TWI361236B - Washing machine - Google Patents

Description

IX. INSTRUCTIONS OF THE INVENTION: Field of the Invention The present invention relates to a washing machine capable of detecting the amount of laundry. C Prior Art 3 Background of the Invention Fig. 8 is a cross-sectional view of a conventional washing machine 501. Inside the casing 1, the washing tub 2 is suspended and supported by a suspension structure having an anti-vibration structure. The drum 3 having the bottom 3B and the cylindrical side wall 3A is supported in the washing tub 2. The drum 3 rotates on the rotating shaft 3F with respect to the center shaft 3C which is inclined downward from the front side toward the back side of the washing machine 501. The drum 3 has an open end 3D located on the opposite side of the bottom 3B along the central axis 3C. A washing outlet 4 communicating with the open end 3D of the drum 3 is provided on the front side of the washing tub 2. The opening portion 1 of the upwardly inclined surface formed on the front side of the casing 1 is provided with a door 5 » by means of the opening and closing door 5, and the laundry can be taken out or placed in the drum 3 by the laundry inlet and outlet 4. A plurality of through holes 6 communicating with the inside of the washing tub 2 are formed in the side wall 3 of the drum 3. A plurality of agitating protrusions 15 for agitating the laundry are provided on the inner peripheral surface 3 of the side wall 3''. The drum 3 is rotated in the forward and reverse directions by the motor 7 attached to the back side of the washing tub 2. The water injection pipe 8 and the drain pipe 9 are connected to the washing tank 2, and water injection and drainage in the washing tank 2 are performed under the control of the water injection valve and the drain valve. The operation of the washing machine 501 will be described. The door 5 is opened, and the laundry and the detergent are put into the drum 3. When the user operates the operation panel 10' on the front surface of the front side of the casing ', a predetermined amount of water is supplied from the water injection pipe 8 to the washing tank 2, and the control unit 5〇iA controls the motor 7 to rotate it. And the drum is rotated to start the washing step of washing the laundry. By the rotation of the drum 3, the laundry accommodated in the drum 3 is lifted to the rotation direction of the drum 3 by the stirring projections 15 provided on the side wall 3A of the drum 3. The lifted laundry falls from the appropriate height position to the side wall 3A and collides, and the laundry is stirred. The washing was washed by the action of rinsing with the stirring of this impact repeatedly. The dirty washing liquid is discharged from the drain line 9 after washing the laundry for a predetermined period of time. Thereafter, the drum 3 is rotated at a high speed to perform a dehydration step of discharging the washing liquid contained in the laundry. Thereafter, water is supplied from the water injection line 8 to the washing tub 2, and a washing step of the washing and washing is performed. In this washing step, the laundry accommodated in the drum 3 is repeatedly rotated by the rotation of the drum 3 to raise the stirring protrusion 15 and then fall. Then, the air in the washing tub 2 is discharged to the circulation air blowing path 11, and after dehumidification, it is heated to prepare dry air. This dry air is supplied from the circulating air supply path 11 to the washing tank 2 by the blower fan 12, and the laundry of the drum 3 is dried. The rotation detecting portion 14 constituted by a position detecting element or the like for detecting the rotor position of the motor 7 is placed on the odd surface of the motor 7 to detect the rotational speed thereof. In the washing machine 501, the control unit 5〇1A detects the amount of laundry charged to the drum 3, and automatically determines the washing conditions such as the washing step or the washing step, the amount of water, and the rotational speed of the motor 7 depending on the amount. When the washing is started, the control unit 501A starts the motor 7 first, and the rotation detecting unit 输 inputs the frequency proportional to the rotational speed of the motor 7 to the control unit 5〇1Α. For example, when the motor 7 is rotated at a certain rotational speed, the frequency of the signal of the control unit 50U at the rotation detecting unit 14 is small, and the phase control is performed to make the average voltage applied to the motor 7 large. The average electric power is disclosed in Japanese Patent Laid-Open No. Hei No. Hei No. 68-886, the conventional method for detecting the amount of the septic. Fig. 9 shows the rotational speed of the motor 7 when the control unit 5〇1A detects the amount of laundry. The control unit 5〇1A gradually increases the average voltage applied to the motor 7, and increases the rotational speed. At a time point τρ5〇1, the motor 7 is rotated at a constant rotational speed Ν501, so that the laundry is uniformly attached to the drum by centrifugal force. After the side wall 3Αβ rotates the motor 7 at a constant rotation speed