CN110658855A - Airing machine stroke control method - Google Patents
Airing machine stroke control method Download PDFInfo
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- CN110658855A CN110658855A CN201910866985.9A CN201910866985A CN110658855A CN 110658855 A CN110658855 A CN 110658855A CN 201910866985 A CN201910866985 A CN 201910866985A CN 110658855 A CN110658855 A CN 110658855A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F57/00—Supporting means, other than simple clothes-lines, for linen or garments to be dried or aired
- D06F57/12—Supporting means, other than simple clothes-lines, for linen or garments to be dried or aired specially adapted for attachment to walls, ceilings, stoves, or other structures or objects
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Textile Engineering (AREA)
- Accessory Of Washing/Drying Machine, Commercial Washing/Drying Machine, Other Washing/Drying Machine (AREA)
- Control Of Washing Machine And Dryer (AREA)
Abstract
The invention discloses a travel control method of a clothes airing machine, wherein a corresponding relation between the descending speed of an airing rod under different weight loads and the running current of a constant-torque motor is prestored as a first relation model, the descending travel of the airing rod is preset, the starting time point and the running current of the motor are obtained after the motor is started, the first relation model is inquired to obtain the corresponding descending speed of the airing rod, the running time of the motor is obtained by dividing the preset descending travel of the airing rod by the descending speed of the airing rod, the stopping time point of the motor is obtained by matching with the starting time point of the motor, and the motor is controlled to stop at the stopping time point of the motor. By the method, the stopping position of the airing rod of the airing machine can be automatically and accurately controlled without additionally arranging or modifying a part on the structure or the circuit of the airing machine.
Description
Technical Field
The invention relates to the technical field of airing machines, in particular to a travel control method of an airing machine.
Background
The practical use process of the clothes airing machine can comprise the following steps: controlling the airing rod of the airing machine to descend, airing and hanging clothes and controlling the airing rod of the airing machine to ascend. In the above process, the user usually controls the drying rod of the clothes drying machine to descend to a height suitable for drying clothes, so that the user can hang the clothes on the drying rod at a proper position without greatly adjusting the shape of the user.
There are several ways of controlling the lowering stroke of a clothes drying machine:
one of the two ways is to adopt a remote controller or a key switch for control, a user sends a signal to the clothes drying machine through the remote controller or the key switch to control the descending, stopping and ascending of the clothes drying machine airing rod, when the clothes drying machine airing rod descends to a proper height position, the remote controller button or the key switch is pressed to control the clothes drying machine to stop moving, and the clothes drying machine can be stopped at a proper height for hanging clothes. This kind of mode needs the user to be located the airing machine all the time when the airing machine descends, waits that the pole that dries in the air of airing machine descends to the required height of oneself, goes to control its stopping again, needs to spend more time, needs the manual control to stop simultaneously, causes the pole that dries in the air too high or the condition of hanging down excessively easily, still needs to carry out repeated adjustment again.
And secondly, monitoring the descending stroke through a built-in part and stopping the movement when the descending stroke reaches a preset height position, presetting a height position by a user through equipment such as a remote controller, monitoring whether the airing rod reaches the preset height position through the built-in part when the airing machine starts to descend every time, and stopping the movement if the airing rod reaches the preset height position. The built-in components are generally Hall sensors or level jump detectors and the like, the number of rotation turns of the motor is calculated, and when the number of rotation turns reaches the number of turns corresponding to the preset height position, the motor is controlled to stop. Adopt this kind of mode to carry out stroke control, need increase corresponding detection part in airing machine inside, increased airing machine's cost and structure complexity.
And thirdly, the operation time is detected for control, specifically, a height position is preset by a user through equipment such as a remote controller, the controller of the clothes airing machine records the time of the airing rod moving from the top to the preset height in the user preset process, and the motor is controlled to operate for the same time when the clothes airing machine is started next time. However, when the loads of the clothes drying machines are different, the descending speeds of the clothes drying machines are different, the time recorded by the clothes drying machines is only the descending time corresponding to the preset loads, and after the loads are changed, the same descending time corresponds to different descending heights, so that the clothes drying machines cannot be always kept at the same height position.
