KR100493289B1 - Method for controlling drum type washer - Google Patents
Method for controlling drum type washer Download PDFInfo
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- KR100493289B1 KR100493289B1 KR10-2002-0061839A KR20020061839A KR100493289B1 KR 100493289 B1 KR100493289 B1 KR 100493289B1 KR 20020061839 A KR20020061839 A KR 20020061839A KR 100493289 B1 KR100493289 B1 KR 100493289B1
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- Prior art keywords
- speed
- drum
- motor
- washing machine
- acceleration
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000005406 washing Methods 0.000 claims abstract description 26
- 230000001133 acceleration Effects 0.000 claims abstract description 22
- 230000018044 dehydration Effects 0.000 claims abstract description 20
- 238000006297 dehydration reaction Methods 0.000 claims abstract description 20
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000001035 drying Methods 0.000 claims 1
- 230000007423 decrease Effects 0.000 description 1
- 239000003599 detergent Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
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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
- D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
- D06F34/14—Arrangements for detecting or measuring specific parameters
- D06F34/16—Imbalance
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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
- D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
- D06F37/30—Driving arrangements
- D06F37/304—Arrangements or adaptations of electric motors
-
- 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
- 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
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Control Of Washing Machine And Dryer (AREA)
Abstract
본 발명은 드럼세탁기의 제어방법에 관한 것으로, 탈수행정시, 드럼을 구동하는 모터의 속도를 최적으로 제어함으로써 세탁물의 편심량을 저감하고, 탈수 진입시간을 단축할 수 있도록 한 것이다. The present invention relates to a method for controlling a drum washing machine, by controlling the speed of the motor driving the drum at the time of dewatering operation to reduce the amount of eccentricity of laundry and to shorten the dewatering entry time.
이를 위해 본 발명은, 드럼세탁기의 탈수행정시, 드럼의 가속중 일정 회전수부터 소정의 목표회전수 도달 시점까지 모터의 회전수가 미리 설정된 소정의 가속 기울기를 갖는 선형 궤적을 따라 상승하도록 가속한 다음, 모터의 회전수가 목표회전수에 도달시 일정 시간동안 일정한 회전수로 정속 회전하며 편심량을 감지하여 본 탈수 진입 여부를 결정하도록 하는 드럼세탁기의 제어방법을 제공한다.To this end, the present invention, in the dehydration operation of the drum washing machine, the acceleration of the speed of the motor from the predetermined rotational speed to the predetermined target rotational speed during the acceleration of the drum is accelerated to rise along a linear trajectory having a predetermined acceleration slope When the number of revolutions of the motor reaches the target number of revolutions, the controller rotates at a constant speed for a certain period of time and detects the amount of eccentricity, thereby providing a control method of the drum washing machine.
Description
본 발명은 드럼세탁기를 제어하는 방법에 관한 것으로, 특히 탈수행정시 드럼을 회전시키는 모터의 속도가 소정의 궤적을 추종하도록 제어함으로써 회전수 급상승을 방지하고 편심량을 저감시킬 수 있도록 한 드럼세탁기의 제어방법에 관한 것이다.The present invention relates to a method for controlling a drum washing machine, and in particular, the control of a drum washing machine to prevent a sudden increase in rotation speed and to reduce the amount of eccentricity by controlling the speed of the motor that rotates the drum in dewatering operation to follow a predetermined trajectory. It is about a method.
일반적으로, 드럼 세탁 방식은 세제와 세탁수 및 세탁물이 드럼 내에 투입된 상태에서, 모터의 구동력을 전달받아 회전하는 드럼과 세탁물의 마찰력을 이용하여 세탁을 행하는 방식으로서, 세탁물의 손상이 거의 없고, 세탁물이 서로 엉키지 않으며, 두드리고 비벼빠는 세탁효과를 낼 수 있다.In general, the drum washing method is a method in which the laundry is performed using the friction force of the rotating drum and the laundry by receiving the driving force of the motor while the detergent, the washing water, and the laundry are put in the drum. These don't get tangled with each other, and can be washed and pounded.