NMM for a predetermined period t5〇1, the control unit 5〇1A stops energization of the motor 7 at the time point τρ5〇2. When the energization is stopped, the drum 3 is rotated inertly to rotate the motor 7. Thereafter, the rotational speed of the drum 3 and the motor 7 is gradually lowered by the friction torque of the rotating shaft 3F, and is stopped. The detecting unit 14 sends the money of the solution of the rotation speed example shown in Fig. 9 to the (4) part 5〇18. As shown in Fig. 9, the time from the time point τρ5〇 when the amount of the wire is large to the stop of the drum 3 (motor 7) is stopped from the time point when the amount of the laundry is small to the drum 3 (motor 7) It is long (9) 2 long. The period from when the time is up until the drum 3 (motor 7) is stopped is proportional to the amount of the laundry, and the control unit 501 detects the amount of the laundry in accordance with the period. The weight of the laundry is Μ, the average radius of the laundry distributed in the drum 3 is R, the moment of inertia of the drum 3 and the motor 7 is _, and the moment of inertia J containing the laundry is in the east. ^ J=Jd+M . R2 (Formula 1) means that when the torque generated by the motor 7 is D', the rotational torque of the drum 3 or the rotary cylinder is Tb, and the angular acceleration of the drum 3 is The relationship is equal to: T = J · a + Tb (Expression 2) The angular acceleration α is expressed by the equation 3A as a function of the angular velocity ω and the period t, and the period Ts from the time point TP502 to the stop of the drum 3 or the motor 7 It is represented by Formula 3B. As shown in the formula 4A, if the average radius R is fixed, the rotational speed, that is, the angular velocity ω changes with the weight Μ. a =d6)/dt·.·(Formula 3Α)

Ts=N501/o: (Expression 3B) dw/dt=(T-Tb)/(Jd+M · R2).. (Expression 4A)

Ts=N501 · (Jd+M · R2)/(T-Tb) (Expression 4B) During the periods t502 and 503, the torque T is zero. According to the washing machine, the friction torque Td or the inertia torque Jd is Fixed, so from the equation 4, d〇 / dt ', that is, the change in the rotational speed is determined by the weight M of the laundry. Therefore, the control unit 5〇1 a can detect the weight 洗涤 of the laundry by a signal having a frequency proportional to the rotational speed of the motor 7. In the conventional method, for a limited number of samples of the washing machine, the weight of the laundry and the period from the time point τρ5〇2 to the time when the motor 7 is stopped are determined experimentally, and the measured value is obtained. Suitable for all washing machines. The friction torque of the rotating shaft 3F varies depending on each washing machine, and variations occur. In the case of the variation of the friction torque Tb, the relationship between the friction torque Tb and the period of the drum stop is different in each washing machine, so the method cannot detect the amount of the washing material with high accuracy. . According to the weight of the washings, the average of the washings is determined by the average half of the washings. The inertia moment is determined by the weight ,. The control unit 5 can measure the weight Μ. However, in actuality, since the laundry is deflected in the drum 3, the average radius R is changed and cannot be determined only by the weight ,, and the control portion 501 cannot detect the weight 高 with high accuracy. Further, in this method, the rotation speed of the drum 3 is temporarily raised regardless of the amount of the laundry. Therefore, when the laundry is extremely deflected in the drum 3, the washing tub 2 supporting the drum 3 vibrates largely, and the housing 1' is struck to generate an abnormal sound. C. SUMMARY OF THE INVENTION The present invention includes a drum that accommodates laundry and that is rotatable, a motor that rotates the drum, a rotation speed detecting unit that detects a rotation speed of the motor, and the aforementioned detection by the rotation speed detecting unit. The rotation speed, the control unit that controls the aforementioned motor and detects the amount of the laundry. The control unit operates to cause the motor to generate a predetermined acceleration torque, and to detect a first angular acceleration that increases a rotational speed of the drum from a first predetermined rotational speed to a second predetermined rotational speed. The control unit operates to cause the motor to generate a predetermined decelerating torque, decelerate the rotation of the drum, and detect a second angular acceleration that reduces the rotational speed of the drum from the third predetermined rotational speed to the fourth predetermined rotational speed. The control unit operates to detect the amount of the laundry based on the first angular acceleration and the second angular acceleration. In this washing machine, the control unit can detect the amount of laundry with high precision. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a cross-sectional view showing a washing machine in accordance with an embodiment of the present invention. Fig. 2 is a circuit diagram of a washing machine of the embodiment. Fig. 3 shows the operation of the washing machine of the embodiment. Fig. 4 is a view showing the amount of laundry in the washing machine of the embodiment and the acceleration of the drum. Fig. 5 is a flow chart showing the operation of the washing machine of the embodiment. The figure is a circuit block diagram of the washing machine of the embodiment. 5 Figures 7 and 7 show the operation of the washing machine of the embodiment. Figure 8 is a cross-sectional view of a conventional washing machine. Figure 9 shows the action of a conventional washing machine. [Implementation of the cold type] The invention is directed to the invention. FIG. 1 is a cross-sectional view of a washing machine 1001 according to an embodiment of the present invention. The washing tub 2 is suspended and supported in a suspension structure having a vibration-proof structure in the casing 1. A drum 3 having a bottom 3 Β and a cylindrical side wall 3 支撑 is supported in the sachet 2 . The drum 3 rotates on the rotating shaft 31? with respect to the center axis 3C' which is inclined downward from the front side toward the back side of the washing machine 501. The drum 3 has an open end 3D on the opposite side of the bottom 3 沿 15 along the central axis 3c. A laundry inlet and outlet 4 communicating with the open end 3D of the drum 3 is provided on the front side of the washing tub 2. The door 5 is provided in the opening portion 1 formed on the upward inclined surface on the front side of the casing 1. By means of the switch door 5, the laundry can be taken out or placed in the drum 3 by means of the laundry outlet 4. A plurality of through holes 205 communicating with the inside of the washing tub 2 are formed in the side wall 3 of the drum 3. A plurality of mixing protrusions 15 for agitating the laundry are provided on the inner peripheral surface 3 of the side wall 3Α. The drum 3 is rotated in the normal rotation direction and the reverse rotation direction by the motor 7 attached to the back side of the washing tub 2. The water injection pipe 8 and the drain pipe 9 are connected to the washing tank 2, and water injection and drainage in the washing tank 2 are performed under the control of the water injection valve and the drain valve. The operation of the washing machine 1001 will be described. The door 5 is opened, and the laundry and the detergent 10 are put into the drum 3. The user operates the operation panel 10 provided on the front surface of the front side of the casing, and supplies a predetermined amount of water from the water injection pipe 8 to the washing tub 2 at the start of operation, and the control unit 31 controls the motor 7 to rotate it. The drum is rotated to initiate a washing step of washing the laundry. By the rotation of the drum 3, the laundry contained in the drum 3 is lifted up to the rotation direction of the drum 3 by the feeding protrusions 15 provided on the side wall 3A of the drum 3. The lifted laundry falls from the appropriate height position to the side wall 3A and collides, and the wash strip is stirred. The washing was washed with the effect of rinsing by repeating the mixing with this impact. After washing the laundry for a predetermined period, the dirty washing liquid is discharged from the drain line 9. Thereafter, the drum 3 is rotated at a high speed to perform a dehydration step of discharging the washing liquid contained in the laundry. Thereafter, water is supplied from the water injection line 8 to the washing tub 2, and a washing step of the washing and washing is performed. In this washing step, the washing of the laundry contained in the drum 3 by the rotation of the drum 3 is repeated to raise the feeding protrusion 15 and then fall. Then, the air in the sacrificial tank 2 is discharged to the circulation air supply path 丨丨, and after dehumidification, it is heated to produce dry air. This dry air is supplied from the blower fan 12 to the washing tank 2 by the blower fan 12, and the laundry of the drum 3 is dried. A rotation detecting portion 14 constituted by a position detecting element or the like for detecting the rotor position of the motor 7 is provided on the back surface of the motor 7 to detect the rotational speed thereof. In the washing machine 1001, the control unit 31 detects the amount of laundry to be fed to the drum 3, and automatically determines the washing conditions such as the washing step or the washing step, the amount of water, and the rotation speed of the motor 7 depending on the amount. Fig. 2 is a circuit diagram of the washing machine 1001. The AC voltage of the commercial power source 20 is rectified by the rectifier 21, and is parallelized by a smoothing circuit composed of the choke coil 22 and the smoothing capacitor 23 to generate a DC voltage. This DC voltage causes Γ7 to rotate by inverse ==24. The control unit 31 controls the 2-way circuit 24 by driving the electric power (4), whereby the rotation of the (4) object is detected by the respective detection means, and the state: 8; = the driving unit 26, the water supply room 27, the drain valve , the wind fan 12, the heater 29.