Therefore, the existing clothes drying machine forming control modes all have certain defects, and the problem to be solved is to control the stroke of the clothes drying machine to stop at the preset height position under the condition that the built-in monitoring part is not added.
Disclosure of Invention
The invention aims to overcome the defects or problems in the prior art and provides a travel control method of a clothes drying machine, which comprises the steps of monitoring the current of a motor, comparing the current with a current value to obtain a speed value, and obtaining the travel of the motion of an air drying rod according to the product of the running time and the speed, so that the clothes drying machine can reach a preset height position every time the clothes drying machine descends under the condition of not increasing a built-in monitoring part of the clothes drying machine.
In order to achieve the purpose, the invention adopts the following technical scheme:
a stroke control method for a clothes drying machine is characterized in that a corresponding relation between the descending speed of an air drying rod under different weight loads and the running current of a constant-torque motor is prestored as a first relation model, the descending stroke of the air drying rod is preset, the starting time point of the motor and the running current of the motor are obtained after the motor is started, the first relation model is inquired to obtain the corresponding descending speed of the air drying rod, the running time of the motor is obtained by dividing the preset descending stroke of the air drying rod by the descending speed of the air drying rod, the stopping time point of the motor is obtained by matching with the starting time point of the motor, and the motor is controlled to stop.
Further, the first relationship model is obtained by:
s10, presetting the descending stroke of the airing rod, and repeating the steps S20, S30 and S40;
s20, hanging a load with artificially set weight on the drying rod, starting a motor of the clothes drying machine and monitoring the running current of the motor in real time;
s30, timing the time of the airing rod completing the preset descending stroke to obtain the motor running time;
s40, obtaining the corresponding dropping speed of the drying rod according to the relation between the preset dropping stroke of the drying rod and the motor running time;
and S50, after the motor running current and the descending speed of the drying rod under the load of each artificial set weight are obtained through the steps, establishing a first relation model based on the motor running current and the descending speed of the drying rod.
Further, the motor running current is collected after the motor is started and after a first period which is set manually.
Further, the motor running current is collected once every second period set manually after the motor is started and recorded, and when the difference value between the motor running currents collected for the last two times is smaller than a preset threshold value continuously appears for a plurality of times, the motor running current collected for the last time is used for calculating the descending speed of the airing rod.
Further, the motor running current is obtained by matching calculation of voltage collected by an AD interface in the motor control circuit and reference voltage.
As can be seen from the above description of the present invention, the present invention has the following advantages over the prior art:
1. through the collection to the actual operating current of airing machine motor, compare with the pole descending speed that dries in the air of prestoring and the relation model of motor operating current, acquire the actual descending speed of the pole that dries in the air of correspondence, and then calculate and obtain the pole that dries in the air and accomplish and predetermine the time that the descending stroke took, can control the time of airing machine motor actual motion, reach the purpose that the pole that dries in the air stopped at predetermined high position, need not to add the part or modify on airing machine structure or circuit, the collection to airing machine actual operating current can be realized to the motor overcurrent protection circuit that utilizes in the airing machine control circuit originally to set up, realize automatically, accurately the control to the pole stroke that dries in the air.
2. A first relation model of the descending speed of the drying rod and the running current of the motor under different weight loads is obtained through experiments, the experiment mode is simple and reliable, and more samples can be obtained.
3. The current is collected in the first period set manually after the motor is started, so that the current sudden change stage after the motor is started can be avoided, and only the current value in the current stable stage is collected.
4. The current is collected every other second period set manually after the motor is started, and whether the current is in a stable state or not is judged by judging whether the current difference acquired twice is smaller than a preset threshold value or not, so that the current mutation stage after the motor is started can be avoided.
5. The motor running current is acquired through an AD interface of an original motor overcurrent protection circuit in the motor control circuit and is obtained through calculation, a monitoring part does not need to be additionally arranged in the structure of the clothes airing machine, and the manufacturing cost is effectively reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a control flow chart of a clothes airing machine stroke control method provided by the invention;
fig. 2 is a circuit for collecting the running current of the motor in the method for controlling the stroke of the clothes airing machine provided by the invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are presently preferred embodiments of the invention and are not to be taken as an exclusion of other embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the claims, the specification and the drawings of the present invention, unless otherwise expressly limited, the terms "first", "second" or "third", etc. are used for distinguishing between different items and not for describing a particular sequence.
