JP4941319B2 - Washing machine, drum rotation speed control method and program - Google Patents

Description

  The present invention relates to a drum-type washing machine or a washing / drying machine used in general households.

Conventionally, during washing, the behavior of the drum and the behavior of the laundry in the drum are measured and estimated, and the rotational speed of the drum is changed. For example, in Patent Document 1, an acceleration sensor is attached to a drum cylinder, and as shown in FIG. 12, the behavior of clothing is estimated from the amount of change in the acceleration sensor output and the amount of change in the torque current component of the motor. Control means for changing the speed of the rotating motor is provided.
JP 2006-346270 A

  However, in the conventional configuration, because of the following reasons (1) and (2), the behavior of the laundry cannot be accurately grasped, and thus the rotation speed of the drum cannot be appropriately controlled.

  (1) Various types of vibration are applied to the receiving cylinder, and the behavior of the laundry cannot be accurately grasped by a simple output change of the acceleration sensor.

  For example, not only the vibration caused by the movement of clothes, but also the vibration caused by the movement of water and bubbles in the drum, and the vibration of the motor and the casing are applied to the receiving tube. In addition, since vibration varies depending on the amount, weight, and quality of the laundry, the behavior of the laundry cannot be accurately determined only by a simple change in the output value from the acceleration sensor.

  (2) The same applies to the current value indicating the torque component of the motor. For example, when the amount of water is large during washing and the clothing is synthetic fiber, the clothing may float in the drum. There is no correlation between behavior and motor torque. That is, there is a case where the behavior of the laundry cannot be accurately determined by the torque component of the motor.

  SUMMARY OF THE INVENTION The present invention solves the above-described conventional problems, and an object thereof is to improve the washing ability of a washing machine by judging the state of laundry inside the drum and changing the rotation speed of the drum (motor). .

  In order to solve the above-mentioned conventional problems, in the present invention, the vibration of the drum is not the value of the vibration of the receiver itself, but the vibration caused by the rotation of the drum (rotational vibration component), and the baffle stirs the laundry. The generated vibration (baffle vibration component) is extracted, and the rotational speed of the drum is controlled according to the magnitude of the vibration component.

  Specifically, a vibration detection unit that detects the vibration of the receiving cylinder, a frequency component calculation unit that performs a Fourier transform process on the signal detected by the vibration detection unit, and calculates a rotational vibration component and a baffle vibration component, and a rotation A rotation speed control unit that changes the rotation speed of the motor according to the magnitude of the vibration component and the baffle vibration component is provided.

  With this configuration, it is possible to determine the state of the laundry inside the drum and change the rotation speed of the drum (motor). Thereby, the washing ability of the washing machine can be improved.

  By using the washing machine, drum rotation speed control method and program of the present invention, the washing ability of the washing machine can be improved.

  Specifically, the vibration of the drum (rotational vibration component) and the vibration generated by the baffle stirring the laundry (baffle vibration component) are extracted from the vibration of the receiving cylinder, and the magnitude of those vibration components is extracted. The rotation speed of the drum is controlled accordingly. Accordingly, it is possible to avoid a sticking state in which the laundry is stuck in the drum and a rugged state in which the laundry is merely rotating at the lower portion of the drum, and the laundry can be maintained in a knocked wash state.

  In general, in a drum type washing machine, it is said that the washing degree can be maximized in the tapping washing state. By using the present invention, the washing ability of the washing machine can be improved as a result. In addition, there is also an effect that the washing time is shortened by improving the washing ability.

  According to a first aspect of the present invention, there is provided a drum that accommodates and rotates laundry, at least one baffle that is disposed in the drum and stirs the laundry, accommodates the drum, and is elastically supported from a housing by an elastic support mechanism. A supported barrel, a motor that rotates the drum, a vibration detector that detects vibration of the barrel, and a Fourier transform process on the signal detected by the vibration detector, and the drum or the motor A frequency component calculating unit for calculating a vibration component (rotational vibration component) at a frequency corresponding to the rotation speed of the motor, a vibration component (baffle vibration component) at a frequency obtained by multiplying the frequency by the number of baffles, the rotational vibration component and the It is a washing machine provided with the rotational speed control part which changes the rotational speed of the said motor according to the magnitude | size of a baffle vibration component.

