EP1548169A1 - Trommelwaschmaschine - Google Patents

Trommelwaschmaschine Download PDF

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Publication number
EP1548169A1
EP1548169A1 EP03765335A EP03765335A EP1548169A1 EP 1548169 A1 EP1548169 A1 EP 1548169A1 EP 03765335 A EP03765335 A EP 03765335A EP 03765335 A EP03765335 A EP 03765335A EP 1548169 A1 EP1548169 A1 EP 1548169A1
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EP
European Patent Office
Prior art keywords
drum
laundry
rotational speed
motor
angular velocity
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP03765335A
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English (en)
French (fr)
Other versions
EP1548169A4 (de
EP1548169B1 (de
Inventor
Yoji c/o IP Division Toshiba Corporation OKAZAKI
Tsuyoshi Hosoito
Shinichiro IP Division Toshiba Corp. KAWABATA
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Toshiba Corp
Toshiba Lifestyle Products and Services Corp
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Toshiba Corp
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Publication date
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Publication of EP1548169A1 publication Critical patent/EP1548169A1/de
Publication of EP1548169A4 publication Critical patent/EP1548169A4/de
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Publication of EP1548169B1 publication Critical patent/EP1548169B1/de
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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
    • 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
    • D06F2103/24—Spin speed; Drum movements
    • 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—Imbalance; Noise level
    • 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
    • D06F2103/44—Current or voltage
    • D06F2103/46—Current or voltage of the motor driving the drum
    • 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
    • D06F2105/52—Changing sequence of operational steps; Carrying out additional operational steps; Modifying operational steps, e.g. by extending duration of steps
    • 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
    • D06F2105/54—Changing between normal operation mode and special operation modes, e.g. service mode, component cleaning mode or stand-by mode
    • 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
    • D06F2105/62—Stopping or disabling machine operation
    • 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

Definitions

  • This invention relates to a drum washing machine provided with a drum rotated about a generally horizontal axis and means for balancing laundry stuck to an inner periphery of the drum prior to a dehydrating or spinning operation.
  • balancing operation Abnormal oscillation or vibration is sometimes produced in drum washing machines when a centrifugally dehydrating operation is carried out while laundry is stuck to an inner periphery of a drum.
  • various operation manners for improving uneven distribution of laundry in the drum before start of a high-speed rotation hereinafter, "balancing operation”
  • a rotational speed of the drum is gradually reduced so that laundry is balanced.
  • This balancing operation is executed according to a speed curve as shown in FIG. 12, for example. Firstly, a rotational speed of the drum is increased up to a sufficient value (angular velocity Na) at which laundry is stuck to the inner periphery of the drum. Thereafter, the rotational speed is gradually decreased with a small gradient.
  • a centrifugal force applied to laundry in a drum being rotated at an angular velocity ⁇ is represented as Ri ⁇ 2 where Ri is a distance from the rotation center of the drum to laundry.
  • Ri is a distance from the rotation center of the drum to laundry.
  • FIG. 10A shows an interior of the drum 101 in the case where the angular velocity ⁇ is equal to the aforesaid angular velocity Na. Since a centrifugal force applied to laundry 102 is equal to or larger than the gravitational acceleration g, the laundry 102 does not fall down even when reaching the maximum point.
  • the angular velocity ⁇ is gradually reduced in the above-noted state.
  • a centrifugal force applied to laundry is proportional to the distance from the rotation center of the drum to the laundry. Accordingly, laundry C having a short distance from the rotation center of the drum 101 falls earlier than the laundry 101 stuck to the inner periphery of the drum when the angular velocity ⁇ is decreased to value Nb.
  • the laundry is dissolved from the unbalanced state and is balanced at angular velocity Nb when all earlier fallen laundry sticks to a part of the inner periphery away from the rotation center and does not fall even when reaching the maximum point.
  • the angular velocity ⁇ is immediately increased to angular velocity Na or Nc slightly higher than Na.
  • the actual balanced state of laundry is confirmed in a predetermined period of time Ta.
  • the angular velocity ⁇ is increased to Nd and the centrifugally dehydrating operation is started.
  • the angular velocity ⁇ is once returned to zero and the balancing operation is re-executed.
  • a brushless DC motor is conventionally employed to drive the drum 101.
  • the brushless DC motor is driven by an inverter device in most cases (voltage drive).
  • FIG. 13 shows one of such conventional inverter devices.
  • the inverter device 200 comprises a position detecting section 201, adder 202, PI control section 203, U-V-W conversion section 204, PWM signal forming section 205 and PWM inverter circuit 206.