10 Motor 7 series includes DC brushless with three-phase winding slave, 7Β, % stator, permanent permanent rotor, position detection of angular position of inspection _ < 〇A, 3〇B, 30C motor. The inverter circuit 24 has switching elements 24A to 24F for controlling the rotation of the motor 7 in a pulse width modulation (pWM) manner. The position detecting elements 30A, 30B, 3〇c have a detection signal corresponding to the angular position of the rotor, and the (four) portion 3 detection signal has a frequency that varies with the rotational speed of the rotor. The control unit 31 controls the switching elements 24A to 2's on/off by the drive circuit 32 in accordance with the angular position of the rotor, thereby controlling the three-phase windings of the stator 7-8, 7B, 7 (: energization, 15 The rotor is rotated at a predetermined rotational speed.

The control unit 31 has a rotation speed detecting unit 33 that inputs detection signals transmitted from the position detecting elements 3A, 30B, and 30C. The rotation speed detecting unit 33 detects the frequency of each of the detection signals of the position detecting elements 30A, 30B, and 30C, and calculates the rotation speed of the rotor at the frequency. The washing 20 amount detecting portion 34 detects the amount of the laundry based on the measured rotational speed of the rotor. Since the rotor rotational speed of the motor 7 detected by the rotational speed detecting unit 33 corresponds to the rotational speed of the drum 3, the control unit 31 can detect the rotational speed of the drum 3 by the rotational speed detected by the rotational speed detecting unit 33. Hereinafter, a method in which the control unit 31 detects the amount of laundry will be described. Fig. 3 shows the rotational speed N of the drum 3 by i S] 12 1361236. When the detection of the amount of laundry is started, the control unit 31 causes the motor 7 to generate the starting acceleration torque Ta, and activates the drum 3 from the stationary state to increase the rotational speed N by the angular acceleration 〇a(t) at the time t. After the starting angular acceleration 〇: a (1) is changed to the fifth rotational speed N by the predetermined rotational speed Na, the control unit 31 causes the motor 7 to generate the predetermined acceleration torque T1, and during the period t1, the rotational speed n is made from the first predetermined The rotation speed N1 increases the difference of the rotation speeds ^N1 and reaches the second predetermined rotation speed N2. After the rotational speed N reaches the predetermined rotational speed N2, the control unit 31 causes the motor 7 to generate the predetermined deceleration torque T2 at the time point tb to decelerate the drum 3 10 . Thereby, during the period t2, the rotational speed N reaches the fourth predetermined rotational speed Ν4 from the third predetermined rotational speed by the difference AN2 by the second angular acceleration α 2 . The control unit 31 detects the i-th angular acceleration "i" of the period 丨丨 and the second angular acceleration of the period t2. The angular acceleration α 1 is expressed by Equation 5. 15 al = ANl / tl (Expression 5) The weight of the drum is Μ, the average radius of the laundry distributed in the drum 3 is R, the moment of inertia of the drum 3 and the motor 7 is Jd, and the friction torque of the drum 3 or the rotating shaft 3F is Tb, the acceleration torque T1 can be Equations 1 and 2 are expressed by Equation 6. 20 Τΐ = α 1 · (Jd + M · R2) + Tb (Expression 6) Similarly, the angular acceleration α 2 and the deceleration torque T2 during the period t2 can be expressed by Equation 7. Equation 8: a2=AN2/t2·.. (Expression 7) Τ2=α 2 · (Jd+M · R2)+Tb. (Expression 8) 13 1361236 Remove friction torque from Equations 6 and 8. Tb, and obtain the formula 9. a l-a2=(Tl-T2)/(Jd+M · R2) (Formula 9) Figure 4 shows the difference between the weight of the laundry and the acceleration. ) The relationship. Formula 9 shows that when the average radius R, the acceleration 5 torque T1, and the deceleration torque T2 of the laundry in the drum 3 are fixed values, as shown in Fig. 4, with the weight of the laundry α (α 1 - 〇 : 2) Change. The accelerations α 1 and α 2 are easily