurred：Detection in real time Motor speed carries out high-pass filtering to rotating speed, obtains fluctuation of speed information, roller undergarment is determined according to fluctuation of speed information The eccentric relative position with roller；Eccentric position detection device determines the relative position of the bias and roller of roller undergarment, Fixed relative position controls motor with the first acceleration Accelerating running；It is default to fix the first run time, in the first operation In time, preset First Speed, start in First Speed point, within roller rotation integer numbers week to the electromagnetic torque of motor into Row integral obtains first integral value, records two tachometer values of integrating range, the first rotating speed, the second rotating speed；First run time After, control motor is preset with the second acceleration Accelerating running and fixes the second run time, in the second run time, in advance If second speed, start in second speed point, carrying out integral to the electromagnetic torque of motor within roller rotation integer numbers week obtains Second integral value is obtained, two tachometer values of integrating range, third rotating speed, the 4th rotating speed are recorded；According to the first integral result The inertia of the roller washing machine is calculated with the second integral result and four tachometer values.Wherein, detection motor turns in real time Speed carries out high-pass filtering to rotating speed, obtains fluctuation of speed information, records the motor position of fluctuation of speed information maximum of points, i.e., For eccentric relative position.It maps to obtain roller and eccentric relative position by motor position and transmission ratio, or to rotating speed High-pass filtering is carried out, fluctuation of speed information is obtained, records the motor position of fluctuation of speed information minimum point, as eccentric phase To position.It maps to obtain roller and eccentric relative position by motor position and transmission ratio.

In short, before inertia detection, motor speed information is detected in real time, will subtract rotary speed instruction in actual speed, Accelerate information in removal actual speed, obtains fluctuation signal S, the motor of record fluctuation signal S maximum values (or minimum point) Position is mapped to cylinder position according to the transmission ratio of motor and roller, records the position P of roller at this time, sets the speed of A points Degree is speed A, and when speed reaches speed A, the speed that remains a constant speed A operations until detection cylinder position P, then start to accelerate Degree accelerates at the beginning.

When ensureing each inertia detection, load is eccentric consistent with the relative position of roller, when to ensure that inertia detects The consistency of actual speed curve improves accuracy of detection, and specifically, the flow of the computational load inertia of computational load inertia is illustrated Figure such as Figure 13.

Figure 14 shows the actual speed, command speed and rotating speed of roller washing machine according to an embodiment of the invention Relation schematic diagram between fluctuation information three.

Figure 15 shows the relation schematic diagram between computational load inertia each section according to an embodiment of the invention.

As shown in figure 15, it weighs to ensure that the consistent performance of the rate curve of each inertia detection improves washing machine load Precision.In actual loading, it is random to load the eccentric position occurred, and computational load inertia needs eccentric position to examine Survey device, motor speed control module, motor torque detection module, motor speed detection module, load inertia computing module.Partially Heart position detecting device：Detection motor speed in real time, motor actual speed subtract motor command rotating speed, obtain fluctuation of speed letter Breath determines the relative position of the bias and roller of roller undergarment according to fluctuation of speed information；Eccentric position detection device determines The relative position of the bias and roller of roller undergarment controls motor in fixed relative position and accelerates to transport with the first acceleration Row；It is default to fix the first run time, in the first run time, First Speed is preset, is started in First Speed point, in roller Integral is carried out to the electromagnetic torque of motor in rotation integer numbers week and obtains first integral value, records two rotating speeds of integrating range Value, the first rotating speed, the second rotating speed；After first run time, control motor is preset and is fixed with the second acceleration Accelerating running Second run time is preset second speed, is started in second speed point in the second run time, in roller rotation integer numbers week Integral is carried out to the electromagnetic torque of motor in time and obtains second integral value, records two tachometer values of integrating range, third turns Speed, the 4th rotating speed；The roller is calculated according to the first integral result and the second integral result and four tachometer values The inertia of washing machine.Wherein, motor speed is detected in real time, and motor actual speed subtracts motor command rotating speed, obtains the fluctuation of speed Information records the motor position of fluctuation of speed information maximum of points, as eccentric relative position.Pass through motor position and transmission Roller and eccentric relative position are obtained than mapping, or detects motor speed in real time, motor actual speed subtracts motor command Rotating speed obtains fluctuation of speed information, records the motor position of fluctuation of speed information minimum point, as eccentric relative position. It maps to obtain roller and eccentric relative position by motor position and transmission ratio.

When ensureing each inertia detection, load is eccentric consistent with the relative position of roller, when to ensure that inertia detects The consistency of actual speed curve improves accuracy of detection, and specifically, the flow of the computational load inertia of computational load inertia is illustrated Figure such as Figure 16.

In the description of the present invention, term " multiple " then refers to two or more, unless otherwise restricted clearly, term The orientation or positional relationship of the instructions such as "upper", "lower" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching It states the present invention and simplifies description, do not indicate or imply the indicated device or element must have a particular orientation, with specific Azimuth configuration and operation, therefore be not considered as limiting the invention；Term " connection ", " installation ", " fixation " etc. should all It is interpreted broadly, for example, " connection " may be fixed connection or may be dismantle connection, or integral connection；Can be straight Connect it is connected, can also be indirectly connected through an intermediary.It for the ordinary skill in the art, can be according to specific feelings Condition understands the concrete meaning of above-mentioned term in the present invention.

