CN114855420A - Dehydration control method, system, device and storage medium for clothes processing device - Google Patents
Dehydration control method, system, device and storage medium for clothes processing device Download PDFInfo
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- 230000018044 dehydration Effects 0.000 title claims abstract description 134
- 238000006297 dehydration reaction Methods 0.000 title claims abstract description 134
- 238000000034 method Methods 0.000 title claims abstract description 86
- 238000012545 processing Methods 0.000 title claims description 18
- 238000003860 storage Methods 0.000 title claims description 16
- 238000005406 washing Methods 0.000 claims abstract description 225
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- 208000005156 Dehydration Diseases 0.000 abstract description 107
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- 238000010586 diagram Methods 0.000 description 13
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F33/00—Control of operations performed in washing machines or washer-dryers
- D06F33/30—Control of washing machines characterised by the purpose or target of the control
- D06F33/32—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry
- D06F33/40—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry of centrifugal separation of water from the laundry
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F33/00—Control of operations performed in washing machines or washer-dryers
- D06F33/30—Control of washing machines characterised by the purpose or target of the control
- D06F33/48—Preventing or reducing imbalance or noise
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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
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/02—Characteristics of laundry or load
- D06F2103/04—Quantity, e.g. weight or variation of weight
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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
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/26—Unbalance; Noise level
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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
- D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
- D06F2105/46—Drum speed; Actuation of motors, e.g. starting or interrupting
- D06F2105/48—Drum speed
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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
Abstract
The application provides a dehydration control method and system for a clothes treatment device, the clothes treatment device and a medium, wherein the method comprises the following steps: gradually increasing the rotation speed of the washing tub to a first rotation speed; obtaining an eccentricity value of the washing barrel according to the current first acceleration signal and the load weight of the washing barrel; and determining that the eccentricity value of the washing barrel is less than or equal to the eccentricity threshold value, and controlling the rotation speed of the washing barrel to be increased for dehydration. The application can solve the problem of vibration noise in the dehydration stage of the existing washing machine to a certain extent.
Description
Technical Field
The application belongs to the technical field of household appliance control, and particularly relates to a dehydration control method, system, device and storage medium for a clothes treatment device.
Background
The washing machine of the washing barrel is one of main household appliances, and has the advantages of low energy consumption, less abrasion, high cleaning ratio and the like, so that the washing machine of the washing barrel is accepted by consumers, and the market occupation ratio is increased continuously. In the dewatering stage of the washing tub washing machine, if the eccentricity is not accurately detected, the high-speed dewatering operation is performed, vibration noise is generated along with the vibration of the washing tub, and even the washing tub washing machine may move and collide from the original position, resulting in damage. Furthermore, the problem of vibration noise of high-speed dehydration is one of the pain points of users who have difficulties, and is also an important difficulty which always troubles developers. Especially for the design and development of high-end products, the user experience is crucial.
At present, the traditional motor eccentricity sensing and detecting technology generally performs fitting processing on collected electrical parameters according to fluctuation data of rotating speed or torque of a motor in each period to obtain an eccentricity result.
However, the method depends on motor parameters, and the motor parameters have parameter errors in practical application, so that the accuracy of eccentric sensing is greatly influenced, the deviation of an eccentric detection result is large, and further, the subsequent dehydration gear is inaccurate, and the problems of vibration noise and even equipment damage occur.
Disclosure of Invention
The invention provides a dehydration control method, a dehydration control system, dehydration control equipment and a storage medium of clothes treatment equipment, and aims to solve the problem of vibration noise of the existing washing machine at the dehydration stage to a certain extent.
According to a first aspect of embodiments of the present application, there is provided a dehydration control method of a laundry treatment apparatus, comprising the steps of:
gradually increasing the rotation speed of the washing tub to a first rotation speed;
obtaining an eccentricity value of the washing barrel according to the current first acceleration signal and the load weight of the washing barrel;
and determining that the eccentricity value of the washing barrel is less than or equal to the eccentricity threshold value, and controlling the rotation speed of the washing barrel to be increased for dehydration.
In some embodiments of the present application, obtaining an eccentricity value of the washing tub according to the current first acceleration signal and a load weight of the washing tub specifically includes:
according to the current first acceleration signal, obtaining the plane synthetic displacement of the washing barrel in a certain washing period;
and obtaining the eccentricity value of the washing barrel according to the plane composite displacement and the load weight of the washing barrel.
In some embodiments of the present application, obtaining a plane composite displacement of the washing tub within a certain washing period according to the current first acceleration signal specifically includes:
calculating the displacement of the washing barrel in the x direction and the displacement of the washing barrel in the y direction in a plane after rotating for a certain period according to the first acceleration signal,
and calculating the plane composite displacement according to the displacement in the x direction and the displacement in the y direction in the plane.
In some embodiments of the present application, obtaining the eccentricity value of the washing tub according to the plane resultant displacement and the load weight of the washing tub specifically includes:
detecting a load weight of the washing tub;
and calculating the eccentricity value of the washing barrel through an eccentricity value fitting formula according to the plane composite displacement and the load weight of the washing barrel.
In some embodiments of the present application, before obtaining the eccentricity value of the washing tub according to the current first acceleration signal and the load weight of the washing tub, the method further includes:
obtaining a current first acceleration signal through an acceleration sensor;
or obtaining a first acceleration signal through an acceleration formula according to the first rotating speed.