  With this configuration, it is possible to extract, from the vibration data of the receiving cylinder, vibration that the rotation of the drum gives to the laundry and vibration caused by the baffle hitting the laundry. By changing the rotational speed of the drum based on these vibration values, the washing ability of the washing machine can be enhanced.

  A second invention includes a difference calculation unit that calculates a difference value obtained by subtracting a baffle vibration component from a rotation vibration component in the first invention, and the rotation speed control unit has a difference value greater than a predetermined positive value. If it is determined that the laundry is stuck inside the drum, the rotational speed of the motor is decreased, and if the difference value is smaller than the predetermined negative value, it is determined that the laundry is rolling in the lower part of the drum. Thus, the rotational speed of the motor is increased.

  Accordingly, it is possible to avoid a sticking state in which the laundry is stuck in the drum and a rugged state in which the laundry is merely rotating at the lower part of the drum, and the laundry is maintained in a knocked-washed state. Thereby, the washing | cleaning capability of a washing machine can be improved.

  According to a third aspect of the present invention, in the first or second aspect, when the drum rotation speed is V [rpm] and the number of baffles is n, the frequency component calculation unit outputs the signal detected by the vibration detection unit. The Fourier transform processing is performed on the vibration component, the magnitude of the vibration component in a predetermined frequency range including the frequency V / 60 [Hz] is extracted, and any one of the total value, the average value, and the maximum value of the rotation frequency vibration component is extracted. Then, the magnitude of the vibration component in a predetermined frequency range including the frequency V / 60 × n [Hz] is extracted, and any one of the total value, the average value, and the maximum value is set as the baffle vibration component.

  Thereby, even when the rotational speed of the drum is uneven, the rotational frequency vibration component and the baffle vibration component can be accurately calculated, and the rotational speed of the motor (drum) can be controlled with high accuracy.

  According to a fourth invention, in any one of the first to third inventions, the rotation speed control unit controls the motor to control the drum rotation speed within a predetermined range from an upper limit value to a lower limit value or from a lower limit value to an upper limit. The frequency component calculation unit calculates the rotation vibration component and the baffle vibration component from the output signal of the vibration detection unit at each of the changing rotation speeds, and the difference calculation unit calculates the rotation vibration component and the baffle vibration component. The rotation speed control unit drives the motor at the rotation speed when the difference value falls within a predetermined range.

  Thereby, the motor (drum) can be rotated at a speed when the magnitude relation between the rotational vibration component and the baffle vibration component becomes a predetermined value. Thereby, the washing | cleaning capability of a washing machine can be improved.

  According to a fifth invention, in any one of the first to fourth inventions, the vibration detection unit includes at least one acceleration sensor, and at least one vibration component in the vertical, horizontal, and front-back directions of the receiving cylinder. Is detected, and the acceleration for each direction or the sum of the accelerations for each direction is output.

  When the sum of acceleration signals in a plurality of directions is used, the vibration of the receiving cylinder can be acquired with high accuracy, and the calculation accuracy of the baffle frequency component calculation unit can be increased. This also leads to an increase in the washing ability of the washing machine.

  In the sixth aspect of the invention, when the drum rotation speed is V [rpm] and the number of baffles is n, the step of detecting the vibration of the receiving cylinder and the Fourier transform processing for the vibration are performed, and the frequency V / 60 [ Hz] vibration component (rotational vibration component) and the step of calculating the magnitude of the vibration component (baffle vibration component) at the frequency V / 60 × n [Hz], according to the magnitude of the rotational vibration component and the baffle vibration component And a drum rotation speed control method for a washing machine comprising a step of changing the rotation speed of the motor.

  By extracting a specific frequency component from the vibration data of the receiving cylinder, it is possible to know the magnitude of the vibration that the rotation of the drum gives to the laundry and the magnitude of the vibration that occurs when the baffle stirs the laundry. By controlling the rotation speed of the drum according to this frequency component, the washing ability of the washing machine can be improved.

  A seventh invention is a program for causing a computer to realize at least a part of the functions of the washing machine according to any one of the first to fifth inventions. Since it is a program, some or all of the functions of the present invention can be easily realized by using hardware resources such as electric / information equipment and a computer in cooperation. Also, program distribution and installation can be simplified by recording on a recording medium or distributing a program using a communication line.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the present embodiment.

(Embodiment 1)
FIG. 1 shows a configuration diagram of a washing machine according to a first embodiment of the present invention. The main configuration of the present invention described in the drawings will be described in order.