  • the position detecting section 201 processes two-phase signals from a Hall sensor 208 mounted on an electric motor 207 to detect phase ⁇ and angular velocity ⁇ of a rotor of the motor.
  • the detected angular velocity ⁇ is supplied to the adder 202, which calculates a deviation of the angular velocity ⁇ from a command angular velocity value ⁇ ref.
  • the calculated deviation is supplied to the PI control section 203.
  • the PI control section 203 applies a PI operation to the obtained deviation to calculate a voltage command value applied to the motor 207.
  • a result of calculation is supplied to the U-V-W conversion section 204 in the forms of DUTY and PHASE in the case where DC voltage is subsequently pulse-width modulated.
  • the U-V-W conversion section 204 decomposes the supplied voltage command value into three-phase command values, supplying the command values to the PWM signal forming section 205.
  • the PWM signal forming section 205 finally generates PWM signals for operating respective switching elements of the PWM inverter circuit 206 driving the respective phase coils of the motor 207. Consequently, the switching elements are turned on and off so that voltages according to the voltage command value are applied to the coils respectively, whereby the rotational speed of the motor 207 is adjusted so as to correspond to the angular velocity command value ⁇ ref.
  • the above-noted conventional control manner has the following problems.
  • the voltage applied to the motor 207 is proportional to the value obtained by the PI operation of the deviation between the angular velocity ⁇ and the angular velocity command ⁇ ref.
  • the rotational speed control of the motor 207 is carried out by voltage control.
  • Torque developed by the motor 207 is proportional to the magnitude of current flowing into the coils. Even if the voltage proportional to the value obtained by the PI operation is applied to the coils, the current proportional to the aforesaid angular velocity deviation would not be obtained, and accordingly, torque developed is not proportional to the value obtained by the PI operation.
  • the follow-up of the angular velocity ⁇ relative to the angular velocity command ⁇ ref is low such that the speed control tends to be unstable. Furthermore, the responsiveness of speed control is also low since a period of the feedback control is conventionally several hundreds msec.
  • the angular velocity ⁇ changes as shown by a curve in FIG. 11 when the angular velocity command ⁇ ref is reduced with a gentle gradient from the time when the angular velocity ⁇ becomes Na in the aforesaid balancing operation. More specifically, the angular velocity ⁇ is reduced while meandering about a straight line indicative of the angular velocity command ⁇ ref.
  • the aforesaid balancing operation is caused near the angular velocity at which a centrifugal force acting on the laundry directly stuck to the inner periphery of the drum becomes equal to the gravitational acceleration g (a range from ⁇ 1 to ⁇ 2).
  • the value of angular velocity ⁇ should be within the range from ⁇ 1 to ⁇ 2 in which the balancing operation works, for a long period of time.
  • the period of time is increased as shown by period T2 in FIG. 11 when the angular velocity ⁇ is reduced in accordance with the angular velocity command ⁇ ref.
  • an object of the present invention is to provide a drum washing machine in which laundry stuck to the inner periphery of the drum can be balanced prior to the dehydrating operation.
  • An electric motor rotating a drum comprises a brushless DC motor including a rotor provided with a permanent magnet.
  • Current flowing into the motor is divided into a d-axis current component parallel to magnetic flux established by the permanent magnet and a q-axis current component perpendicular to the d-axis current component, and the rotational speed of the drum is controlled by a vector control in which the current components are individually controlled so as to correspond with respective command values.
  • a rotational speed of the drum is once increased to a speed at which laundry sticks sufficiently to an inner periphery of the drum. Thereafter, a rotational speed gradually reducing operation starts to gradually reduce the rotational speed.
  • the rotational speed of the drum is increased for proceed to the centrifugally dehydrating operation immediately when it is determined during reduction in the rotational speed that the laundry is balanced in the drum.
  • Rotation of the drum is once stopped and thereafter, the rotational speed of the drum is gradually re-increased when it is not determined that the laundry is balanced in the drum, in spite of a sufficient reduction in the rotational speed of the drum.
  • Such a cycle for the balancing is executed at a predetermined number of times. When it is still not determined that the laundry is balanced in the drum, an alarming operation is carried out and the washing machine is stopped.
  • the laundry can be stuck uniformly to the inner periphery of the drum by the foregoing balancing operation. Consequently, the washing machine can smoothly proceed to the centrifugally dehydrating operation.
  • Embodiments of the drum washing machine in accordance with the present invention will be described with reference to FIGS. 1 to 11.