In the claims, the specification and the drawings of the present invention, unless otherwise expressly limited, all directional or positional relationships indicated by the terms "center," "lateral," "longitudinal," "horizontal," "vertical," "top," "bottom," "inner," "outer," "upper," "lower," "front," "rear," "left," "right," "clockwise," "counterclockwise," and the like are based on the directional or positional relationships indicated in the drawings and are used for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the device or element so indicated must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of the present invention.
In the claims, the description and the drawings of the present application, unless otherwise expressly limited, the terms "fixedly connected" or "fixedly connected" should be interpreted broadly, that is, any connection between the two that does not have a relative rotational or translational relationship, that is, non-detachably fixed, integrally connected, and fixedly connected by other devices or elements.
In the claims, the specification and the drawings of the present invention, the terms "including", "having" and their variants, if used, are intended to be inclusive and not limiting.
The invention provides a method for controlling the travel of a clothes airing machine, which specifically comprises the following processes as shown in fig. 1:
the method comprises the following steps of firstly, obtaining a first relation model of the corresponding relation between the descending speed of an airing rod and the running current of a constant-torque motor through an experimental means;
step two, pre-storing the first relation model into a clothes airing machine control chip;
setting the stopping height of the airing rod through an external controller to obtain a preset descending stroke of the airing rod when the air-drying rack is used for the first time;
step four, after the motor is started, the motor starting time point and the motor running current are obtained through the motor control circuit and are transmitted to the clothes airing machine control chip;
fifthly, inquiring a first relation model prestored in the control chip to obtain the descending speed of the drying rod corresponding to the running current of the motor;
dividing the preset descending stroke of the airing rod by the descending speed of the airing rod to obtain the running time of the motor;
step seven, the control chip is matched with and calculated according to the motor starting time point to obtain a motor stopping time point;
and step eight, the control chip controls the motor to stop when the motor is stopped.
In the implementation process, the set of data in the first relationship model in the first step is obtained by:
1. setting the preset descending stroke of the airing rod to be s meters by an external controller of the airing machine;
2. the airing rod is enabled to be idle, the motor of the airing machine is started, and the running current I of the motor is monitored in real time1；
3. Starting timing when the airing rod begins to descend from the top end, and stopping timing when the airing rod reaches a preset position to obtain the running time t of the motor1；
4. By the formula v1＝s/t1Calculating to obtain the descending speed of the airing rod when the airing rod is in no-load;
5. v is to be1And I1The data is recorded as a set of corresponding data and stored in the first relational model.
Repeating the steps and changing the load of the drying rod, for example, increasing the load of the drying rod by a certain gradient in subsequent experiments to obtain corresponding motor running current I2、I3、I4……InAnd the descending speed v of the airing rod corresponding to the running current of the motor2、v3、v4……vnAnd storing the motor running current and the descending speed of the drying rod which correspond to each other into the first relation model.
In a specific embodiment, the above experimental process can obtain the following data record table:
| motor running current | Descending speed of airing rod |
| 0.40A | 7.963cm/s |
| 0.43A | 8.102cm/s |
| 0.45A | 8.174cm/s |
| 0.46A | 8.253cm/s |
| 0.47A | 8.321cm/s |
| 0.48A | 8.394cm/s |
| 0.49A | 8.465cm/s |
The data record table may be used as the first relationship model directly, and may also be further subdivided to obtain a more accurate correspondence, and taking the data record table as an example, a specific subdivision process is as follows:
1. taking 0.40A and 0.43A as a large interval A1Taking 7.963cm/s and 8.102cm/s as a large interval A2；
2. A is to be1Is evenly divided into n small intervals A11、A12、A13……A1nUniformly dividing A2 into n small intervals A21、A22、A23……A2n；
3. Let A11Corresponds to A21,A12Corresponds to A22……A1nCorresponds to A2nAnd recording the data into a data table one by one to obtain a relation model of the motor running current with higher granularity and the descending speed of the airing rod.
Of course, the motor running current and the descending speed of the drying rod can be fitted into a functional relation through a linear relation in each large area, and when the actual motor running current is obtained through the motor control circuit, the corresponding descending speed of the drying rod can be obtained through operation through the functional relation.