In some embodiments of the present application, the method further comprises:
and determining that the eccentricity value of the washing barrel is greater than the eccentricity threshold value, and reducing the rotating speed of the washing barrel to zero.
In some embodiments of the present application, after gradually increasing the rotation speed of the washing tub to the first rotation speed, the method further includes:
judging whether a dehydration condition is reached or not according to the first acceleration signal;
and when the dehydration condition is not met, reducing the rotating speed of the washing barrel to zero.
In some embodiments of the present application, determining that the eccentricity value of the washing tub is less than or equal to the eccentricity threshold value, and controlling the rotation speed of the washing tub to be increased for dehydration specifically includes:
gradually increasing the rotation speed of the washing tub to a second rotation speed;
detecting a current second acceleration signal of the washing tub;
judging whether a dehydration condition is reached or not according to the second acceleration signal;
determining that the dehydration condition is not met, and reducing the rotating speed of the washing barrel to zero; and (5) determining that the dehydration condition is reached, and dehydrating.
In some embodiments of the present application, determining whether the dehydration condition is achieved specifically includes:
obtaining the movement displacement of the washing barrel in at least one direction according to the current acceleration signal;
and determining that the movement displacement of the washing barrel in at least one direction is smaller than the displacement threshold value in the direction, and achieving the dehydration condition.
In some embodiments of the present application, determining whether the dehydration condition is achieved specifically includes:
obtaining an acceleration value in at least one direction of the washing tub according to the current acceleration signal;
it is determined that an acceleration value in at least one direction of the washing tub is less than an acceleration threshold value in the direction, and a dehydration condition is reached.
According to a third aspect of embodiments of the present application, there is provided a dehydration control system of a laundry treatment apparatus, including:
a rotation speed control module for gradually increasing the rotation speed of the washing tub to a first rotation speed;
the eccentricity detection module is used for obtaining an eccentricity value of the washing barrel according to the current first acceleration signal and the load weight of the washing barrel;
and the dehydration module is used for controlling the rotation speed of the washing barrel to be increased for dehydration when the eccentricity value of the washing barrel is less than or equal to the eccentricity threshold value.
According to a third aspect of embodiments of the present application, there is provided a laundry treating apparatus including:
a memory: for storing executable instructions; and
a processor: for connecting with the memory to execute the executable instructions to complete the dehydration control method of the laundry treating apparatus.
According to a fourth aspect of embodiments of the present application, there is provided a computer-readable storage medium having a computer program stored thereon; the computer program is executed by a processor to implement a dehydration control method of a laundry treatment apparatus.
In a method, a system, a laundry treatment apparatus, and a medium for controlling dehydration of a laundry treatment apparatus in an embodiment of the present application, the method includes: gradually increasing the rotation speed of the washing tub to a first rotation speed; obtaining an eccentricity value of the washing barrel according to the current first acceleration signal and the load weight of the washing barrel; and determining that the eccentricity value of the washing barrel is less than or equal to the eccentricity threshold value, and controlling the rotation speed of the washing barrel to be increased for dehydration. The vibration noise problem of current washing machine dehydration stage can be solved to a certain extent to this application.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
A flow chart of steps of a dehydration control method of a laundry treatment apparatus according to an embodiment of the present application is shown in fig. 1;
FIG. 2 is a schematic view illustrating a rotation speed sensed at a low speed eccentricity by a dehydration control method of a laundry treating apparatus according to an embodiment of the present application;
fig. 3 is a schematic view illustrating a calculation process of an eccentricity value of a washing tub according to an embodiment of the present application;
fig. 4 is a schematic view illustrating a flow of controlling the rotation speed of the washing tub to be increased for dehydration according to an embodiment of the present application;
fig. 5 is a flowchart illustrating steps of a dehydration control method of a laundry treating apparatus according to another embodiment of the present application;
FIG. 6 is a schematic flow chart illustrating a preferred eccentricity sensing at a low speed of a dehydration control method of a laundry treatment apparatus according to an embodiment of the present application;
fig. 7 illustrates a schematic structural view of a dehydration control system of a laundry treating apparatus according to an embodiment of the present application;
a schematic structural view of a laundry treatment apparatus according to an embodiment of the present application is shown in fig. 8.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In the course of implementing the present application, the inventor finds that the dewatering mode of a washing tub washing machine, such as a drum washing machine, is that laundry performs centrifugal motion along with a drum to throw water out of the laundry, but during dewatering, the drum washing machine is easily affected by offset caused by uneven distribution of laundry in the drum, and causes tub collision, that is, the drum collides with an outer box body, and in severe cases, a displacement phenomenon occurs, which causes a serious noise problem, and also affects the service life of the washing machine. However, in the aspect of motor eccentricity sensing and detection technology, conventionally, fitting processing is generally performed on collected electrical parameters according to fluctuation data of rotating speed or torque of a motor in each period to obtain an eccentricity result. However, the method depends on motor parameters, and the motor parameters have parameter errors in practical application, so that the accuracy of eccentric sensing is greatly influenced, the deviation of an eccentric detection result is large, and further, the subsequent dehydration gear is inaccurate, and the problems of vibration noise and even equipment damage occur.