  • the invention is applied to a drum washing machine having a drum rotated about a substantially horizontal axis.
  • An overall construction of the washing machine will be described with reference to FIG. 2.
  • the drum washing machine comprises an outer cabinet 1.
  • a door 2 is mounted on a central part of the front of the cabinet 1, which front is shown as a right side in FIG. 2.
  • the door 2 closes and opens an access opening 4 formed in the central front of the cabinet 1.
  • An operation panel 3 is mounted on the cabinet front so as to be located above the door 2.
  • the operation panel 3 includes a number of switches and displays.
  • a cylindrical water tub 5 is provided in the cabinet 1 so as to be inclined rearwardly downward.
  • the water tub 5 is elastically supported by a pair of right and left elastic supporting mechanisms 6.
  • a cylindrical drum 7 is provided co-axially in the water tub 5.
  • the drum 7 includes an inner peripheral wall having a number of dehydration holes 8 which also serve as ventilation holes.
  • the drum 7 functions as a wash tub, dehydrating tub and drying tub.
  • the inner peripheral wall of the drum 7 also has a plurality of baffles 9.
  • the water tub 5 and drum 7 have fronts formed with openings 10 and 11 through which laundry is put into and taken out of the drum respectively.
  • the opening 10 of the water tub 5 water-tightly communicates with the access opening 4 with bellows 12 provided therebetween.
  • the opening 11 of the drum 7 faces the opening 10 of the water tub 5.
  • a balancing ring 13 is mounted around the opening 11 of the drum 7.
  • An electric motor 14 is mounted on a rear of the water tub 5 for rotating the drum 7.
  • the motor 14 is a brushless DC motor of the outer rotor type in which a rotor is disposed around a stator.
  • a stator 15 of the motor 14 is mounted on an outer periphery of a bearing housing 16 further mounted on a central rear of the water tub 5.
  • a rotor 17 of the motor 14 is disposed outside the stator 15 so as to cover it.
  • a centrally mounted rotational shaft 18 is rotatably mounted on bearings 19 further mounted on the bearing housing 16.
  • the rotational shaft 18 includes a front end protruding from the bearing housing 16 and connected to a central rear of the drum 7, whereby the drum 7 is rotated with the rotor 17 of the motor 14 when the rotor is rotated.
  • a hot-air generator 24 is provided on a top of the water tub 5.
  • a heat exchanger 25 of the water-cooled type is provided on the rear of the water tub 5.
  • the hot-air generator 24 comprises a hot-air heater 27 provided in a case 26, a fan 29 provided in a casing 28 and a fan motor 31 rotating the fan 29 via a belt transmission mechanism 30.
  • the case 26 communicates with the casing 28.
  • a duct 32 is connected to a front of the case 26.
  • the duct 32 has a distal end which protrudes into a front upper interior of the water tub 5, facing the opening 12 of the drum 7.
  • Hot air is generated by the heater 27 and fan 29 and supplied through the duct 32 into the drum 7.
  • the hot air supplied into the drum 7 heats laundry and absorbs water content from the laundry. Air containing the absorbed water content is discharged to the heat exchanger 25 side.
  • An upper interior of the heat exchanger 25 communicates with the interior of the casing 28, whereas a lower interior of the heat exchanger communicates with the interior of the water tub 5.
  • the heat exchanger 25 cools water vapor contained in air passing through the interior thereof when water poured from its upper portion falls down, thereby dehumidifying air.
  • the air passing through the heat exchanger 25 is returned to the hot-air generator 24 to be heated and recirculated.
  • FIG. 1 is a block diagram showing an example of the drive circuit.
  • a motor drive circuit 40 employs a sensor-less vector control system.
  • the motor drive circuit 40 includes a current control circuit 50, a rotational position estimating circuit 60 for estimating a rotational position of the motor rotor 17, a current command determining circuit 70 and a balanced state determining circuit 80.
  • the current control circuit 50 comprises adders 51a and 51b, proportional integral (PI) circuits 52a and 52b, a coordinate transformer 53, a PWM signal forming circuit 54, a PWM inverter circuit 55 and a current detecting circuit 56.
  • the current detecting circuit 56 comprises current detectors 56a and 56b, a three-to-two phase converter 56c and a vector rotator 56d.
  • the rotational position estimating circuit 60 comprises an induced voltage estimating circuit 61, a proportional integral circuit 62 and an integrator 63.
  • the current command determining circuit 70 comprises an adder 71 and a proportional integral circuit 72.