  (1) A drum 1 as a washing tub for storing and rotating laundry such as clothes is coupled to a motor 2 as shown in the figure, and rotates to wash the laundry. A baffle 7 for agitating the laundry is provided inside the drum 1 (in this embodiment, the number of baffles is 3).

  (2) The motor 2 for rotating the drum 1 is constituted by a brushless motor or its control circuit. The rotation speed is variable, and the forward and reverse rotations are repeated in the washing process. The motor 2 is not a brushless motor, and may have another configuration.

  (3) As shown in FIG. 1, the receiving cylinder 3 that accommodates the drum 1 and water is fixed to the housing 5 via an elastic support mechanism 4 such as a spring 4a or a damper 4b.

  (4) The vibration detection unit 6 that detects the vibration of the receiving cylinder 3 includes an acceleration sensor. In the present embodiment, the vibration detection unit 6 detects vibration (acceleration) in the left-right direction with respect to the front of the drum as an example. And The acceleration sensor may be a semiconductor acceleration sensor, a piezoelectric acceleration sensor, or the like, and may be a multi-axis (2-axis or 3-axis) direction acceleration sensor. Since the actual vibration of the receiving tube cannot always be limited to one direction, it is preferable to use a sum of three-axis acceleration components using a three-axis acceleration sensor.

  (5) From the vibration (acceleration data) detected by the vibration detection unit 6, the frequency component calculation unit 10 generates vibrations (rotational vibration components) caused by the rotation of the drum, and vibrations generated by the baffle stirring the laundry ( Calculate baffle vibration component). The frequency component calculation unit 10 is configured by a microcomputer, and performs a discrete Fourier transform (DFT) or a fast Fourier transform (FFT) on the signal obtained by the vibration detection unit 6 to obtain a predetermined frequency. The magnitude of the vibration component at the frequency (Fourier amplitude spectrum, power spectrum, etc.) is calculated.

  Specifically, when the rotational speed of the drum 1 (motor 2) is V [rpm] and the number of baffles is n, the frequency component at V / 60 [Hz] is obtained from the data obtained from the vibration detection unit 6, and A process of calculating a frequency component in V / 60 × n [Hz] is performed. The former is a rotational vibration component, and the latter is a baffle vibration component. The rotation speed V is acquired from the rotation speed control unit 12.

  (6) The difference calculation unit 11 calculates the difference (magnitude relationship) between the magnitudes of the rotational vibration component and the baffle vibration component calculated by the frequency component calculation unit 10.

  (7) The rotation speed control unit 12 increases or decreases the rotation speed of the motor 2 in accordance with the difference in the frequency component of vibration calculated by the difference calculation unit 11.

  About the washing machine comprised as mentioned above, the operation | movement and an effect | action are demonstrated below using FIGS.

  2 to 4 are diagrams showing the operation principle of the present invention. (A) in FIGS. 2 to 4 is an example showing the state of the laundry in the drum 1. The laundry is depicted in a circle in the drum 1 and the baffle 7 is represented by a triangle inside the drum. The baffle 7 has a role of picking up the laundry and stirring it. In the present embodiment, as shown in the figure, three baffles 7 are provided inside the drum 1 (the number of baffles n = 3).

  FIG. 2A shows a case where the rotation speed of the drum 1 is low (41 rpm in the example of FIG. 2). Since the rotational speed is low, a large centrifugal force does not act on the laundry, and the laundry is rotating at the lower part of the drum 1 on the spot. In this case, since the rotational speed of the drum 1 is low, the amount by which the laundry is lifted by the baffle 7 is small, and is not stirred much. In this specification, this state is referred to as a “goro state”.

  FIG. 4A shows a case where the rotational speed of the drum 1 is high (49 rpm in the example of FIG. 4). Since the rotational speed is large, a large centrifugal force acts on the laundry, and the laundry is stuck to the inside of the drum 1. Since the laundry is stuck, it rotates together with the drum 1. In this specification, this state is referred to as a “sticking state”.

  FIG. 3A shows an intermediate rotation speed between FIGS. 2A and 4A (45 rpm in the example of FIG. 3). The behavior of the laundry is also intermediate, and the laundry is lifted upward by the baffle 7, but since the centrifugal force is not strong enough, it is peeled off from the inside of the drum 1 and falls to the lower portion of the drum 1 due to gravity (speed) Because there is so In this specification, this state is referred to as a “striking state”.