Meanwhile, in some technical schemes, in order to improve the sensing precision, the fluctuation of the sampled data is reduced by adopting a continuous multi-time sensing mode, but the eccentric sensing time is too long, and the total time of single dehydration is increased.
Or even if an acceleration sensor is used in some technical schemes, in a low-speed sensing stage, the traditional motor sensing technology is still used for judging whether the dehydration is allowed or not, and then the preset dehydration gear is confirmed.
Based on this, in the clothes treatment device dehydration control method, system, clothes treatment device and medium provided by the application, the method comprises the following steps: gradually increasing the rotation speed of the washing tub to a first rotation speed; obtaining an eccentricity value of the washing barrel according to the current first acceleration signal and the load weight of the washing barrel; and determining that the eccentricity value of the washing barrel is less than or equal to the eccentricity threshold value, and controlling the rotation speed of the washing barrel to be increased for dehydration.
The application can solve the problem of vibration noise in the dehydration stage of the existing washing machine to a certain extent.
Through the clothing treatment facility dehydration control method, system, clothing treatment facility and medium that this application provided, through at low-speed steady state operation, detect acceleration sensor output information, combine the weighing result, reject the influence of load inertia, can accurately obtain eccentric state and preset rotational speed gear, compare in traditional motor eccentric perception technique, more direct, quick, accurate.
Simultaneously, this application is accelerating through the resonance zone time, uses actual acceleration signal, judges whether to have the risk of hitting the bucket, compares in the diagonal angle off-centre perception algorithm of traditional motor, has avoided a large amount of complicated calculations, eliminates the problem that the protection action that the sampling calculation process leads to lags greatly.
In the low-speed steady-state sensing stage, a static eccentricity result is obtained by using acceleration information xy axis direction data, and in the acceleration stage, the acceleration process is monitored by using the acceleration information xyz axis direction data in consideration of the influence of actual diagonal eccentricity.
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Example 1
A flow chart of steps of a dehydration control method of a laundry treatment apparatus according to an embodiment of the present application is shown in fig. 1.
Fig. 2 is a rotation speed diagram illustrating the sensing of the eccentricity at a low speed according to the dehydration control method of the laundry treating apparatus of the embodiment of the present application.
As shown in fig. 1, the dehydration control method of the laundry treating apparatus includes the following steps:
s1: the rotational speed of the washing tub is gradually increased to the first rotational speed.
As shown in fig. 2, in practical application, after the motor starts, the rotation speed of the washing tub gradually increases from zero speed, and accelerates to a first rotation speed w1 at time t1, and the first rotation speed w1 is used as an eccentric sensing rotation speed, which is a set protection threshold.
During this time, acceleration signals in three directions of the xyz axis are detected in real time.
S2: and obtaining the eccentricity value of the washing barrel according to the current first acceleration signal and the load weight of the washing barrel.
Fig. 3 is a schematic diagram illustrating a calculation process of an eccentricity value of a washing tub according to an embodiment of the present application.
Specifically described, as shown in fig. 3, when obtaining the eccentricity value of the washing tub according to the current first acceleration signal and the load weight of the washing tub, the method includes the following two steps: s21, obtaining the plane composite displacement of the washing barrel in a certain washing period according to the current first acceleration signal; and S22, obtaining the eccentricity value of the washing barrel according to the plane composite displacement and the load weight of the washing barrel.
In the clothes treatment apparatus of the present application, taking a drum washing machine as an example, the in-plane x direction and y direction are preferably mutually perpendicular directions in a vertical plane, and in practical application of the embodiment of the present application, the x direction and y direction are specifically the up-down direction and the left-right direction of the drum, or the vertical direction and the horizontal direction of the drum. Corresponding, i.e., xy-axis direction acceleration signals.
Similarly, acceleration signals in three directions of the xyz axis, that is, the up-down direction, the left-right direction, and the front-back direction of the drum, or the vertical direction, the horizontal direction, and the horizontal direction in the longitudinal direction of the drum.
It should be noted that the drum dewatering operation can be equivalent to a simple harmonic motion with a single degree of freedom, and the motion displacement x (t) in a certain direction can be expressed by the following formula:
x(t)＝A*cos(w*t+φ)；
wherein A is the displacement amplitude, w is the rotation speed, and phi is the initial angle.
Then, after two derivatives are performed on the motion displacement x (t) in a certain direction, the acceleration S formula in the certain direction can be obtained as follows:
S＝d2x(t)/d2t＝-A*w2*cos(w*t+φ)；
where S is the acceleration.
Therefore, after the roller rotates for one circle, the displacement amplitude A in a certain direction can be equivalent to:
A＝△S/V 2 ；
wherein Δ S ═ Smax-Smin;
smax and Smin are respectively the maximum value of the acceleration of the first acceleration signal in the x direction or the y direction in the process of one rotation of the roller; smin is the minimum acceleration value of the first acceleration signal in the x direction or the y direction in the process of one rotation of the roller; v is the rotation speed.
In S21, in specific implementation, the plane synthetic displacement of the washing tub within a certain washing period is obtained according to the current first acceleration signal, and the specific operations are as follows:
1) according to the first acceleration signal, the displacement Ax of the washing barrel in the x direction and the displacement Ay of the washing barrel in the y direction are calculated after the washing barrel rotates for a certain period.