  • the current detectors 56a and 56b are connected between the PWM inverter circuit 55 and the motor 14 to detect a three-phase current, Iu, Iv and Iw (Iw is calculated from Iu and Iv).
  • the detected three-phase current is converted by the three-to-two phase converter 56c to a two-phase current I ⁇ , I ⁇ equivalent to the three-phase current.
  • the two-phase current I ⁇ , I ⁇ is further converted by the vector rotator 56d to current Id, Iq of d-axis and q-axis component.
  • a rotational position estimating value ⁇ which will be described in detail later is used in the conversion operation.
  • the d-axis and q-axis are rotating coordinate axes in which a direction of magnetic flux established by the permanent magnet of the rotor is a d-axis (magnetic flux axis) and a direction perpendicular to the d-axis is a q-axis (torque axis).
  • the d-axis current Id is a current component contributing to a magnetic flux generation
  • the q-axis current Iq is a current component contributing to rotating torque generation.
  • Deviations ⁇ Id, ⁇ Iq of the calculated currents Id, Iq from current command values Idr, Iqr are obtained by the adders 51a, 51b respectively.
  • Output voltage command values Vd, Vq are obtained by the proportional plus integral circuits 52a and 52b from the deviations ⁇ Id, ⁇ Iq respectively.
  • the output voltage command values Vd, Vq are converted by the coordinate transformer 53 to values of fixed biaxial coordinate system.
  • Three-phase pulse modulated signals are formed by the PWM signal forming circuit 54 on the basis of the converted values of fixed biaxial coordinate system.
  • the estimated rotational position value ⁇ is also used in the conversion operation by the coordinate transformer 53.
  • a pulse width modulated (PWM) signal is supplied to the PWM inverter circuit 55, whereby voltage is applied to an armature coil of the motor 14.
  • PWM pulse width modulated
  • a rotational position of the rotor is required for the operation by each of the vector rotator 56d and coordinate converter 53.
  • the rotational position of the rotor is detected by a rotation sensor mounted on the motor 14, for example, an encoder.
  • a rotation sensor mounted on the motor 14 for example, an encoder.
  • FIG. 1 employs a position sensor-less system estimating a rotational position of the rotor from motor current Id, Iq or the like.
  • An induced voltage estimating circuit 61 of the rotational position estimating circuit 60 is supplied with current Id, Iq, d-axis output voltage command value Vd and an estimated angular velocity value ⁇ of the rotor. Furthermore, the induced voltage estimating circuit 61 stores data of inductance Ld, Lq of the armature coil and resistance R, all of which are circuit constants of the motor 14.
  • Eds Vd-R ⁇ Id-Ld ⁇ pId+ ⁇ Lq ⁇ Iq
  • p is a differential operator.
  • the estimated angular velocity value ⁇ and the estimated rotational position value ⁇ are determined by the rotational position estimating circuit 60.
  • the balancing operation calculated from equation (2) is continued by the proportional plus integral circuit 62, the d-axis direction estimated value Eds calculated by equation (1) converges at zero in a short period of time.
  • the d-axis recognized (estimated) by the inverter corresponds with the direction of magnetic flux established by the permanent magnet, and the estimated rotational position value ⁇ is equal to an actual rotational position and the estimated angular velocity value ⁇ is equal to an actual angular velocity of the rotor.
  • the rotational position ⁇ and angular velocity ⁇ can be detected without use of any rotational sensor.
  • the adder 71 of the current command determining circuit 70 obtains a deviation ⁇ between the estimated angular velocity ⁇ and the angular velocity command value ⁇ ref supplied from an operation instructing circuit 90 of the washing machine.
  • the obtained deviation ⁇ is further processed by the proportional plus integral circuit 72, which supplies output as a q-axis current command value Iqr.
  • the adder 51b obtains a deviation ⁇ Iq between the q-axis current command value Iqr and the detected q-axis current Iq.
  • the deviation ⁇ Iq is adjusted by the proportional plus integral circuit 52b so as to converge at zero.
  • the estimated angular velocity value ⁇ corresponds to the angular velocity command value ⁇ ref, whereupon the motor 14 is rotated at the angular velocity command value ⁇ ref designated by the operation instructing circuit 90.
  • the current command value Idr is normally set at zero except for the centrifugal dehydrating operation requiring a high speed rotation.
  • the d-axis current Id is controlled by the proportional plus integral circuits 52a so as to become equal to the current command value Idr.
  • the balancing determining circuit 80 will be described in detail later.