  In the cases of FIGS. 2A, 3A, and 4A, when the cleaning ability is compared, it is generally considered that the beaten state of FIG. 3A is the best. In the sticking state of FIG. 4A, since the laundry does not move at all from the drum wall surface, the stirring effect by the baffle is extremely small, and the cleaning ability is lowered. Moreover, in the grooving state of Fig.2 (a), since the quantity by which a laundry is lifted by a baffle is small, it is not fully stirred. In this case as well, the cleaning ability is reduced. In the case of FIG. 3A, the laundry is sufficiently lifted and stirred by the baffle, and the operation is such that the laundry is struck to the lower part of the drum, so that the cleaning ability is enhanced overall.

  In each state of FIG. 2A, FIG. 3A, and FIG. 4A, the vibration data obtained by the vibration detector 6 (acceleration data in the left-right direction with respect to the drum 1 in this embodiment) The results of performing Fourier transform processing and frequency analysis are shown in FIGS. 2B, 3B, and 4B, respectively. In the figure, the horizontal axis represents frequency (unit: Hz), and the vertical axis represents Fourier amplitude spectrum (unit: G · sec). In the figure, a rotational vibration component and a baffle vibration component are shown, respectively. These are expressed as follows, assuming that the rotation speed of the drum 1 is V [rpm] and the number of baffles is n = 3.

(1) Rotational vibration component (vibration component directly caused by rotation of the drum 1) = vibration component at V / 60 [Hz] (size of Fourier amplitude spectrum)
(2) Baffle vibration component (vibration component caused by baffle 7 hitting laundry) = vibration component at V / 60 × n [Hz] = V / 60 × 3 [Hz] (size of Fourier amplitude spectrum)
The rotational vibration component is considerably large in the sticking state of FIG. 4B, and conversely is small in the rough state of FIG.

  In the sticking state of FIG. 4B, the laundry is stuck inside the drum 1 and is rotating together with the drum 1, so the laundry becomes an eccentric load of the drum 1. For this reason, vibration is regularly generated every time the drum 1 rotates, and as a result, a vibration component at a frequency corresponding to the rotation speed increases. In the grooving state of FIG. 2B, since the laundry does not rotate together with the drum 1, such rotational vibration components are small.

  On the contrary, the baffle vibration component is considerably small in the sticking state of FIG. 4B, but is considerably large in the rough state of FIG. 2B. This is because in the sticking state as shown in FIG. 4B, the laundry sticks to the wall surface of the drum 1 and the stirring effect by the baffle 7 is diminished. This tendency does not change even if the cloth type or the amount of cloth changes, and if the laundry is stuck, the baffle vibration component becomes small. On the other hand, in the state of FIG. 2B, the laundry always comes into contact with the baffle 7 at the lower part of the drum 1, and the laundry rotates on the spot due to the influence. Therefore, vibration occurs every time the baffle 7 hits the laundry, and the baffle vibration component increases.

  3B is an intermediate position between FIG. 2B and FIG. 4B, and the rotational vibration component and the baffle vibration component similarly have intermediate values. In order to increase the cleaning ability, it is necessary to achieve the beat-washing state of FIG. 3, so that either the rotational vibration component or the baffle vibration component does not increase, but it is necessary to balance.

  In the present invention, by utilizing the above-described characteristics, the signal of the vibration detection unit 6 attached to the receiving cylinder 3 is subjected to Fourier transform processing by the frequency component calculation unit 10, so that the above-described rotational vibration component and baffle vibration component are obtained. Ask. Then, the drum 1 is driven at a rotational speed such that the difference value between the two types of vibration components thus obtained falls within a predetermined range. As a result, a tap washing state is realized, and as a result, the washing ability of the washing machine can be increased.

  FIG. 5 is a flowchart showing the operation of each part in the case of controlling the rotation speed of the drum 1 in accordance with the operation principle described above. Hereinafter, it demonstrates in order for every step. This flowchart shows the operation procedure of the washing process, and it is assumed that the processes such as the determination of the amount of cloth, the addition of detergent, and the water injection have been completed before this process.

  (Step A1) After the start of the washing process, the rotational speed control unit 12 initializes the rotational speed V of the drum 1 (motor 2) to V0. V0 may be set to a value corresponding to the cloth amount detected in the previous step, or may be a fixed value.