obtained by measuring the difference Δ between the rotational speeds of the drums 3 and the periods t1 and t2 as shown in the equations 5 and 7. The laundry amount detecting unit 345 of the control unit 31 memorizes the relationship between the weight M of the laundry shown in Figs. 4 and 9 and the difference between the accelerations of the angles 10 (α 1 - α 2) as an arithmetic table or an arithmetic program, regardless of the friction. The torque Tb can easily detect the weight of the laundry with high precision. The control unit 31 can also memorize the relationship between the weight M of the laundry obtained experimentally and the torque μ·R2 corresponding to the weight 作为. Fig. 5 is a flow chart showing the action of detecting the amount of laundry of the washing machine 1 〇 1 . When the step of detecting the amount of laundry is started (step S1), the control unit 31 drives the motor 7, generates the starting acceleration torque Ta, rotates the drum 3 (step 52), and accelerates the angular acceleration of the drum 3 to an angular acceleration α. a (1) (step 53), it is controlled that the rotational speed N reaches the predetermined rotational speed Na (step S4). Then, the control unit 31 controls the motor 7 to cause the motor 7 to generate the predetermined acceleration 20 torque T1' to increase the rotational speed N of the drum 3 from the first predetermined rotational speed N1 by the difference ΔΝ to the second predetermined rotational speed N2 ( Step S5). At the time point when the rotational speed N of the drum 3 reaches the rotational speed N2 (step S6), the period t1 required for the difference Δ1 between the rotational speed N and the rotational speed is calculated (step S7). After [S] 14, the control unit 31 causes the motor 7 to generate a predetermined deceleration torque T2 at the time point tb, and starts to decrease the rotational speed N of the tumbler 3 (step S8). When the rotational speed N of the drum 3 reaches the fourth predetermined rotational speed Ν4 of the difference ΛΝ2 from the third predetermined rotational speed Ν3τ (step S9), the period required for calculating the difference 旋转2 between the rotational speed N and the rotational speed is calculated. T2 (step si〇). Then, the difference (α l - α2) between the angular accelerations is obtained from the difference of the rotational speeds ΛΝ1, ΔΝ2, and the periods t1 and t2 by the equations 5 and 7, (step sii). The weight 洗涤 of the laundry is determined by the formula 9 containing the coefficient determined experimentally in advance (step S12). In order to detect the amount of laundry with high precision in Equation 9, the control unit 31 preferably controls the motor 7 to rotate the drum 3 at a fixed acceleration torque T1 during a period t2, and the drum 3 is fixed at a fixed deceleration torque during a period t2' Rotate. The control unit 31 can also control the voltage applied to the motor 7 in order to control the motor by setting the period u and the torques τι and T2m. In general, the control unit 31 controls the torques T1 and T2 to a block diagram of the washing machine 1001 in which the β-picture display vector control method is fixed by the vector control method described below. A signal of at least two phases of the three-phase current energized by the motor 7 and a signal corresponding to the angular position of the rotor of the motor 7 are obtained by a hole IC or the like. Using this signal, the control unit 31 converts the currents iu and iv of the motor 7 into the q-axis current Iq of the torque component and the flux component axis current Id. The current Iq intersects perpendicularly to each other. Thereafter, the converted currents Iq and Id are compared with the designated currents lq* and Id* to control the currents Iq and Id to be fixed. The torque T of the motor 7 can be expressed by Equation 10. Τ=Ρ - (0 a · Iq+(Ld-Lq) · Iq · 1(1)-(^ 1〇) In addition, P is the pole number of the motor 7, and the magnetic flux of the magnet is 1361236. 