  • the above-described operational processing is periodically performed by an operator such as DSP (digital signal processor).
  • the operation is carried out in the sequence of the three-to-two phase converter 56c, vector rotator 56d, balanced state determining circuit 80, induced voltage estimating circuit 61, proportional plus integral circuit 62, integration circuit 63, adder 71, proportional plus integral circuit 72, adders 51a and 51b, proportional plus integral circuits 52a and 52b, coordinate transformer 53 and PWM signal forming circuit 54.
  • An operational period is very short, for example, about 128 msec.
  • the speed control does not function well in the motor drive circuit 40 of the sensor-less vector control system when the value of angular velocity ⁇ of the motor 14 is too small. Accordingly, when the motor 14 starts in a stationary state, another starting control is carried out until the angular velocity ⁇ is increased to a value at which the angular velocity can be controlled by the sensor-less vector control.
  • the starting control will not be described in detail here since various proposals have been made regarding the starting control.
  • the operation instructing circuit 90 may be designed to directly supply two-phase voltage V ⁇ , V ⁇ to the PWM signal forming circuit 54, so that the two-phase voltage V ⁇ , V ⁇ is gradually increased from zero thereby to increase the rotational speed of the motor 14.
  • a balancing operation is carried out in order to improve uneven distribution of laundry stuck on the inner periphery of the drum, prior to a centrifugally dehydrating operation.
  • the balancing operation will be described.
  • FIG. 6 shows changes in the rotational speed (angular velocity ⁇ ) of the drum 7 in a period from the start of balancing operation to the start of centrifugally dehydrating operation.
  • FIG. 3 is a flowchart showing the balancing operation.
  • the rotational speed of the drum 7 is increased to an angular velocity Na which is sufficient for the laundry to stick to the inner periphery of the drum 7 at an initial stage of the balancing operation (step S1).
  • the operation instructing circuit 90 delivers angular velocity Na as the angular velocity command value ⁇ ref.
  • the starting control is firstly carried out in the course of the speed increase from the stationary state, as noted above.
  • the speed gradually reducing operation starts after angular velocity Na has been reached.
  • the angular velocity command value ⁇ ref is replaced by a value smaller by ⁇ 1 than the command value.
  • whether laundry is balanced in the drum 7 is determined. The determination is based on an amount of variation in the q-axis current Iq.
  • the balanced state determining circuit 80 reads and stores data of the value of q-axis current Iq. Simultaneously, the variation amount of the q-axis current Iq after transition to the speed gradually reducing operation is calculated (step S4) and whether laundry is balanced in the drum 7 is determined (step S5).
  • FIG. 4 shows changes in the q-axis current after start of the speed gradually reducing operation.
  • the q-axis current is shown as a relative value on the axis of ordinates.
  • FIG. 4 shows a waveform in the case where laundry is not balanced at the time the angular velocity Na has been reached.
  • the value of q-axis current varies to a large extent. The reason for the aforesaid variation in the q-axis current will be described.
  • the rotational shaft of the drum 7 is substantially horizontal as described above.
  • the rotational speed of the drum 7 varies depending upon a rotational position thereof when the drum is rotated about the horizontal shaft with laundry not being balanced.
  • the adder 71 compares the value of angular velocity estimated by the rotational position estimating circuit 60 with the angular velocity command value ⁇ ref, thereby calculating a deviation ⁇ . Accordingly, the deviation ⁇ varies depending upon a rotational angle of the drum 7 when laundry is unbalanced in the drum.
  • the proportional integral circuit 72 executes a proportional integral operation for the value of deviation ⁇ , thereby calculating a q-axis current command value Iqr to be supplied to q-axis so that deviation ⁇ becomes zero.
  • the value obtained by proportionally integrating deviation ⁇ is a q-axis current command value Iqr. More specifically, the proportional integral circuit 72 delivers a torque command value to be developed so that deviation ⁇ becomes zero, in the form of the q-axis current command value Iqr.
  • the q-axis current Iq detected by the current detecting circuit 56 is supplied to the adder 51b, which calculates deviation ⁇ Iq between the q-axis current Iq and the q-axis current command value Iqr.
  • the deviation ⁇ Iq is supplied to the proportional integral circuit 52b, which then performs a proportional integral operation, thereby obtaining a q-axis voltage command value Vq.
  • the obtained q-axis voltage command value Vq is supplied to the coordinate transformer 53.
  • the proportional integral circuit 52b calculates the q-axis voltage command value Vq to be applied to the q-axis so that the q-axis current deviation ⁇ Iq becomes zero.