The formula for the displacement a is:
A＝△S/V 2 ；
wherein Δ S ═ Smax-Smin; a is Ax or Ay.
Smax and Smin are respectively the maximum acceleration values of the first acceleration signal in the x direction or the y direction in the process of rotating the roller for a certain period; smin is the minimum acceleration value of the first acceleration signal in the x direction or the y direction in the process of rotating the roller for a certain period; v is the rotation speed.
2) Then, a planar composite displacement is calculated from the displacement Ax in the x direction and the displacement Ay in the y direction within the plane.
The formula for the planar composite displacement Axy is:
Axy＝√(Ax) 2 +(Ay) 2 。
in S22, further, when an eccentricity value of the washing barrel is obtained according to the plane synthetic displacement and the load weight of the washing barrel, firstly, the load weight Wt of the washing barrel is obtained, after weighing is finished, the load inertia influence can be eliminated according to a f (Axy, Wt) fitting formula, an eccentricity sensing result is obtained, whether dehydration is allowed or not is judged, if dehydration is allowed, a preset highest dehydration rotation speed gear is obtained, and if not, after the speed is reduced to zero, an eccentricity sensing attempt is carried out again.
Obtaining the eccentricity value of the washing tub according to the plane composite displacement and the load weight of the washing tub specifically includes: firstly, detecting the load weight of the washing barrel; and then, calculating an eccentricity value of the roller by an eccentricity value fitting formula according to the plane composite displacement and the load weight of the roller.
Wherein, the calculation formula of the eccentricity value f is as follows:
f(A,Wt)＝a*A 2 +b*Wt 2 +c*A*Wt+d*A+e*Wt+f；
wherein f (A, Wt) is the eccentricity value in the x-y plane; a is the plane composite displacement of the x-y plane; wt is the load weight of the drum; a to f are constants.
In specific implementation, the result of the load weight can be obtained by a motor weighing sensing mode or a weighing sensor mode.
In another preferred embodiment, before obtaining the eccentricity value of the washing tub according to the current first acceleration signal and the load weight of the washing tub, the method further includes: obtaining a current first acceleration signal through an acceleration sensor; or obtaining a first acceleration signal through an acceleration formula according to the first rotating speed. In the present embodiment, it is preferable to obtain the first acceleration signal using an acceleration sensor.
S3: and determining that the eccentricity value of the washing barrel is less than or equal to the eccentricity threshold value, and controlling the rotation speed of the washing barrel to be increased for dehydration.
Fig. 4 is a schematic flow chart illustrating the dewatering operation by controlling the rotation speed of the washing tub to be increased according to the embodiment of the present application.
As shown in fig. 4, specifically describing that the spin-drying is performed by controlling the rotation speed of the washing tub to be increased when it is determined that the eccentricity value of the washing tub is less than or equal to the eccentricity threshold, the step specifically includes:
s31: the rotational speed of the washing tub is gradually increased to the second rotational speed.
As shown in fig. 2, after determining that the eccentricity value of the washing tub reaches the requirement at the eccentricity sensing rotation speed, i.e., the first rotation speed w1, the rotation speed of the washing tub continues to be gradually increased to reach the second rotation speed w 2. The process is always in a low-speed stage, and therefore, the process passes through a resonance region of the whole machine.
S32: detecting a current second acceleration signal of the washing tub.
During S31, acceleration signals in three directions of the xyz axis are detected in real time, and a second acceleration signal is obtained.
S33: and judging whether the dewatering condition is reached or not according to the second acceleration signal.
In the preferred embodiment, since the process of gradually increasing the rotation speed of the washing tub from the first rotation speed w1 to the second rotation speed w2 is always in the low speed stage, the washing tub passes through the resonance region of the whole machine. Therefore, when the second rotation speed w2 is reached, it is necessary to further determine whether or not the dehydration condition is satisfied, and the dehydration operation is performed after the satisfaction.
In one embodiment, the determining whether the dehydration condition is achieved specifically includes: firstly, obtaining the motion displacement of the washing barrel in at least one direction according to the current acceleration signal; then, it is determined that the movement displacement in at least one direction of the washing tub is less than the displacement threshold in that direction, and the dehydration condition is reached.
In another embodiment, whether the dehydration condition is reached may be further determined by the following steps: firstly, obtaining an acceleration value in at least one direction of the washing barrel according to a current acceleration signal; then, it is determined that an acceleration value in at least one direction of the washing tub is less than an acceleration threshold value in the direction, and a dehydration condition is reached.
Prior art has been compared in this application, the complicated diagonal angle eccentric detection algorithm among the former motor perception algorithm has been cancelled, accessible xyz axle acceleration signal converts the ascending displacement of xyz axle side into, then carry out the comparison through setting up displacement protection threshold value on each side of xyz axle, directly perceived, whether swift judgement has the washing bucket and hits the bucket risk, compare in the diagonal angle eccentric perception algorithm of traditional motor, the judgement execution of this application is more direct, fast, it is accurate, a large amount of complicated operation has been avoided, the problem that the protection action that sampling calculation process leads to lags is eliminated to a great extent.
S34: determining that the dehydration condition is not met, and reducing the rotating speed of the washing barrel to be lower than a first rotating speed; and (5) determining that the dehydration condition is reached, and dehydrating.
A flow chart of the steps of a dehydration control method of a laundry treatment apparatus according to another embodiment of the present application is shown in fig. 5.