'Ld means d-axis impedance' Lq means q-axis impedance. From equation 1〇, q-axis current l£l and d-axis current Id are controlled, and the torque τ of the motor 7 can be controlled. It represents the magnetic torque and the main component of the torque generated by the motor 7. Therefore, the conversion of the motor 7 can be substantially controlled by the q-axis current Iq. Further, when the d-axis current Id is zero, the impedances Ld and Lq are When the rotation state is changed, the torque τ changes, or the amount of the laundry is calculated. When the torque Τ is calculated, an error is easily generated. Thus, even if the q-axis current is controlled to be fixed (the 1-axis current is fixed, • there is still a turn) The moment T is not fixed. Therefore, the d-axis current id is substantially zero, and the q-axis current Iq is controlled to be fixed, and the torque of the motor 7 can be controlled to be fixed. By this, the control unit 31 can reduce the amount of laundry. Detection error. After starting, during the start-up period in which the rotational speed is increased by the angular acceleration α a (1), the angular acceleration is performed to rotate the drum 3 from the stationary state. In the washing machine 1001 of the embodiment, the starting angular acceleration aa(ta) at one time point ta during the starting period is greater than the first angular acceleration α1. By this, the drum 3 can be greatly accelerated. In particular, when the angular acceleration a a (1) is started, there is a case where the laundry rotates in the vicinity of the bottom 3B of the drum 3 and cannot adhere to the side wall 3A of the drum 3. In this state, when the rotational speed N is increased, the laundry is always biased. In the state ~, the rotation speed N reaches the rotation speed N1, and the passage period enters the period u. Thereby, the control unit 3 cannot detect the amount of the laundry at the high-precision disc. At the time point ta during the start-up period, the start is initiated. The angular acceleration aa(ta) is larger than the first angular acceleration α 1 ', and the relationship between the weight 洗涤 of the laundry and the average radius R is fixed, and the relationship between the weight ^1 and the anger torque Μ · R2 is stabilized, and the control portion 31 can be highly precise. Check the weight of the washings.

As described above, in the embodiment, by increasing the angular acceleration at the time of starting, the laundry is attached to the drum 3 to be stabilized, and further, it is possible to detect the angular acceleration when the rotation speed of the drum 3 rises and when it descends. The amount of laundry. Thereby, the friction torque Tb mainly generated by the rotating shaft 3F of the drum 3 is offset, and the influence of the deviation of the friction torque Tb is suppressed. Therefore, the control unit 稳定 can stably detect the weight 洗涤 of the laundry with high accuracy. The control unit 31 detects the amount (weight μ) of the laundry, and can also stop the rotation of the drum 3 in accordance with the change in the rotational speed 时 when the rotational speed 滚筒 of the drum 3 is increased. The seventh drawing shows the rotational speed ν which is increased together with the period of the drum 3. The horizontal axis indicates the elapsed time when the drive motor 7' is at a predetermined torque to increase the rotational speed of the drum 3, and the vertical axis indicates the rotational speed ν of the drum 3. The rotational speed of the drum 3 does not rise in the same manner as in the period, but increases as it moves up and down. This is because the influence of the balance of the laundry contained in the drum 3 causes the washing tank 1001 to vibrate. When the vibration is excessively large, the washing tub 2 hits the casing 1 and emits an abnormal sound. The control unit 31 detects the difference P between the maximum rotational speed Nmax and the minimum rotational speed Nmin of the predetermined range of the angular position of the drum 3 while accelerating the rotation of the drum 3. When the difference P exceeds the predetermined value, the control unit 311 controls the motor 7 to stop the rotation of the drum 3. Further, the control unit 31 detects four rotational speeds N in the first rotation of the drum 3, obtains four rotational speeds, and sets the maximum rotational speed and the minimum rotational speed as the maximum rotational speed Nmax and the minimum rotational speed Nmin.