In the description of the present invention, the description meaning of term " one embodiment ", " some embodiments ", " specific embodiment " etc. Refer at least one implementation that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained in the present invention In example or example.In the present invention, schematic expression of the above terms are not necessarily referring to identical embodiment or example.And And the particular features, structures, materials, or characteristics of description can be in any one or more of the embodiments or examples with suitable Mode combines.

The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims

1. a kind of load inertia detection method of device for clothing processing is used for device for clothing processing, wherein device for clothing processing packet Include motor and staving, which is characterized in that including：

In preset duration, obtain the torque or the fluctuation of speed of the motor, by the maximum value of the torque or the fluctuation of speed or The staving position corresponding to minimum value is as target location；

When the staving rotate to the speed of the target location and the staving be pre-set velocity when, control clothing processing The motor of device carries out the first operational process with the first acceleration, and is integrated to the electromagnetic torque of the motor to obtain the One integral result；

Control the motor with the second acceleration carry out the second operational process, and to the electromagnetic torque of the motor integrated with Obtain second integral result；

Acquire the operating parameter of the device for clothing processing, wherein the operating parameter includes at least：First operational process The first operation duration and the two-end-point tachometer value of first operational process, the second operational process the second operation duration with And second operational process two-end-point tachometer value；

The load that the motor is calculated according to the first integral result, the second integral result and the operating parameter is used Amount.

2. the load inertia detection method of device for clothing processing according to claim 1, which is characterized in that

In the staving position by corresponding to the maximum value or minimum value of the torque or the fluctuation of speed or torque ripple After target location, it is described when the staving rotate to the speed of the target location and the staving be pre-set velocity When, it controls the motor of the device for clothing processing and the first operational process is carried out with the first acceleration, and to the electromagnetism of the motor Torque is integrated before obtaining first integral result, to further include：

The speed of the staving is detected in real time；

When the staving speed is the pre-set velocity and detects the target location of the staving at least once, first is executed Operational process；Otherwise the staving is controlled according to the pre-set velocity uniform rotation until rotating to the target location.

3. the load inertia detection method of device for clothing processing according to claim 1 or 2, which is characterized in that

It is described in preset duration, using the staving position of the torque of the motor corresponding to maximum value or minimum value as Target location specifically includes：

In preset duration, the torque of the motor is detected in real time, obtains torque maximum value or torque minimum value；

Record the rotor-position corresponding to the torque maximum value or torque minimum value；

The target location is determined according to the correspondence of the rotor-position and staving position.

4. the load inertia detection method of device for clothing processing according to claim 1 or 2, which is characterized in that it is described In preset duration, using the fluctuation of speed of the motor staving position corresponding in maximum value or minimum value as target Position specifically includes：

In preset duration, the current rotating speed of the motor is detected in real time；

The current rotating speed is subjected to high-pass filtering, determines the first fluctuation of speed range；

Record maximum value or the corresponding rotor-position of minimum value in first fluctuation of speed range；

5. the load inertia detection method of device for clothing processing according to claim 1 or 2, which is characterized in that it is described In preset duration, using the fluctuation of speed of the motor staving position corresponding in maximum value or minimum value as target Position specifically includes：

The difference for calculating the current rotating speed and preset rotation speed, to obtain the second fluctuation of speed range；

Record maximum value or the corresponding rotor-position of minimum value in second fluctuation of speed range；

6. the load inertia detection method of device for clothing processing according to claim 1, which is characterized in that the load is used Amount is calculated by the following formula to obtain：

Wherein, J is the load inertia, t_A、t_B、t_C、t_DRespectively described first operation duration and described second operation duration At the beginning of carve and finish time；ω_A、ω_B、ω_C、ω_DRespectively described first operational process and second operational process two The tachometer value of endpoint,WithFor the first integral result and the second integral result.

7. the load inertia detection method of device for clothing processing according to claim 1, which is characterized in that

First operation duration and second operation duration are the integer of the swing circle of the device for clothing processing staving Times, and first operation duration and second operation duration are equal relative to the multiple of the swing circle.

8. a kind of load inertia detecting system of device for clothing processing, which is characterized in that including：

Memory, for storing computer program；

Processor, for execute the computer program with：

In preset duration, the torque or the fluctuation of speed of motor are obtained, by the torque or fluctuation of speed maximum value or minimum value The position of corresponding staving is as target location；

9. the load inertia detecting system of device for clothing processing according to claim 8, which is characterized in that further include：Institute State processor, be additionally operable to execute the computer program with：

The speed of the staving is detected in real time；

10. the load inertia detecting system of device for clothing processing according to claim 8 or claim 9, which is characterized in that also wrap It includes：The processor, be additionally operable to execute the computer program with：

In preset duration, the torque of the motor is detected in real time, obtained torque maximum value or torque minimum value；

11. the load inertia detecting system of device for clothing processing according to claim 8 or claim 9, which is characterized in that also wrap It includes：The processor, be additionally operable to execute the computer program with：

12. the load inertia detecting system of device for clothing processing according to claim 8 or claim 9, which is characterized in that also wrap It includes：The processor, be additionally operable to execute the computer program with：

13. the load inertia detecting system of device for clothing processing according to claim 11 or 12, which is characterized in that also wrap It includes：First operation duration and second operation duration are the integer of the swing circle of the device for clothing processing staving Times, and first operation duration and second operation duration are equal relative to the multiple of the swing circle.

14. a kind of device for clothing processing, which is characterized in that including：Clothing processing as described in any one of claim 8 to 13 The operation control system of device.

15. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program It is realized when being executed by processor such as the step of any one of claim 1 to 7 the method.