As shown in fig. 5, in other embodiments, the dehydration control method of a laundry treating apparatus further includes:
s4: and determining that the eccentricity value of the washing tub is greater than the eccentricity threshold value, and reducing the rotating speed of the washing tub to be lower than the first rotating speed.
In a preferred embodiment, after gradually increasing the rotation speed of the washing tub to the first rotation speed w1 at step S1, it is also determined whether the dehydration condition is reached according to the first acceleration signal.
The dewatering conditions here are the same as the above-mentioned principles: in one embodiment, the determining whether the dehydration condition is achieved specifically includes: firstly, obtaining the motion displacement of the washing barrel in at least one direction according to the current acceleration signal; then, it is determined that the movement displacement in at least one direction of the washing tub is less than the displacement threshold in that direction, and the dehydration condition is reached.
In another embodiment, whether the dehydration condition is reached may be further determined by the following steps: firstly, obtaining an acceleration value in at least one direction of the washing barrel according to a current acceleration signal; then, it is determined that an acceleration value in at least one direction of the washing tub is less than an acceleration threshold value in the direction, and a dehydration condition is reached.
Therefore, when it is determined that the dehydrating condition is not reached, the rotation speed of the washing tub is reduced to be lower than the first rotation speed w1, and when the dehydrating condition is reached, the steps S2-S3 are normally performed.
Wherein, reducing the rotation speed of the washing tub below the first rotation speed specifically includes gradually reducing the rotation speed of the washing tub to zero, i.e., the motor stops operating.
Fig. 6 is a schematic flow chart illustrating a preferred eccentricity sensing at a low speed of a dehydration control method of a laundry treatment apparatus according to an embodiment of the present application.
In summary, as shown in fig. 6, the rotation speed diagram of fig. 2 is also referred to. Preferably, the flow of the dehydration control method of the laundry treating apparatus at the low speed eccentricity sensing is as follows:
firstly, starting the equipment, after the motor starts, gradually increasing the rotating speed of the washing barrel from zero speed, accelerating to a first rotating speed w1 at time t1, taking the first rotating speed w1 as an eccentric sensing rotating speed, and detecting acceleration signals in three directions of an xyz shaft in real time to be taken as first acceleration signals; the acceleration threshold determination and the eccentricity sensing of the washing tub are performed at the first rotation speed w 1.
The acceleration threshold determination, i.e. the determination as to whether the dewatering condition is achieved as described above, may identify sudden changes in the rotation speed at times t2 and t3, for example, by the acceleration threshold determination, when the dewatering condition is not satisfied. The eccentricity sensing of the washing barrel comprises sensor steady state sensing, namely, the eccentricity value of the washing barrel is calculated according to an acceleration sensor, the weighing sensing of the washing barrel is required in the period, and the eccentricity value of the roller is calculated through an eccentricity value fitting formula.
And when the acceleration threshold value judgment and the eccentricity sensing of the washing barrel both meet the requirements, continuously and gradually increasing the rotating speed to a time t4, wherein the rotating speed of the washing barrel reaches a second rotating speed w 2.
Secondly, the rotation speed is increased to a second rotation speed w2, the process is always in a low-speed stage, and therefore the whole machine resonance area is passed, whether the risk that the washing barrel collides is required to be judged, the risk that the washing barrel collides is also judged by whether the dehydration condition is reached, and when the risk that the washing barrel collides is not present, the pre-dehydration procedure is carried out or the rotation speed is further increased. If the risk of the washing barrel colliding exists, the second rotating speed w2 is reduced, and the equipment can also be directly decelerated to zero to stop running.
In summary, the dehydration control method of the laundry processing apparatus in the embodiment of the present application includes: gradually increasing the rotation speed of the washing tub to a first rotation speed; obtaining an eccentricity value of the washing tub according to the current first acceleration signal and the load weight of the washing tub; and determining that the eccentricity value of the washing barrel is less than or equal to the eccentricity threshold value, and controlling the rotation speed of the washing barrel to be increased for dehydration.
Meanwhile, the working principle of the dehydration control method of the clothes treatment device in the embodiment of the present application is further explained as follows: the acceleration sensor can be integrated through the frequency conversion plate on the premise of not changing the whole machine and the transmission structure of the existing equipment. The acceleration signals in the xyz axis direction in the space are processed by utilizing the principle that the outer barrel and the motor are relatively fixed in structure and the accelerations of the outer barrel and the motor can be regarded as approximate relation, so that direct space vibration information of the equipment during working can be obtained.
Meanwhile, in the low-speed sensing stage, direct spatial vibration information, namely multidimensional acceleration signals, is used, the distribution situation of actual loads can be reflected more accurately, static eccentricity results are obtained by using the xy-axis direction data of the acceleration information, and in the acceleration stage, the action monitoring is performed on the acceleration process by using the xy-axis direction data of the acceleration information in consideration of the influence of actual diagonal eccentricity. Then, the load distribution state and the eccentric state can be quickly and accurately judged by combining the motor weighing result, so that whether dehydration is allowed or not is judged, and the dehydration preset gear of the equipment is further determined.
Therefore, through the dehydration control method of the clothes treatment equipment provided by the application, during low-speed steady-state operation, output information of the acceleration sensor is detected, a weighing result is combined, and the influence of load inertia is eliminated, so that an eccentric state and a preset rotating speed gear can be accurately obtained.