이러한 드럼 세탁 방식을 이용하는 종래의 드럼세탁기들은 탈수시 도 1에 도시된 것과 같이 모터 속도를 정해진 목표 회전수(rpm)까지 가속하고, 이 목표 회전수에 도달하면 일정 시간 동안 정속으로 구동하며 드럼 내부의 세탁물 편심으로 인한 회전수(rpm) 변화량으로 편심량을 감지하여 본 탈수 진입 여부를 결정하고, 편심량이 설정 범위 이내일 경우에는 본 탈수에 진입하여 탈수를 수행하고 편심량이 설정 범위를 벗어날 경우에는 모터 구동을 중지시킨 다음 다시 모터를 재기동하여 편심량이 일정 수준 이하에서 탈수를 수행하도록 되어 있다. Conventional drum washing machines using the drum washing method accelerates the motor speed to a predetermined target rotational speed (rpm) as shown in FIG. 1 when dewatering, and when the target rotational speed is reached, it is driven at a constant speed for a predetermined time, and the inside of the drum. Detect whether or not to enter the dehydration by detecting the amount of eccentricity by the amount of rotation (rpm) change due to the laundry eccentricity of the laundry.If the eccentricity is within the setting range, enter the dehydration and perform dehydration. The motor is stopped, and the motor is restarted to dehydrate the eccentricity below a certain level.
그러나, 상기와 같은 방식으로 모터를 제어하여 탈수행정을 수행하는 경우, 모터를 목표 회전수로 가속시 특별한 제어를 하지 않기 때문에 모터 속도가 급상승하게 되며, 드럼 내 세탁물의 편심 및 세탁물의 낙하 현상으로 인하여 가속도가 불규칙하게 된다. 이 경우 세탁물이 드럼 내벽면에 한쪽으로 몰리면서 편심량이 더욱 커지게 되는 현상이 발생하게 되고, 이에 따라 탈수 진입 시간이 길어지게 되는 문제가 발생하게 된다.However, in the case of performing the dehydration stroke by controlling the motor in the above manner, the motor speed is rapidly increased because no special control is performed when the motor is accelerated to the target rotational speed. This causes irregular acceleration. In this case, as the laundry is driven to one side of the inner wall of the drum, a phenomenon in which the amount of eccentricity becomes larger occurs, thereby causing a problem in that the dehydration entry time becomes longer.
이에 본 발명은 상기와 같은 문제점을 해결하기 위하여 안출된 것으로, 탈수행정시 드럼을 구동하는 모터의 속도를 최적으로 제어함으로써 세탁물의 편심량을 저감하고, 탈수 진입시간을 단축할 수 있도록 한 드럼세탁기의 제어방법을 제공함에 그 목적이 있다.Accordingly, the present invention has been made to solve the above problems, by optimally controlling the speed of the motor driving the drum during dehydration administration to reduce the amount of eccentricity of the laundry, shortening the dehydration entry time of the drum washing machine The purpose is to provide a control method.
상기와 같은 목적을 달성하기 위하여 본 발명은, 드럼의 가속중 소정의 제어시작 회전수까지 가속하는 예비 가속단계; 상기 제어시작 회전수부터 소정의 목표 회전수 도달시점까지 모터의 회전수가 미리 설정된 소정의 가속 기울기를 갖는 선형 궤적을 따라 상승하도록 가속하는 본 가속 단계; 모터의 회전수가 목표회전수에 도달시 일정 시간동안 일정한 회전수로 정속 회전하며 본 탈수 진입 여부를 결정하는 정속 단계를 포함하여 구성된 드럼세탁기의 제어방법을 제공한다.In order to achieve the above object, the present invention includes a preliminary acceleration step of accelerating to a predetermined control start rotation speed of the drum during acceleration; A main acceleration step of accelerating the rotational speed of the motor to rise along a linear trajectory having a predetermined acceleration inclination from the control start rotation speed to a predetermined target rotation speed arrival time; It provides a control method of a drum washing machine comprising a constant speed step of determining whether or not the spin dehydration entering a constant speed for a predetermined time when the rotation speed of the motor reaches the target rotation speed.
이하, 본 발명에 따른 드럼세탁기의 제어방법의 바람직한 실시예를 첨부된 도면을 참조하여 상세히 설명한다.Hereinafter, a preferred embodiment of a drum washing machine control method according to the present invention will be described in detail with reference to the accompanying drawings.