  • the q-axis current command value Iqr to render the angular velocity deviation ⁇ zero is instantaneously obtained and further, the q-axis voltage command value Vq to equalize the q-axis current Iq to the q-axis current command value Iqr is instantaneously obtained. Consequently, the value of the q-axis current Iq is instantaneously adjusted so that the angular velocity deviation ⁇ becomes zero.
  • the instantaneous adjustment causes the q-axis current Iq to vary to a large extent as shown in FIG. 4.
  • the time period between adjacent peaks of the q-axis current Iq curve corresponds to the time of one turn of the drum 7.
  • the q-axis current Iq varies to a large extent during one turn. An amount of variation is reduced when an amount of unbalance is small. Accordingly, a degree of unbalance can be grasped by measuring an amount of variation in the q-axis current Iq during one turn. This is the reason for determining whether laundry is well balanced, on the basis of an extent of variation in the q-axis current Iq.
  • the extent of variation in the q-axis current Iq is calculated in the following manner. Firstly, a dc component contained in the q-axis current Iq in FIG. 4 is eliminated and only the ac component is extracted. A dc component changes according to the variation in the angular velocity command value ⁇ ref, whereas changes in an ac component results from the angular velocity deviation ⁇ .
  • FIG. 5A shows the extracted ac component. The variation in the angular velocity command value ⁇ ref in one turn is large when the ac component is large.
  • FIG. 5B shows the result obtained by squaring the instantaneous value of ac component.
  • step S5 it is determined whether the variation in the q-axis current is at or below the reference value Hb or whether laundry is balanced.
  • the control sequence advances to step S6, where whether the angular velocity is at or below a predetermined value Ne.
  • the value Ne is set so as to be smaller than the angular velocity range from ⁇ 1 to ⁇ 2 in which only the laundry causing unbalanced condition falls.
  • the predetermined angular velocity is reached, almost all the laundry in the drum falls at the maximum point.
  • step S6 When the value of angular velocity ⁇ is larger than the predetermined value Ne, the control sequence returns to step S2 where the angular velocity ⁇ is further reduced for continuation of rotational speed gradually reducing operation so that whether laundry is balanced is re-determined.
  • step S7 rotation of the drum is interrupted (step S7) and thereafter, the control sequence returns to step S1 so that the balancing operation is re-executed.
  • the balancing operation cannot be expected even if it is continued.
  • FIG. 7 shows the curve of the angular velocity ⁇ in the case where the steps are re-executed from step S1.
  • FIG. 7 shows a case where it is determined that laundry is balanced, at the time the angular velocity ⁇ becomes Nb during the second rotational speed gradually reducing operation.
  • step S8 The control sequence advances to step S8 when it is determined at step S5 that the variation in the q-axis current Iq is at or below the reference value Hb. That the q-axis current variation is at or below the reference value Hbmeans that laundry is balanced. Accordingly, the speed command value ⁇ ref is increased to an angular velocity Nd so that the centrifugally dehydrating operation is started.
  • the rotational speed gradually reducing operation is carried out at angular velocity Na for the balancing operation.
  • the control sequence proceeds to the centrifugally dehydrating operation immediately when it is determined that laundry is balanced, in the course of the rotational speed gradually reducing operation.
  • the developed torque is adjusted so that the deviation is instantaneously rendered zero. Accordingly, the angular velocity ⁇ changes without meandering so as to depict a curve substantially corresponding to the straight line of angular velocity command value ⁇ ref as shown in FIG. 11. Consequently, a period of time in which the value of angular velocity ⁇ is within the angular velocity range from ⁇ 1 to ⁇ 2 at which only the laundry resulting in the unbalanced condition falls almost corresponds to the time period T2 in FIG. 11. Since time period T2 is longer than the time period T1 in the prior art, laundry can be balanced in the drum more easily as compared with the prior art construction.
  • the angular velocity ⁇ is firstly increased to Na and thereafter, the first rotational speed gradually reducing operation is carried out for balancing the laundry.
  • the balancing operation is executed even in the middle of increasing angular velocity ⁇ to Na.
  • a rotational speed gradually increasing operation is carried out for this purpose.
  • a speed increase rate at which the angular velocity ⁇ is increased to Na is rendered smaller than one in the first embodiment as shown in FIG. 8.
  • the angular velocity ⁇ passes through the range from ⁇ 1 to ⁇ 2 in which the balancing action works.