  (Step A2) The rotational speed controller 12 rotates the motor 2 (drum 1) at a rotational speed V for a predetermined time. As the predetermined time, a value of about 10 to 15 seconds is selected. However, if there is a previous rotation in the washing process, it is rotated in the opposite direction.

  (Step A3) The frequency component calculation unit 10 acquires acceleration data (vibration data) detected by the vibration detection unit 6 during rotation of the drum 1 in step A2 as time series data, and performs a Fourier transform process. Then, rotational vibration component Fr (Fourier amplitude spectrum at frequency V / 60 [Hz]) and baffle vibration component Fb (Fourier amplitude spectrum at frequency V / 60 × 3 [Hz]) are obtained.

  The rotation speed V of the drum 1 is acquired from the rotation speed control unit 12 by the frequency component calculation unit 10. Further, in the present embodiment, the vibration detection unit 6 detects vibration in one direction (left and right direction) of the receiving cylinder 3, but when the vibration detection unit 6 is a triaxial acceleration sensor, frequency component calculation is performed. The unit 10 adds triaxial acceleration signals (front and rear, up and down, front and rear), and performs a Fourier transform process on the addition result. By summing the components of the three axes, vibration can be grasped more accurately. In the Fourier transform process, a discrete Fourier transform process (DFT) or a fast Fourier transform process (FFT) is performed by software in the microcomputer constituting the frequency component calculation unit 10 to calculate a Fourier amplitude spectrum and a power spectrum. Alternatively, the calculation may be performed using dedicated calculation hardware such as a DSP.

  (Step A4) The difference calculation unit 11 calculates a difference value Fv = Fr−Fb between the rotational vibration component Fr and the baffle vibration component Fb obtained by the Fourier transform process in Step A3.

  (Step A5) The rotation speed control unit 12 compares the difference value Fv with the range A (a0, a1) set in advance. (A0 and a1 are set in advance as threshold values for determining the state of the laundry. In this embodiment, a1> a0 and a1 ≧ 0 and a0 ≦ 0) Then, based on the comparison result, the process is branched as follows.

  When the difference value Fv is not more than the range A (Fv ≦ a0): The process proceeds to step A6.

  When the difference value Fv is greater than or equal to the range A (Fv ≧ a1): The process proceeds to step A7.

  When the difference value Fv falls within the range A (a0 <Fv <a1): The process proceeds to step A8.

  In the present embodiment, a range near zero is set as the range A. In this case, the difference value Fv falls within the range A when the rotational vibration component and the baffle vibration component are approximately the same magnitude.

  (Step A6) Since the difference value Fv is a0 or less, in this case, the baffle vibration component Fb is too large compared to the rotational vibration component Fr, and the rotational speed control unit 12 indicates that the laundry is as shown in FIG. The motor 2 is controlled to increase the rotational speed of the drum 1 by dV (the value of the increase amount dV is also set in the rotational speed control unit 12 in advance).

  (Step A7) Since the difference value Fv is greater than or equal to a1, in this case, the rotational vibration component Fr is too large compared to the baffle vibration component Fb, and the rotational speed control unit 12 indicates that the laundry is as shown in FIG. It is determined that the sticking state is present, and the motor 2 is controlled to reduce the rotational speed of the drum 1 by dV.

  (Step A8) It is determined whether the washing time has expired. If not completed, the process returns to step A2 to repeat the above-described operation. If completed, the process proceeds to the next step (for example, a dehydration step). If the difference value Fv is in (a0, a1) in step A5, the process proceeds to step A8. In this case, the rotational vibration component and the baffle vibration component are substantially equal and balanced, and it is determined that the laundry is in the tapping state, and the rotation speed V is not changed, and only the washing time is determined.

  FIG. 6 shows an example of a change in the rotational speed of the drum 1 due to the operations of the above steps A1 to A8. FIG. 6 shows that the rotation speed control unit 12 changes the rotation speed of the drum 1 so that the difference value Fv of the frequency components calculated by the difference calculation unit 11 falls within a predetermined range A. Thereby, the state of the laundry becomes a washable state as shown in FIG. 3, and the cleaning ability can be increased. This also has the effect of shortening the washing time.

  In the operation procedure of FIG. 5, when the rotational speed control unit 12 stores the rotational vibration component and the baffle vibration component calculated in step A3 and newly calculates the vibration component value by changing the rotational speed in steps A6 and A7. The stored old vibration component value may be compared with the new vibration component value, and the rotation speed may not be changed if there is no change. By doing this, for example, when laundry is put in the drum 1, when the frequency characteristic of vibration of the drum 1 does not change depending on the rotational speed, washing is performed at a rotational speed of approximately the initial value V0. be able to.