도 2는 본 발명에 따른 드럼세탁기의 제어방법을 개략적으로 설명하는 순서도이고, 도 3은 본 발명에 따른 드럼세탁기의 모터의 제어 상태를 나타낸 그래프로, 드럼세탁기의 탈수행정시, 모터의 기동을 시작한 후 모터의 속도(rpm)가 일정 회전수(이하 '제어시작 회전수'라 함)에 도달하게 되면, 드럼세탁기의 컨트롤러는 일정시간 동안 모터의 회전수가 목표 회전수에 도달할 때까지 소정의 가속 기울기(a)를 갖는 선형 궤적을 따라 서서히 상승하도록 가속 구동하고, 모터 회전수가 목표 회전수에 도달하는 시점이 되면 모터는 일정 시간동안 일정한 속도로 정속 구동하며 회전수 변화량을 측정하여 편심량을 측정하고, 측정된 편심량이 설정값 이내인 경우에는 본 탈수로 진입하고, 편심량이 설정값 이상인 경우에는 모터를 일시 정지한 후 재기동하여 편심량이 설정값 이내로 될 때까지 전술한 제어 과정을 반복하게 된다.2 is a flowchart schematically illustrating a control method of a drum washing machine according to the present invention, and FIG. 3 is a graph illustrating a control state of the motor of the drum washing machine according to the present invention. When the motor speed (rpm) reaches a certain speed (hereinafter referred to as the 'control start speed') after starting, the controller of the drum washing machine performs a predetermined time until the speed of the motor reaches the target speed for a predetermined time. The drive is accelerated to gradually rise along the linear trajectory having the acceleration slope (a). When the motor speed reaches the target speed, the motor runs at a constant speed for a predetermined time and measures the amount of eccentricity by measuring the speed change. If the measured eccentricity is within the set value, enter into this dehydration. If the eccentricity is more than the set value, stop the motor temporarily and restart the Until the amount is within the output it will repeat the above-described control process.
한편, 드럼세탁기는 구동시 회전수가 40rpm 근방에서 세탁물이 드럼 내벽을 따라 상승하여 낙하하기 시작하고 회전수가 90 rpm 근방에서 세탁물이 원심력에 의해 드럼 벽에 붙어서 낙하하지 않는다. 또한, 드럼세탁기는 세탁물이 낙하하지 않는 속도, 즉 편심량이 변하지 않는 속도에서 정속 구동하며 편심량을 측정하게 되는데, 이 편심량을 측정하는 속도는 통상적으로 110 rpm로 설정되며, 속도가 너무 큰 경우에는 편심량이 클 경우 구동부에 무리를 줄 수 있으므로 적정한 속도내에서 편심량을 측정하는 것이 바람직하다.On the other hand, the drum washing machine starts to fall by washing the laundry along the inner wall of the drum at a rotational speed of about 40 rpm, and the laundry does not fall to the drum wall by centrifugal force at a rotational speed of about 90 rpm. In addition, the drum washing machine operates at a constant speed at a speed at which the laundry does not fall, that is, at a speed at which the eccentricity does not change, and the eccentricity is measured at 110 rpm. In this case, it is preferable to measure the amount of eccentricity within an appropriate speed since it may cause a burden on the driving part.
따라서, 드럼세탁기의 가속 제어시 상기 제어시작 회전수를 40 ±5 rpm, 목표 회전수를 110 ±20 rpm 정도의 범위로 제한하여 제어하는 것이 바람직하다.Therefore, during the acceleration control of the drum washing machine, it is preferable to limit the control start rotation speed to 40 ± 5 rpm and the target rotation speed in the range of about 110 ± 20 rpm.
그리고, 제어시작 회전수로부터 목표회전수까지 소정의 기울기를 추종하도록 회전수를 제어하는 방법으로 비례제어(Proportional Control)와, 비례적분(PI) 제어, 비례미분(PD) 제어 등 여러가지 제어방법을 이용할 수 있으나, 바람직하기로는 비례적분미분(PID: Proportional Integral Derivative) 제어 방법을 이용하여 제어하는 것이 좋다.In addition, various control methods such as proportional control (PI) control, proportional integral (PI) control, and proportional derivative (PD) control are used to control the rotation speed so as to follow a predetermined slope from the control start rotation speed to the target rotation speed. Although it may be used, it is preferable to control by using a Proportional Integral Derivative (PID) control method.
한편, 제어시작 회전수를 40rpm으로 설정하고, 목표 회전수를 95rpm으로 설정하며, 상기 제어시작 회전수에서 목표 회전수까지 도달하는 시간을 10초로 설정하여 본 발명에 따른 드럼의 가속 제어를 수행하는 경우를 일례로 하여 설명하면, Meanwhile, the control start speed is set to 40 rpm, the target speed is set to 95 rpm, and the time to reach the target speed from the control start speed is set to 10 seconds to perform the acceleration control of the drum according to the present invention. Explaining the case as an example,
가 된다. Becomes
동일한 제어시작 회전수 및 목표회전수 조건에서 예정시간이 15초인 경우는 가속기울기가 3.67이 되고, 20초인 경우는 2.75가 된다.Under the same control start speed and target speed conditions, the acceleration slope is 3.67 when the scheduled time is 15 seconds and 2.75 when it is 20 seconds.