When the difference P between the maximum rotational speed Nmax and the extremely small rotational speed Nmin increases, the washing tub 2 vibrates and strikes the casing 1. The upper limit of the difference P 1361236 in which the washing tub 2 does not hit the housing 1 varies with the rotational speed N. Fig. 78 shows the relationship between the rotational speed Ν of the drum 3 and the upper limit value pmax of the differential. The rotational speed Ν and the upper limit value Pmax corresponding thereto are set in accordance with the allowable range of the vibration obtained experimentally, and are used as a table (memory in the control unit 31 ^ control unit 31 for detecting the amount of laundry (weight M),

- 5 The rotation speed n and the difference p when the rotation speed N of the drum 3 is raised are increased. When the difference P exceeds the upper limit Pmax corresponding to the rotation speed N, the motor 7 is controlled to stop the rotation of the drum 3. Thereby, it is possible to avoid the difference in the balance of the laundry in the drum 3, the washing tub 2 vibrating largely, and hitting the casing 1, and the drum 3 can be safely stopped. Rolling - After the cylinder 3 is stopped, the user can reconfigure the laundry in the drum 3 and start the washing machine 1001 again. I: BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a cross-sectional view showing a washing machine in accordance with an embodiment of the present invention. Fig. 2 is a circuit diagram of a washing machine of the embodiment. Fig. 3 shows the operation of the washing machine of the embodiment. 15 Fig. 4 is a view showing the amount of laundry of the washing machine of the embodiment and the acceleration of the drum. Φ Fig. 5 is a flow chart showing the operation of the washing machine of the embodiment. Figure 6 is a block diagram of a washing machine of the embodiment. Fig. 7A and Fig. 7B show the operation of the washing machine of the embodiment. -2〇 Figure 8 is a cross-sectional view of a conventional washing machine. - Figure 9 shows the action of a conventional washing machine. [Description of main component symbols] 2...washing tank 3...roller 1.·.housing 1A...opening 18 1361236

3A... Side wall 3B... Bottom 3C... Center axis 3D... Open end 3E... Inner peripheral surface 3F... Rotary shaft 4. Washing inlet 5... Door 7. Motor 7A. .. three-phase winding 7B... three-phase winding 7C... three-phase winding 8.. water injection line 9. drain pipe 10... operation panel 11.. circulating air path fan 14... rotation Detection part 15.. Feeding protrusion 20.. Commercial power supply 21.. Rectifier 22.. Anti-current coil 23.. Flat-flow capacitor 24.. Inverter circuit 24A... Machine element 24B... Lay element 24C...雠 element 24D... machine element 24E... conversion element 24F... conversion element 25.. input setting unit 26. load drive unit 27.. water supply valve 28.. drain valve 29.. heater 30A... Position detecting element 30B... Position detecting element 30C... Position detecting element 31.. Control unit 32.. Drive circuit 33... Rotation speed detecting unit 34.. Washing amount detecting unit 501... Washing machine 501A.. .Control unit 1001···Washing machine IS] 19

Claims (1)

1361236 5 10 20 Application No. 97119690 101.1.9 Amendment 10, Patent Application Range: 1. A washing machine, comprising: a drum having a central axis of rotation in a horizontal direction or an oblique direction, capable of accommodating laundry for rotary motion a water tank that is rotatably supported by the drum and elastically supported by the washing machine body; a motor that rotationally drives the drum; a rotation speed detecting device that detects a rotational speed of the motor; and a control unit Controlling the rotator of the motor according to the detection output of the rotation speed detecting device; the control unit has the following steps: a starting step of causing the motor to be generated between elapsed time t after the start of the operation for detecting the amount of cloth Accelerating the torque, thereby causing the drum to be started from a stationary state, and increasing the rotational speed to a predetermined rotational speed Na by the angular acceleration aa (t) at the start; the first detecting step, after the aforementioned starting step, controlling the motor Applying a voltage or an energizing current, thereby generating a certain acceleration torque with a predetermined value to drive the drum Rotational acceleration, and detecting an acceleration angular acceleration α 1 between a predetermined rotational speed N1 and N2; and a second detecting step of controlling a voltage or an energizing current applied to the motor after the first detecting step Thereby, a certain deceleration torque is generated by a predetermined value to decelerate the rotation of the drum, and the rotation speed is detected by the pre- 20 α2; the rotation speed N3 is decreased to the deceleration angular acceleration between N42, and in the foregoing starting step. In a certain time ,, there is ^ (ta) > α 2 of the aforementioned starting angular acceleration ' and the acceleration in the acceleration time angle α ΐ and the aforementioned deceleration angle acceleration "2 to detect the aforementioned amount of cloth 'in the first detecting step" Detecting a maximum rotation speed and a minimum rotation speed of the drum in the predetermined rotation angle section, and stopping the rotation driving of the drum when the difference between the maximum rotation catch degree and the minimum (four) speed exceeds the duty value. The control unit controls energization to the motor current at least in the first detection step and the second detection step to cause the respective Up to the first detecting step and the second detecting/reducing=predetermined value, and controlling the acceleration torque of the front motor and the control unit to the control to energize the washing machine to the first or second item of the above-mentioned Maru application patent range less than or less The d-axis current is reached in the first detection step and the second detection step so as to be substantially zero.