  FIG. 7 shows another operation procedure for controlling the rotation speed of the drum 1 (motor 2). In the operation procedure of FIG. 5, the rotation speed of the drum 1 is changed so that the difference value between the rotation vibration component and the baffle vibration component falls within the predetermined range A. However, in the procedure of FIG. Gradually lowering, and subsequent washing is performed at the rotational speed when the difference value falls below a predetermined threshold value a1. Details of the operation procedure will be described in order for each step of FIG.

  (Step B1) The rotational speed of the drum 1 (motor 2) is represented by V. In Step B1, the rotation speed V of the drum 1 is initialized to Vt at the start of the washing process. Vt is an upper limit value of the rotational speed of the drum 1 (motor 2).

  The rotational speed of the drum 1 can be changed within a predetermined range [Vb, Vt] according to the performance of the motor 2 (upper limit value: Vt, lower limit value: Vb). Here, the upper limit value Vt is the maximum rotation speed at which the motor 2 can rotate the drum 1 in the state where the laundry is put. In general, as the rotational speed is lowered, the power consumption of the motor 2 increases and cannot be set to an extremely small value (except when stopped). Therefore, there is also a lower limit value for the rotational speed of the motor 2. These upper limit value Vt and lower limit value Vb are set to appropriate values in consideration of motor performance, power consumption, mechanism, durability, heat run characteristics, and the like.

  (Step B2) The rotation speed control unit 12 rotates the drum 1 (motor 2) at the rotation speed V for a predetermined time. In this embodiment, the rotation is performed for about 10 to 15 seconds. However, if there is a previous rotation, rotate it in the opposite direction.

  (Step B3) Similar to step A3, the frequency component calculation unit 10 performs a Fourier transform process on the time-series data detected by the vibration detection unit 6, and calculates the rotational vibration component Fr and the baffle vibration component Fb.

  (Step B4) Similar to step A4, the difference calculation unit 11 calculates a difference value Fv = Fr−Fb between the rotational vibration component Fr and the baffle vibration component Fb.

  (Step B5) The rotation speed control unit 12 compares the difference value Fv calculated by the difference calculation unit 11 with a predetermined threshold value a1. If Fv is greater than or equal to the threshold value a1, it is determined that the laundry is stuck to the drum 1 at the current rotational speed V, and the state is as shown in FIG. 4, and the process proceeds to step B6. .

  On the other hand, if the difference value Fv is smaller than the threshold value a1, it is determined that the laundry is not in a sticking state and is in a state of being washed with an appropriate baffle vibration component, and the process proceeds to step B8. Washing at the speed V is continued until the washing time ends.

  (Step B6) The rotational speed control unit 12 checks whether or not the current rotational speed V is higher than the lower limit value Vb of the rotational speed. The vibration component may not change even when the rotational speed is reduced, such as when the laundry is packed in the drum 1. In that case, the rotation speed is not set to an extremely small value, but is rotated at a value near the lower limit value Vb of the rotation speed. Here, when the rotational speed V is lower than or equal to the lower limit value Vb, the process proceeds to step B8, and the subsequent washing is performed at the rotational speed. If the rotational speed V is greater than Vb, the process proceeds to step B7.

  (Step B7) Since it is determined in Step B5 that the laundry is stuck, the rotational speed V is decreased by dV, the process returns to Step B2, and the above-described processing is repeated. The value of the decrease value dV needs to be set in advance in the rotation speed control unit 12.

  (Step B8) When the difference value Fv of the vibration component is smaller than the predetermined threshold value a1, or even if the rotational speed is changed from the upper limit value to the lower limit value, the vibration component Fv is smaller than the threshold value a1. In these cases, the subsequent washing is performed at the current rotational speed V.

  FIG. 8 shows an example of a change in the rotational speed of the drum 1 due to the operations in steps B1 to B8. The rotational speed of the drum 1 is changed from high to low, and the rotational speed at the time when the difference value Fv between the rotational vibration component and the baffle vibration component in the vibration of the receiving cylinder 3 becomes appropriate (below the threshold value a1). The subsequent washing is performed at that rotational speed. With this method, the rotation speed control unit 12 can determine an appropriate rotation speed of the drum 1 at the start of washing, and, like the operation procedure of FIG. Washing can be realized.