Simultaneously, this application is accelerating through the resonance zone time, uses actual acceleration signal, judges whether to have the risk of hitting the bucket, compares in the diagonal angle off-centre perception algorithm of traditional motor, has avoided a large amount of complicated calculations, eliminates the problem that the protection action that the sampling calculation process leads to lags greatly.
Example 2
For details not disclosed in the dehydration control system of the clothes treating apparatus of the present embodiment, please refer to the detailed implementation contents of the dehydration control method of the clothes treating apparatus in other embodiments.
Fig. 7 shows a schematic structural diagram of a dehydration control system of a laundry treatment apparatus according to an embodiment of the present application.
As shown in fig. 7, the dehydration control system of a clothes treating apparatus provided by the present embodiment specifically includes a rotation speed control module 10, an eccentricity detection module 20, and a dehydration module 30.
In particular, the method comprises the following steps of,
and a rotation speed control module 10 for gradually increasing the rotation speed of the washing tub to a first rotation speed.
In practical application, after the motor is started, the rotating speed of the washing tub is gradually increased from zero speed and accelerated to a first rotating speed w1, and the first rotating speed w1 is used as an eccentric sensing rotating speed and is a set protection threshold value. Meanwhile, acceleration signals in three directions of the xyz axis are detected in real time.
And an eccentricity detection module 20 for obtaining an eccentricity value of the washing tub according to the current first acceleration signal and a load weight of the washing tub.
When the eccentricity value of the washing tub is obtained according to the current first acceleration signal and the load weight of the washing tub, the method comprises the following steps:
firstly, according to the current first acceleration signal, the plane composite displacement of the washing barrel in a certain washing period is obtained.
Specifically, 1) calculating the displacement Ax in the x direction and the displacement Ay in the y direction in a plane after the washing barrel rotates for a certain period according to the first acceleration signal.
The formula for the displacement a is:
A＝△S/V2；
wherein Δ S ═ Smax-Smin; a is Ax or Ay.
Smax and Smin are respectively the maximum values of the acceleration of the first acceleration signal in the x direction or the y direction in the process of rotating the roller for a certain period; smin is the minimum acceleration value of the first acceleration signal in the x direction or the y direction in the process of rotating the roller for a certain period; v is the rotation speed.
2) Then, a planar composite displacement is calculated from the displacement Ax in the x direction and the displacement Ay in the y direction within the plane.
The formula for the planar composite displacement Axy is:
Axy＝√(Ax)2+(Ay)2。
and then, further, when an eccentric value of the washing barrel is obtained according to the plane synthetic displacement and the load weight of the washing barrel, firstly obtaining the load weight Wt of the washing barrel, after weighing is finished, eliminating the load inertia influence according to an f (Axy, Wt) fitting formula to obtain an eccentric sensing result, then judging whether dehydration is allowed, if the dehydration is allowed, obtaining a preset highest dehydration rotating speed gear, and if not, decelerating to zero, and then trying eccentric sensing again.
Obtaining the eccentricity value of the washing tub according to the plane composite displacement and the load weight of the washing tub specifically includes: firstly, detecting the load weight of the washing barrel; and then, calculating an eccentricity value of the roller by an eccentricity value fitting formula according to the plane composite displacement and the load weight of the roller.
Wherein, the calculation formula of the eccentricity value f is as follows:
f(A,Wt)＝a*A2+b*Wt 2+c*A*Wt+d*A+e*Wt+f；
wherein f (A, Wt) is the eccentricity value in the x-y plane; a is the plane composite displacement of the x-y plane; wt is the load weight of the drum; a to f are constants.
And a dehydration module 30 for controlling the rotation speed of the washing tub to be increased for dehydration when the eccentricity value of the washing tub is less than or equal to the eccentricity threshold value.
Specifically, when it is determined that the eccentricity value of the washing tub is less than or equal to the eccentricity threshold, the rotation speed of the washing tub is controlled to be increased for dehydration, and the specific process is as follows:
first, the rotation speed of the washing tub is gradually increased to the second rotation speed.
As shown in fig. 2, after determining that the eccentricity value of the washing tub reaches the requirement at the eccentricity sensing rotation speed, i.e., the first rotation speed w1, the rotation speed of the washing tub continues to be gradually increased to reach the second rotation speed w 2. The process is always in a low-speed stage, and therefore, the process passes through a resonance region of the whole machine.
Then, a current second acceleration signal of the washing tub is detected. And detecting acceleration signals in three directions of an xyz shaft in real time when the rotating speed is increased to obtain a second acceleration signal.
Secondly, whether the dehydration condition is reached is judged according to the second acceleration signal.
In the preferred embodiment, since the process of gradually increasing the rotation speed of the washing tub from the first rotation speed w1 to the second rotation speed w2 is always in the low speed stage, the washing tub passes through the resonance region of the whole machine. Therefore, when the second rotation speed w2 is reached, it is necessary to further determine whether or not the dehydration condition is satisfied, and the dehydration operation is performed after the satisfaction.
In one embodiment, the determining whether the dehydration condition is achieved specifically includes: firstly, obtaining the motion displacement of the washing barrel in at least one direction according to the current acceleration signal; then, it is determined that the movement displacement in at least one direction of the washing tub is less than the displacement threshold in that direction, and the dehydration condition is reached.