  • the angular velocity ⁇ is immediately increased to Nd so that the control sequence proceeds to the centrifugally dehydrating operation.
  • the rotational speed gradually reducing operation as performed in the first embodiment is carried out when it is not determined that laundry is balanced, before angular velocity ⁇ reaches Na.
  • the angular velocity ⁇ is immediately increased to Nd so that the control sequence proceeds to the centrifugally dehydrating operation, in the same manner as in the first embodiment.
  • angular velocity is reduced to Ne but it is not determined that laundry is balanced, rotation of the drum 7 is interrupted and the rotational speed gradually increasing operation is performed as shown in FIG. 9.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Control Of Washing Machine And Dryer (AREA)
  • Control Of Ac Motors In General (AREA)
EP03765335A 2002-07-22 2003-07-18 Trommelwaschmaschine Expired - Lifetime EP1548169B1 (de)

Applications Claiming Priority (3)

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JP2002212788A JP4194312B2 (ja) 2002-07-22 2002-07-22 ドラム式洗濯機
JP2002212788 2002-07-22
PCT/JP2003/009215 WO2004009899A1 (ja) 2002-07-22 2003-07-18 ドラム式洗濯機

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EP1548169A1 true EP1548169A1 (de) 2005-06-29
EP1548169A4 EP1548169A4 (de) 2006-08-16
EP1548169B1 EP1548169B1 (de) 2010-03-03

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JP (1) JP4194312B2 (de)
KR (1) KR100690118B1 (de)
CN (1) CN1671907B (de)
DE (1) DE60331566D1 (de)
TW (1) TWI278547B (de)
WO (1) WO2004009899A1 (de)

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US7490490B2 (en) 2004-06-04 2009-02-17 Sanyo Electric Co., Ltd. Drum type washing machine
EP2063011A1 (de) * 2007-11-22 2009-05-27 Electrolux Home Products Corporation N.V. Elektrisches Haushaltsgerät
WO2010100030A1 (de) * 2009-03-02 2010-09-10 BSH Bosch und Siemens Hausgeräte GmbH Verfahren und schaltungsanordnung zum ermitteln der beladung und/oder der unwucht einer wäschetrommel einer waschmaschine
US8679198B2 (en) 2008-05-23 2014-03-25 Lg Electronics Inc. Washing machine and method of controlling a washing machine
US8938835B2 (en) 2008-05-23 2015-01-27 Lg Electronics Inc. Washing machine and method of controlling a washing machine
CN111118813A (zh) * 2018-10-15 2020-05-08 广东威灵电机制造有限公司 位置控制方法、控制装置、滚筒洗衣机及存储介质
WO2023111968A1 (en) * 2021-12-16 2023-06-22 Fisher & Paykel Appliances Limited Improvements relating to laundry apparatus and/or their control

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JP3962668B2 (ja) 2002-09-24 2007-08-22 株式会社東芝 ドラム式洗濯機
JP4358649B2 (ja) * 2004-02-20 2009-11-04 パナソニック株式会社 ドラム式洗濯機
KR101041907B1 (ko) 2004-06-24 2011-06-15 주식회사 대우일렉트로닉스 드럼세탁기의 밸런스 탈수 방법
FI20045389A (fi) * 2004-10-14 2006-04-15 Abb Oy Kokoonpano ja menetelmä pyörivän rummun epätasapainon määrittämiseksi
KR101114340B1 (ko) * 2005-05-23 2012-02-15 엘지전자 주식회사 드럼 세탁기의 탈수방법
KR101203567B1 (ko) * 2005-12-06 2012-11-21 엘지전자 주식회사 세탁기의 탈수방법
JP4402123B2 (ja) * 2007-02-14 2010-01-20 パナソニック株式会社 ドラム式洗濯乾燥機
JP4402122B2 (ja) 2007-02-14 2010-01-20 パナソニック株式会社 ドラム式洗濯機
JP4100576B1 (ja) * 2007-02-14 2008-06-11 松下電器産業株式会社 ドラム式洗濯機