  In general, when the rotational speed of the drum 1 is low, torque is required for the motor 2 and large power consumption is required. As described above, by changing the rotational speed from the higher one, it is possible to avoid a low rotational speed in the rotational speed determination process, which can contribute to a reduction in power consumption.

  The operation shown in FIG. 7 is performed at the beginning of the washing process, but may be performed during the washing process. In some cases, it is more efficient for the improvement of the cleaning performance to determine the rotation speed in the middle of the washing process (for example, when the laundry completely absorbs water).

  Further, in the flowchart of FIG. 7, the rotation speed of the drum 1 is changed from the upper limit value Vt to the lower limit value Vb, but conversely, it may be changed from the lower limit value Vb to the upper limit value Vt. A flowchart and an operation explanatory diagram in this case are shown in FIGS. 9 and 10, respectively.

  The flowchart of FIG. 9 is basically the same as the flowchart of FIG. 7, but steps B1 ', B5', B6 ', and B7' are different. In step B1 ', the lower limit value Vb of the rotational speed is substituted for V as the initial rotational speed value. In step B5 ', the difference value Fv is compared with a predetermined threshold value a0. If Fv is equal to or less than a0, it is determined that the laundry is in a rugged state and the process proceeds to step B6'. If Fv is larger than a0, it is determined that the grooving state has been removed, and the process proceeds to step B8. In step B6 ', the rotational speed V is compared with the upper limit value Vt. If the rotational speed V is greater than or equal to the upper limit value Vt, the process proceeds to step B7, and thereafter, washing is performed at that rotational speed V. When the rotational speed V is smaller than the upper limit value Vt, the process proceeds to step B7 ', the rotational speed V is increased by dV, and the process proceeds to step B2.

  By performing the operation based on the flowchart of FIG. 9, the rotation speed can be changed as shown in FIG. In this case, by increasing the rotational speed from low to high, the drum is not driven at an excessively high rotational speed, and the laundry is stuck on the drum 1 in the process until the rotational speed is determined. Can prevent sticking. Thereby, the cleaning capability as a whole can be improved.

  As described above, the Fourier transform process is applied to the vibration data of the receiving cylinder 3 using any of the operation procedures of FIGS. 5, 7, and 9 to extract the rotational vibration component and the baffle vibration component. By changing the rotational speed of the drum 1 (motor 2) in accordance with the difference value, the laundry can be swung in the drum 1. As a result, the cleaning ability can be further increased, and as a result, the washing time can be shortened.

  In the above-described embodiment, a rotational vibration component (Fourier amplitude spectrum at a frequency of V / 60 [Hz]) and a baffle vibration component (V /) are obtained from the vibration data obtained from the vibration detection unit 6 using Fourier transform processing. The Fourier amplitude spectrum at 60 × n [Hz] was determined. However, in general, the rotational speed V of the drum 1 varies due to a change in the behavior of the laundry in the drum 1 and often does not always become a completely constant rotational speed. Depending on the performance of the motor 2, the fluctuation range may be 20% or more of the rotational speed. Therefore, it is necessary to calculate the Fourier amplitude spectrum in consideration of the fluctuation of the rotation speed V. As shown in FIG. 11, the frequency component calculation unit 10 calculates vibration frequency components for a predetermined range of frequencies including V / 60 [Hz] and V / 60 × n [Hz]. Any one of the maximum value, average value, and total value of the frequency components within the range may be output as the rotational vibration component or the baffle vibration component.

  For example, in this embodiment, since the number of baffles is 3, for example, if the rotation unevenness at the time when the rotation speed is 45 rpm is ± 5 rpm, the frequency range of the baffle vibration component is from (40 rpm / 60 × 3) to (50 rpm / 60 × 3), that is, a range of 2 Hz to 2.5 Hz. By using any one of the total value, average value, and maximum value of the frequency components in this range, the baffle vibration component can be appropriately obtained even if the rotational speed of the drum 1 varies. The same thing can be applied to the rotational vibration component.

  As described above, the washing machine, the drum rotation speed control method, and the program according to the present invention can control the rotation speed of the drum from the frequency component of the receiving barrel vibration, thereby improving the washing ability of the washing machine. This can be widely applied not only to a home-use washing machine but also to a washing / drying machine and a commercial washing machine.