그리고, And,
궤적 회전수 = 가속 기울기 ×시간, Trajectory rotational speed = acceleration slope × time,
에러(Error) = 궤적 회전수 - 감지 회전수로 나타낼 수 있는 바, 소정의 가속 기울기에 따라 모터를 가속 구동시, 컨트롤러는 상기 에러를 0이 되도록 PID제어함으로써 모터 회전수가 상기 궤적 회전수를 추종하도록 한다.Error = trajectory rotational speed-can be expressed as the sensing rotational speed. When the motor is accelerated to drive according to a predetermined acceleration gradient, the controller PID-controls the error to be 0 so that the motor rotational speed follows the trajectory rotational speed. Do it.
아래의 표 1은 본 발명에 따른 제어방법을 이용하여 탈수행정을 수행시 본 탈수 진입에 성공할 때까지의 시간과 진입시도회수를 종래의 제어방법과 비교하여 나타낸 것이다. Table 1 below shows the time until the successful dehydration entry and the number of entry attempts when performing the dehydration administration using the control method according to the present invention in comparison with the conventional control method.
표 1에서와 같이, 종래의 제어방법에 의한 제어결과와 본 발명의 제어방법에 의한 제어 결과를 비교해보면, 본 발명의 제어방법에 의한 평균 탈수진입시간은 65~118초로 종래의 제어방법에 의한 평균 탈수진입시간에 비해 약 80~90%의 시간이 단축되었음을 알 수 있다. 또한, 평균 진입시도회수도 2.8~4.0회로 약 1/10로 줄어들었음을 알 수 있다.As shown in Table 1, when comparing the control result by the conventional control method and the control result by the control method of the present invention, the average dehydration entry time by the control method of the present invention is 65 ~ 118 seconds, It can be seen that the time is reduced by about 80 ~ 90% compared to the average dehydration entry time. In addition, it can be seen that the average number of times of entry attempts was reduced to about 1/10 of 2.8 ~ 4.0 cycles.
이러한 결과가 나타나는 이유는 본 발명에 따른 제어방법에 의해 탈수행정을 수행할 경우 모터 회전수가 급상승하는 구간이 없어지므로 종래와 같이 회전수 급상승에 따른 편심량의 증가가 발생하지 않기 때문에 결과적으로 편심량이 저감되는 효과를 얻기 때문이다.The reason for this result is that when the dehydration stroke is performed by the control method according to the present invention, the section in which the motor rotation speed increases rapidly is eliminated. Therefore, the eccentric amount decreases as a result of the increase in the rotation speed. This is because the effect is obtained.
한편, 전술한 제어방법의 실시예에서는 드럼을 목표 회전수로 가속후 정속 단계에서 회전수 변화량을 측정하여 편심량을 측정하는 것으로 설명하였으나, 이러한 회전수 변화량을 측정하는 방법외에 다른 방법을 이용하여 편심량을 측정할 수도 있을 것이다.On the other hand, in the embodiment of the above-described control method has been described as measuring the amount of eccentricity by measuring the change in rotation speed in the constant speed step after accelerating the drum to the target rotation speed, the eccentric amount by using a method other than this method for measuring the change in rotation speed May be measured.
이상에서와 같이 본 발명에 따르면, 드럼세탁기의 탈수행정시 모터의 회전속도가 일정한 가속 기울기를 따라 서서히 상승하며 가속되므로, 드럼 내부의 편심량에 따른 회전수 급상승을 막을 수 있게 되어 편심량이 저감되고, 이에 따라 탈수진입시간이 단축되어 전체 탈수행정 시간을 단축하고, 전력소비량도 절감할 수 있는 효과를 얻게 된다.As described above, according to the present invention, since the rotational speed of the motor gradually accelerates and accelerates along a constant acceleration gradient during dehydration of the drum washing machine, the rotational speed increase according to the amount of eccentricity in the drum can be prevented, thereby reducing the amount of eccentricity. Accordingly, the dehydration entry time is shortened, thereby reducing the overall dehydration administration time and reducing the power consumption.