JP4840309B2 (ja) * 2007-09-25 2011-12-21 パナソニック株式会社 ドラム式洗濯機
JP4840308B2 (ja) * 2007-09-25 2011-12-21 パナソニック株式会社 ドラム式洗濯機
JP4906770B2 (ja) * 2008-03-31 2012-03-28 日立アプライアンス株式会社 ドラム式洗濯機
JP5176662B2 (ja) * 2008-04-09 2013-04-03 パナソニック株式会社 ドラム式洗濯機
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KR100977575B1 (ko) 2008-05-23 2010-08-23 엘지전자 주식회사 세탁물 처리기기 및 세탁물 처리기기의 제어방법
KR101028089B1 (ko) 2008-05-23 2011-04-08 엘지전자 주식회사 세탁물 처리기기 및 세탁물 처리기기의 제어방법
KR101028086B1 (ko) 2008-05-23 2011-04-08 엘지전자 주식회사 세탁물 처리기기 및 세탁물 처리기기의 제어방법
KR102088827B1 (ko) * 2013-07-18 2020-03-13 엘지전자 주식회사 세탁기 및 그 제어방법
KR101594368B1 (ko) * 2013-09-03 2016-02-16 엘지전자 주식회사 의류처리장치 및 그 제어방법
KR102203430B1 (ko) * 2014-01-22 2021-01-14 엘지전자 주식회사 세탁기 및 세탁기의 제어방법
CN106757986A (zh) * 2017-02-07 2017-05-31 南京乐金熊猫电器有限公司 一种对洗涤桶内衣物不平衡感知的方法及脱水方法
JP6964431B2 (ja) * 2017-04-19 2021-11-10 日立グローバルライフソリューションズ株式会社 ドラム式洗濯機及びドラム式洗濯乾燥機
US11234360B2 (en) 2019-02-01 2022-02-01 Cnh Industrial Canada, Ltd. Drive and sensing system for agricultural agitator
CN110241554B (zh) * 2019-07-12 2021-04-27 四川虹美智能科技有限公司 一种脱水方法和波轮洗衣机
CN114164608B (zh) * 2021-12-13 2022-09-30 珠海格力电器股份有限公司 一种洗衣机脱水方法、装置、存储介质及洗衣机

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7490490B2 (en) 2004-06-04 2009-02-17 Sanyo Electric Co., Ltd. Drum type washing machine
EP2063011A1 (de) * 2007-11-22 2009-05-27 Electrolux Home Products Corporation N.V. Elektrisches Haushaltsgerät
US8679198B2 (en) 2008-05-23 2014-03-25 Lg Electronics Inc. Washing machine and method of controlling a washing machine
US8938835B2 (en) 2008-05-23 2015-01-27 Lg Electronics Inc. Washing machine and method of controlling a washing machine
WO2010100030A1 (de) * 2009-03-02 2010-09-10 BSH Bosch und Siemens Hausgeräte GmbH Verfahren und schaltungsanordnung zum ermitteln der beladung und/oder der unwucht einer wäschetrommel einer waschmaschine
CN102341538A (zh) * 2009-03-02 2012-02-01 Bsh博世和西门子家用电器有限公司 用于确定洗衣机的洗衣滚筒的载荷和/或失衡的方法和电路装置
EA019472B1 (ru) * 2009-03-02 2014-03-31 Бсх Бош Унд Сименс Хаусгерете Гмбх Способ и устройство для определения загрузки и/или дисбаланса стирального барабана стиральной машины
CN102341538B (zh) * 2009-03-02 2014-06-25 Bsh博世和西门子家用电器有限公司 用于确定洗衣机的洗衣滚筒的载荷和/或失衡的方法和电路装置
US9096964B2 (en) 2009-03-02 2015-08-04 BSH Hausgeräte GmbH Method and circuit arrangement for determining the load and/or unbalance of a laundry drum of a washing machine
CN111118813A (zh) * 2018-10-15 2020-05-08 广东威灵电机制造有限公司 位置控制方法、控制装置、滚筒洗衣机及存储介质
CN111118813B (zh) * 2018-10-15 2022-02-01 广东威灵电机制造有限公司 位置控制方法、控制装置、滚筒洗衣机及存储介质
WO2023111968A1 (en) * 2021-12-16 2023-06-22 Fisher & Paykel Appliances Limited Improvements relating to laundry apparatus and/or their control

Also Published As

Publication number Publication date
JP4194312B2 (ja) 2008-12-10
WO2004009899A1 (ja) 2004-01-29
KR20050027121A (ko) 2005-03-17
CN1671907A (zh) 2005-09-21
KR100690118B1 (ko) 2007-03-08
EP1548169A4 (de) 2006-08-16
EP1548169B1 (de) 2010-03-03
DE60331566D1 (de) 2010-04-15
JP2004049631A (ja) 2004-02-19
TWI278547B (en) 2007-04-11
CN1671907B (zh) 2010-06-23
TW200403373A (en) 2004-03-01

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