In the foregoing implementation process, the descending stroke of the drying rod in the third step is set by an external controller, specifically, the clothes drying machine is controlled to ascend, descend, and stop by an external controller such as a remote controller or a key in use of the clothes drying machine. The control chip obtains the motor running time by obtaining the motor starting time point and the motor stopping time point, subtracting the motor starting time point from the motor stopping time point through the air drying rod descending speed corresponding to the motor running current, and multiplying the motor running time by the air drying rod descending speed to obtain the set air drying rod descending stroke.
In the implementation process, the motor start time and the motor running current in the fourth step are obtained through an over-current protection circuit or an over-load protection circuit originally existing in the clothes drying machine control circuit. Specifically, in the control circuit of the existing clothes airing machine, in order to guarantee that the clothes airing machine gives an alarm when approaching the maximum bearing or controls the motor to stop running when exceeding the maximum bearing, a corresponding overcurrent protection circuit or an overload protection circuit can be set to obtain the current when the motor runs, and when the current exceeds a preset threshold value when judging the motor to run, the motor can be controlled to stop running, so that an interface for monitoring the running current of the motor exists in the protection circuit, more specifically, an AD interface in the motor control circuit is used, after the voltage at the sampling resistor is collected through the AD interface, the voltage is input into a control chip, and after the sampling voltage is matched with the reference voltage stored in the control chip for calculation, the corresponding running current of the motor can be obtained. The motor starting time point can be obtained through the interface, the motor can be considered to start to run after the AD interface receives the voltage signal, and the time point is the motor starting time point.
Meanwhile, since the initial current of the motor running is larger than the current in the steady running, which is represented by a sudden current increase before the current in the steady running, the current in the section needs to be removed, specifically, the following two methods can be adopted:
firstly, a first period which is set manually is prestored in a control chip of the clothes airing machine, the first period which is set manually needs to ensure that the running current of the motor is in a stable state after the first period, and the running current of the motor at the moment can be matched with the descending speed of the airing rod for calculation. The setting of the first period can be obtained through experiments, the condition that the current changes along with the time is collected after the motor starts to operate, and the time elapsed before the current is stable is taken as a first interval. In the present embodiment, the value of the first period is set to 50ms, and the motor operating current is collected 50ms after the motor is started.
And secondly, pre-storing a current threshold value which is set by one person for a second period and is set by one person in a control chip of the clothes airing machine, acquiring the running current of the motor once every second period after the motor is started, recording the running current, comparing the running current recorded at the next time with the running current recorded at the previous time, and when the difference value of the current recorded at the next time and the running current recorded at the previous time is smaller than the preset current threshold value for a plurality of times, considering that the running current of the motor tends to be stable at the moment, and acquiring and recording the current at the last time to be used as the running current of the motor which is calculated by matching with the descending. In this embodiment, the value of the second period is set to 10ms, the current threshold is set to 0.08A, the motor running current value is collected and recorded every 10ms after the motor is started, and when the difference between the current collected last time and the current collected last time is less than or equal to 0.08A, the current collected last time is taken as the running current for stable operation of the motor.
In addition, when the descending of the airing rod of the airing machine is manually controlled through the external controller, the control chip of the airing machine can obtain the descending stroke of the airing rod each time through collecting the running current of the motor, after the airing machine is restarted, the control chip can obtain the stroke of descending the airing rod to the preset height position according to the descending stroke of the airing rod last time through recalculation, the corresponding running time of the motor is obtained by taking the stroke as a calculation factor, the corresponding stopping time point of the motor is obtained through calculation, and the motor is controlled to stop running through the control chip when the stopping time point is reached. If the current position of the airing rod is lower than the preset height position of the airing rod, the airing rod needs to be lifted to the preset height position, and then a motor of the clothes airing machine is started to drive the airing rod to descend.