도 1은 종래의 드럼세탁기의 모터 속도 제어 상태를 나타낸 그래프1 is a graph showing a motor speed control state of a conventional drum washing machine
도 2는 본 발명에 따른 드럼세탁기의 제어방법을 설명하는 순서도2 is a flow chart illustrating a control method of a drum washing machine according to the present invention.
도 3은 본 발명의 드럼세탁기의 모터 속도 제어 상태를 나타낸 그래프Figure 3 is a graph showing the motor speed control state of the drum washing machine of the present invention
* 도면의 주요부분의 참조부호에 대한 설명 *Explanation of Reference Symbols in Major Parts of Drawings
a : 가속 기울기a: acceleration slope
Claims (7)
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2002-0061839A KR100493289B1 (en) | 2002-10-10 | 2002-10-10 | Method for controlling drum type washer |
| JP2003072045A JP2004130059A (en) | 2002-10-10 | 2003-03-17 | Spin-drying operation controlling method for drum type washing machine |
| US10/422,860 US7246397B2 (en) | 2002-10-10 | 2003-04-25 | Method for controlling dehydrating operation of drum type washing machine |
| DE10327025A DE10327025B4 (en) | 2002-10-10 | 2003-06-16 | A method of controlling a dewatering process in a drum-type washing machine |
| CNB031490107A CN1287037C (en) | 2002-10-10 | 2003-06-19 | Method for controlling dewatering operation of drum washer |
| US11/007,343 US7251848B2 (en) | 2002-10-10 | 2004-12-09 | Method for controlling dehydrating operation of drum type washing machine |
| US11/007,344 US20050086743A1 (en) | 2002-10-10 | 2004-12-09 | Method for controlling dehydrating operation of drum type washing machine |
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| KR10-2002-0061839A KR100493289B1 (en) | 2002-10-10 | 2002-10-10 | Method for controlling drum type washer |
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| KR20040032629A KR20040032629A (en) | 2004-04-17 |
| KR100493289B1 true KR100493289B1 (en) | 2005-06-02 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4843671A (en) * | 1985-02-06 | 1989-07-04 | Mitsubishi Denki Kabushiki Kaisha | Dehydrating method for a washing machine |
| JPH1043473A (en) * | 1996-05-30 | 1998-02-17 | Electrolux Zanussi Elettrodomestici Spa | Improvement for dynamic balancing method of washing machine |
| JP2000014961A (en) * | 1998-07-07 | 2000-01-18 | Matsushita Electric Ind Co Ltd | Washing machine |
| JP2000024367A (en) * | 1998-07-14 | 2000-01-25 | Matsushita Electric Ind Co Ltd | Washing machine |
| EP1045061A2 (en) * | 1994-06-16 | 2000-10-18 | Merloni Elettrodomestici S.p.A. | Method for verifying the laundry load conditions in a laundry washing and/or drying machine, and machine which implements such method |
| KR20000065986A (en) * | 1999-04-12 | 2000-11-15 | 구자홍 | Sensing method of eccentric amount for washer |
| KR20010017348A (en) * | 1999-08-10 | 2001-03-05 | 구자홍 | method for sensing of unbalance in the case of spin-drying |
-
2002
- 2002-10-10 KR KR10-2002-0061839A patent/KR100493289B1/en not_active IP Right Cessation
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4843671A (en) * | 1985-02-06 | 1989-07-04 | Mitsubishi Denki Kabushiki Kaisha | Dehydrating method for a washing machine |
| EP1045061A2 (en) * | 1994-06-16 | 2000-10-18 | Merloni Elettrodomestici S.p.A. | Method for verifying the laundry load conditions in a laundry washing and/or drying machine, and machine which implements such method |
| JPH1043473A (en) * | 1996-05-30 | 1998-02-17 | Electrolux Zanussi Elettrodomestici Spa | Improvement for dynamic balancing method of washing machine |
| JP2000014961A (en) * | 1998-07-07 | 2000-01-18 | Matsushita Electric Ind Co Ltd | Washing machine |
| JP2000024367A (en) * | 1998-07-14 | 2000-01-25 | Matsushita Electric Ind Co Ltd | Washing machine |
| KR20000065986A (en) * | 1999-04-12 | 2000-11-15 | 구자홍 | Sensing method of eccentric amount for washer |
| KR20010017348A (en) * | 1999-08-10 | 2001-03-05 | 구자홍 | method for sensing of unbalance in the case of spin-drying |
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| KR20040032629A (en) | 2004-04-17 |
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