Configuration diagram of washing machine according to Embodiment 1 of the present invention (A) Explanatory drawing of the grooving state showing the operating principle of the washing machine (b) Graph showing the frequency characteristics (A) Explanatory drawing of the washing state showing the operating principle of the washing machine (b) Graph showing the frequency characteristics (A) Explanatory drawing of the sticking state showing the operating principle of the washing machine (b) Graph showing the frequency characteristics Flow chart showing operation of the washing machine Explanatory drawing of rotation speed change of the washing machine Flow chart of another example showing the operation of the washing machine Explanatory drawing of another example of rotational speed change of the washing machine Flow chart of another example showing the operation of the washing machine Explanatory drawing of another example of rotational speed change of the washing machine Explanatory drawing of the frequency range when considering the rotational speed unevenness of the washing machine The figure which shows the structure of the conventional washing machine

Explanation of symbols

1 Drum 2 Motor 3 Cylinder 4a Spring (elastic support mechanism)
4b Damper (elastic support mechanism)
DESCRIPTION OF SYMBOLS 5 Housing 6 Vibration detection part 7 Baffle 10 Frequency component calculation part 11 Difference calculation part 12 Rotational speed control part

Claims (7)

A drum that accommodates and rotates the laundry; at least one baffle that is disposed in the drum and that agitates the laundry; and a receptacle that accommodates the drum and is supported from the housing by an elastic support mechanism , A motor for rotating the drum, a vibration detection unit for detecting vibration of the receiving cylinder, and a Fourier transform process on the signal detected by the vibration detection unit, corresponding to the rotation speed of the drum or the motor A frequency component calculation unit for calculating a vibration component (rotational vibration component) at a frequency and a vibration component (baffle vibration component) at a frequency obtained by multiplying the frequency by the number of the baffles; and the magnitude of the rotational vibration component and the baffle vibration component A washing machine comprising: a rotation speed control unit that changes the rotation speed of the motor according to the above. A difference calculation unit that calculates a difference value obtained by subtracting the baffle vibration component from the rotation vibration component is provided. When the difference value is greater than a predetermined positive value, the laundry is stuck inside the drum. The rotational speed of the motor is decreased, and if the difference value is smaller than the negative predetermined value, it is determined that the laundry is rolling in the lower part of the drum, and the rotational speed of the motor is increased. The washing machine according to claim 1. When the rotation speed of the drum is V [rpm] and the number of baffles is n, the frequency component calculation unit performs a Fourier transform process on the signal detected by the vibration detection unit, and includes the frequency V / 60 [Hz]. The magnitude of the vibration component in a predetermined frequency range is extracted, and the total value, average value, or maximum value of those values is set as the rotational frequency vibration component, and the predetermined frequency including the frequency V / 60 × n [Hz] The washing machine according to claim 1 or 2, wherein the magnitude of the vibration component in the range is extracted, and any one of a total value, an average value, and a maximum value of the values is used as the baffle vibration component. The rotation speed control unit controls the motor to change the rotation speed of the drum within a predetermined range from the upper limit value to the lower limit value or from the lower limit value to the upper limit value, and the frequency component calculation unit, for each of the changing rotation speeds, The rotational vibration component and the baffle vibration component are calculated from the output signal of the vibration detection unit, the difference calculation unit calculates a difference value between the rotational vibration component and the baffle vibration component, and the rotational speed control unit calculates the difference value. The washing machine according to any one of claims 1 to 3, wherein the motor is driven at a rotation speed when a value in a predetermined range is reached. The vibration detection unit is composed of at least one acceleration sensor, detects at least one vibration component in the vertical, horizontal, and front-rear direction of the receiving cylinder, and calculates the acceleration for each direction or the sum of the accelerations for each direction. The washing machine according to any one of claims 1 to 4, which outputs the washing machine. When the rotation speed of the drum is V [rpm] and the number of baffles is n, a step of detecting the vibration of the receiving cylinder and a Fourier transform process are performed on the vibration, and a vibration component having a frequency of V / 60 [Hz] (Rotational vibration component), the step of calculating the magnitude of the vibration component (baffle vibration component) at the frequency V / 60 × n [Hz], and the motor according to the magnitude of the rotational vibration component and the baffle vibration component A drum rotation speed control method for a washing machine, comprising the step of changing the rotation speed of the washing machine. The program for making a computer implement | achieve at least one part of the washing machine of any one of Claims 1-5.

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