In addition, in order to solve the problem that the descending speed of the airing rod is too high and the stability of the installation and fastening of the airing machine is reduced due to the fact that the kinetic energy is too large when the motor is stopped suddenly at a high speed, the descending stroke of the airing machine can be controlled in a segmented mode, in the embodiment, corresponding programs are prestored in a control chip, the descending process of the airing rod of the airing machine is divided into three segments, namely a high-speed segment, a deceleration segment and a slow-speed segment from top to bottom, in a specific dividing example, the high-speed segment occupies 70% of the total stroke, the deceleration segment occupies 20% of the total stroke, and the slow-speed segment occupies 10% of the total stroke, in the high-speed segment, after the current descending speed of the airing rod is obtained through calculation by obtaining the initial motor running current, the current is increased to improve the descending speed of the airing rod, in the deceleration segment, the current is reduced to be close to the, finally, the airing rod stops when reaching the preset height position.
In the driving of the speed reduction section and the slow speed section, the descending speed of the airing rod can be adjusted by driving the motor in a duty ratio mode, and the power-off time proportion is increased in the speed reduction section and the slow speed section so as to reduce the descending speed of the airing rod.
According to the travel control method for the clothes drying machine, the actual operation current of the clothes drying machine can be acquired by utilizing the motor overcurrent protection circuit originally arranged in the control circuit of the clothes drying machine, and the travel of the drying rod can be automatically and accurately controlled without adding or modifying parts on the structure or the circuit of the clothes drying machine.
The description of the above specification and examples is intended to be illustrative of the scope of the present invention and is not intended to be limiting. Modifications, equivalents and other improvements which may occur to those skilled in the art and which may be made to the embodiments of the invention or portions thereof through a reasonable analysis, inference or limited experimentation, in light of the common general knowledge, the common general knowledge in the art and/or the prior art, are intended to be within the scope of the invention.
Claims (5)
1. A travel control method of a clothes airing machine is characterized in that a corresponding relation between descending speed of an airing rod under different weight loads and running current of a constant-torque motor is prestored as a first relation model, descending travel of the airing rod is preset, motor starting time and motor running current are obtained after the motor is started, the first relation model is inquired to obtain corresponding descending speed of the airing rod, running time of the motor is obtained by dividing the preset descending travel of the airing rod by the descending speed of the airing rod, motor stopping time is obtained by matching with motor starting time and calculation, and the motor is controlled to stop at the motor stopping time.
2. The clothes drying machine stroke control method according to claim 1, wherein the first relational model is obtained by:
s10, presetting the descending stroke of the airing rod, and repeating the steps S20, S30 and S40;
s20, hanging a load with artificially set weight on the drying rod, starting a motor of the clothes drying machine and monitoring the running current of the motor in real time;
s30, timing the time of the airing rod completing the preset descending stroke to obtain the motor running time;
s40, obtaining the corresponding dropping speed of the drying rod according to the relation between the preset dropping stroke of the drying rod and the motor running time;
and S50, after the motor running current and the descending speed of the drying rod under the load of each artificial set weight are obtained through the steps, establishing a first relation model based on the motor running current and the descending speed of the drying rod.
3. The clothes airing machine stroke control method according to claim 1, wherein the motor operating current is collected after a first period which is set manually after the motor is started.
4. The airing machine stroke control method according to claim 1, wherein the motor running current is collected and recorded once every second period set manually after the motor is started, and when a difference value between the motor running currents collected last two times continuously appears for a plurality of times and is smaller than a preset threshold value, the motor running current collected last time is used for calculating the descending speed of the airing rod.
5. The airing machine stroke control method according to any one of claims 3 or 4, wherein the motor operating current is obtained by calculation in cooperation with a reference voltage after voltage is collected by an AD interface in a motor control circuit.
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| CN112185376A (en) * | 2020-09-28 | 2021-01-05 | 美智光电科技股份有限公司 | Voice control method, clothes airing device and readable storage medium |
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| CN112726148A (en) * | 2020-12-21 | 2021-04-30 | 浙江富球智能科技有限公司 | Control method of storage type clothes hanger and storage type clothes hanger |
| CN112783030A (en) * | 2020-12-29 | 2021-05-11 | 美智光电科技股份有限公司 | Control method and device, motor device, clothes airing device and readable storage medium |
| CN114485025A (en) * | 2022-02-23 | 2022-05-13 | 海信（山东）冰箱有限公司 | Refrigerator and shelf lifting control method thereof |
| CN115354478A (en) * | 2022-08-01 | 2022-11-18 | 广东好太太科技集团股份有限公司 | Clothes airing machine limiting induction system, limiting control method and intelligent clothes airing machine |
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