In another embodiment, whether the dehydration condition is reached may be further determined by the following steps: firstly, obtaining an acceleration value in at least one direction of the washing barrel according to a current acceleration signal; then, it is determined that an acceleration value in at least one direction of the washing tub is less than an acceleration threshold value in the direction, and a dehydration condition is reached.
Finally, when the condition that the dewatering condition is not met is determined, the rotating speed of the washing barrel is reduced to be lower than the first rotating speed; and when the dehydration condition is reached, dehydrating.
In the dehydration control system of the laundry treating apparatus in the embodiment of the present application, the rotation speed control module 10 gradually increases the rotation speed of the washing tub to a first rotation speed; the eccentricity detection module 20 obtains an eccentricity value of the washing tub according to the current first acceleration signal and the load weight of the washing tub; the dehydration module 30 determines that the eccentricity value of the washing tub is less than or equal to the eccentricity threshold value, and controls the rotation speed of the washing tub to be increased for dehydration.
This application uses direct space vibration information, multidimension acceleration signal promptly at the low-speed perception stage, and the distribution situation of reflection actual load that can be more accurate utilizes acceleration information xy axle direction data, reachs static eccentric result, in the acceleration stage, considers the influence of actual diagonal angle eccentricity, utilizes acceleration information xyz axle direction data, carries out the action control to acceleration process. Then, the load distribution state and the eccentric state can be quickly and accurately judged by combining the motor weighing result, so that whether dehydration is allowed or not is judged, and the dehydration preset gear of the equipment is further determined.
Therefore, according to the dehydration control method of the clothes processing equipment, the output information of the acceleration sensor is detected when the clothes processing equipment runs at a low-speed steady state, the weighing result is combined, the influence of load inertia is eliminated, the eccentric state and the preset rotating speed gear can be accurately obtained, compared with the traditional motor eccentric sensing technology, the eccentric sensing is more direct and rapid, the whole sensing time is shortened, the influence of factors such as motor parameters and platform difference on the sensing precision is avoided, and the problem of vibration noise in the dehydration stage of the existing washing machine is solved to the greatest extent.
Simultaneously, this application is accelerating through the resonance zone time, uses actual acceleration signal, judges whether to have the risk of hitting the bucket, compares in the diagonal angle off-centre perception algorithm of traditional motor, has avoided a large amount of complicated calculations, eliminates the problem that the protection action that the sampling calculation process leads to lags greatly.
Example 3
The present embodiment provides a clothes treating apparatus, and for details not disclosed in the clothes treating apparatus of the present embodiment, please refer to specific implementation contents of a dehydration control method or system of the clothes treating apparatus in other embodiments.
A schematic structural view of a laundry treating apparatus 400 according to an embodiment of the present application is shown in fig. 8.
As shown in fig. 8, the laundry treating apparatus 400 includes:
the memory 402: for storing executable instructions; and
a processor 401 is coupled to the memory 402 to execute executable instructions to perform the motion vector prediction method.
Those skilled in the art will appreciate that the schematic diagram 8 is merely an example of the laundry treating apparatus 400, and does not constitute a limitation of the laundry treating apparatus 400, and may include more or less components than those shown, or combine some components, or different components, for example, the laundry treating apparatus 400 may further include an input-output device, a network access device, a bus, etc.
The Processor 401 (CPU) may be other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The general processor may be a microprocessor or the processor 401 may be any conventional processor or the like, the processor 401 being the control center of the laundry treating apparatus 400, and various interfaces and lines connecting the various parts of the entire laundry treating apparatus 400.
The memory 402 may be used to store computer readable instructions, and the processor 401 may implement various functions of the laundry treatment apparatus 400 by operating or executing computer readable instructions or modules stored in the memory 402, and invoking data stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created according to the use of the laundry treating apparatus 400, and the like. In addition, the Memory 402 may include a hard disk, a Memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Memory Card (Flash Card), at least one disk storage device, a Flash Memory device, a Read-Only Memory (ROM), a Random Access Memory (RAM), or other non-volatile/volatile storage devices.
The integrated modules of the laundry treating apparatus 400, if implemented in the form of software functional modules and sold or used as separate products, may be stored in a computer-readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by hardware related to computer readable instructions, which may be stored in a computer readable storage medium, and when the computer readable instructions are executed by a processor, the steps of the method embodiments may be implemented.
Example 6
The present embodiment provides a computer-readable storage medium having stored thereon a computer program; the computer program is executed by the processor to implement the dehydration control method of the laundry treatment apparatus in other embodiments.
The clothes treatment device and the computer storage medium in the embodiment of the application comprise: gradually increasing the rotation speed of the washing tub to a first rotation speed; obtaining an eccentricity value of the washing barrel according to the current first acceleration signal and the load weight of the washing barrel; and determining that the eccentricity value of the washing barrel is less than or equal to the eccentricity threshold value, and controlling the rotation speed of the washing barrel to be increased for dehydration.
Through clothing treatment facility and medium that this application provided, at low-speed steady state operation, detect acceleration sensor output information, combine the weighing result, reject load inertia's influence, can accurately reachd eccentric state and predetermine the rotational speed gear, compare in traditional motor eccentric perception technique, eccentric perception is more direct quick, holistic perception time has been shortened, the influence of factors such as motor parameter and platform difference to the perception precision has also been avoided, current washing machine dehydration stage vibration noise problem has been solved to a great extent.
Simultaneously, this application uses actual acceleration signal when accelerateing through the resonance zone time, judges whether to have the risk of hitting the bucket, compares in the diagonal angle eccentric perception algorithm of traditional motor, has avoided a large amount of complicated calculations, has eliminated the problem that the protection action that the sampling calculation process leads to lags greatly to the extent.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (13)
1. A dehydration control method of a laundry treating apparatus, comprising the steps of:
gradually increasing the rotation speed of the washing tub to a first rotation speed;
obtaining an eccentricity value of the washing barrel according to the current first acceleration signal and the load weight of the washing barrel;
and determining that the eccentricity value of the washing barrel is less than or equal to the eccentricity threshold value, and controlling the rotation speed of the washing barrel to be increased for dehydration.
2. The dehydration control method of a laundry processing apparatus according to claim 1, wherein said obtaining an eccentricity value of the washing tub according to the current first acceleration signal and a load weight of the washing tub comprises:
according to the current first acceleration signal, obtaining the plane synthetic displacement of the washing barrel in a certain washing period;
and obtaining the eccentricity value of the washing barrel according to the plane composite displacement and the load weight of the washing barrel.
3. The dehydration control method of a clothes processing apparatus according to claim 2, wherein said obtaining a plane resultant displacement of the washing tub within a certain washing cycle according to the current first acceleration signal specifically comprises:
according to the first acceleration signal, calculating the displacement of the washing barrel in the x direction and the displacement of the washing barrel in the y direction in a plane after rotating for a certain period;
and calculating the plane composite displacement according to the displacement in the x direction and the displacement in the y direction in the plane.
4. The dehydration control method of a laundry processing apparatus according to claim 2, wherein said obtaining an eccentricity value of a washing tub according to said plane resultant displacement and a load weight of the washing tub comprises:
detecting a load weight of the washing tub;
and calculating the eccentricity value of the washing barrel through an eccentricity value fitting formula according to the plane synthetic displacement and the load weight of the washing barrel.
5. The dehydration control method of a laundry processing apparatus according to any one of claims 1-4, wherein before obtaining the eccentricity value of the washing tub according to the current first acceleration signal and the load weight of the washing tub, further comprising:
obtaining a current first acceleration signal through an acceleration sensor;
or obtaining a first acceleration signal through an acceleration formula according to the first rotating speed.
6. The dehydration control method of a laundry treating apparatus according to claim 1, further comprising:
and determining that the eccentricity value of the washing barrel is greater than the eccentricity threshold value, and reducing the rotating speed of the washing barrel until the rotating speed reaches zero.
7. The dehydration control method of a laundry treating apparatus according to claim 1, wherein after gradually increasing the rotation speed of the washing tub to the first rotation speed, further comprising:
judging whether a dehydration condition is reached or not according to the first acceleration signal;
and when the dehydration condition is not met, reducing the rotating speed of the washing barrel until the rotating speed is zero.
8. The dehydration control method of a laundry processing apparatus according to claim 1, wherein said determining that the eccentricity value of the washing tub is less than or equal to the eccentricity threshold value, and controlling the rotation speed of the washing tub to be increased for dehydration, specifically comprises:
gradually increasing the rotation speed of the washing tub to a second rotation speed;
detecting a current second acceleration signal of the washing tub;
judging whether a dehydration condition is reached or not according to the second acceleration signal;
determining that the dehydration condition is not met, and reducing the rotating speed of the washing barrel until the rotating speed reaches zero; and (5) determining that the dehydration condition is reached, and dehydrating.
9. The dehydration control method of a laundry processing apparatus according to claim 7 or 8, wherein said determining whether a dehydration condition is reached specifically comprises:
obtaining the movement displacement of the washing barrel in at least one direction according to the current acceleration signal;
and determining that the movement displacement of the washing barrel in at least one direction is smaller than the displacement threshold value in the direction, and achieving the dehydration condition.
10. The dehydration control method of a laundry processing apparatus according to claim 7 or 8, wherein said determining whether a dehydration condition is reached specifically comprises:
obtaining an acceleration value in at least one direction of the washing tub according to the current acceleration signal;
determining that an acceleration value in at least one direction of the washing tub is less than an acceleration threshold value in the direction, and achieving a dehydration condition.
11. A dehydration control system of a clothes treatment apparatus is characterized by comprising:
a rotation speed control module for gradually increasing the rotation speed of the washing tub to a first rotation speed;
the eccentricity detection module is used for obtaining an eccentricity value of the washing barrel according to the current first acceleration signal and the load weight of the washing barrel;
and the dehydration module is used for controlling the rotation speed of the washing barrel to be increased for dehydration when the eccentricity value of the washing barrel is less than or equal to the eccentricity threshold value.
12. A laundry treating apparatus, comprising:
a memory for storing executable instructions; and
a processor connected with the memory to execute the executable instructions to complete the dehydration control method of the laundry treatment apparatus according to any one of claims 1-10.
13. A computer-readable storage medium, having stored thereon a computer program; the computer program is executed by a processor to implement the dehydration control method of a laundry treatment apparatus according to any one of claims 1-10.
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