WO2015106617A1 - 洗衣机内筒限位平衡控制系统和方法 - Google Patents

洗衣机内筒限位平衡控制系统和方法 Download PDF

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WO2015106617A1
WO2015106617A1 PCT/CN2014/094398 CN2014094398W WO2015106617A1 WO 2015106617 A1 WO2015106617 A1 WO 2015106617A1 CN 2014094398 W CN2014094398 W CN 2014094398W WO 2015106617 A1 WO2015106617 A1 WO 2015106617A1
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inner cylinder
washing machine
positioning system
air gap
axis
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PCT/CN2014/094398
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English (en)
French (fr)
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劳春峰
尹翔
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海尔集团技术研发中心
海尔集团公司
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Publication of WO2015106617A1 publication Critical patent/WO2015106617A1/zh

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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
    • D06F34/08—Control circuits or arrangements thereof
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/48—Preventing or reducing imbalance or noise
    • 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

Definitions

  • the invention relates to a limit balance control system and method, in particular to a washing machine inner cylinder limit balance control system and method, belonging to the field of washing machine devices.
  • the inner cylinder of the washing machine rotates, the inner cylinder is eccentric due to uneven distribution of the clothes. If the eccentricity is too large, the inner cylinder will hit the outer cylinder, thereby causing large vibration and noise of the washing machine.
  • the present invention has been made in view of the above.
  • the technical problem to be solved by the present invention is to overcome the deficiencies of the prior art, and provide a control system and method for the inner cylinder limit balance of the washing machine, which can reduce the eccentricity of the inner cylinder of the washing machine and the collision of the inner and outer cylinders.
  • a limit control system for the inner cylinder limit of a washing machine comprising a positioning system, a frequency converter, an air gap sensor, an electric connection and positioning system of the frequency converter, the positioning system is arranged in the outer cylinder of the washing machine, the air gap sensor is installed on the inner wall of the outer cylinder, and the air gap sensor is electrically Connect the inverter.
  • the present invention has the following advantageous effects compared with the prior art.
  • the inner cylinder limit balance control system of the washing machine of the invention has a positioning system installed on the outer cylinder of the washing machine, which can both rotate the inner cylinder and position and control the offset inner cylinder.
  • the air gap sensor installed on the inner wall of the outer cylinder senses the air gap between the inner cylinder and the air gap, and transmits the sensed air gap information to the frequency converter, so that the current allocated by the frequency converter to the positioning system changes, thereby changing
  • the force exerted by the positioning system on the inner cylinder eliminates the eccentricity of the inner cylinder, restores the inner cylinder to a normal position, reduces the eccentricity of the inner cylinder of the washing machine, and causes collision of the inner and outer cylinders.
  • the method for controlling the limit of the inner cylinder of the washing machine of the invention detects the air gap between the inner cylinder and the outer cylinder through the sensor, and according to the change of the air gap, the force applied by the positioning system to the inner cylinder is correspondingly changed, thereby eliminating the eccentricity of the inner cylinder, thereby Inner cylinder recovery
  • the normal position reduces the eccentricity of the inner cylinder of the washing machine and the collision of the inner and outer cylinders.
  • FIG. 1 is a schematic structural view of a limit tube balance control system for a washing machine of the first embodiment.
  • FIG. 2 is a view showing an analysis of an inner cylinder offset position in the second embodiment.
  • FIG 3 is a schematic diagram of a control flow in the second embodiment.
  • FIG. 4 is a schematic diagram of cross feedback in the second embodiment.
  • the inner cylinder limit balance control system of the washing machine comprises a positioning system, a frequency converter and an air gap sensor 2 .
  • the positioning system is a curved motor 1
  • the inverter is electrically connected to the arc motor 1
  • the arc motor 1 is mounted on the outer cylinder 3 of the washing machine
  • the air gap sensor 2 is mounted on the inner wall of the outer cylinder 3
  • the air gap sensor 2 is electrically connected to the frequency converter.
  • the curved motors 1 are mounted in pairs on the outer cylinder 3 in a symmetrical manner.
  • the arc motor 1 is two pairs of four, and the center lines of the two pairs of arc motors are orthogonal. That is, four arc motors are evenly distributed on the outer wall of the outer cylinder.
  • An inductive backboard corresponding to the height of the arc motor is mounted on the inner cylinder 4.
  • an induced current is generated in the inductive backboard, and the backplane is induced to rotate by the ampoule.
  • the arc motor also acts as an electromagnet, which can generate suction on the inner cylinder of the washing machine. It is understood that the inner cylinder of the washing machine can be attracted by the electromagnet. In other embodiments, it is also possible that the inner cylinder cannot be attracted by the electromagnet, and the inner cylinder is provided with a device that can be attracted by the electromagnet, thereby indirectly biasing the inner cylinder.
  • the current input to the relevant arc motor is changed by the frequency converter, so that the attractive force of the arc motor to the inner cylinder of the washing machine is changed, and different arc motors are applied to the inner cylinder of the washing machine.
  • the attraction is different, so that the suction cylinder of the washing machine is different in different directions, the attraction of the arc motor that the inner cylinder is away from is increased, and the attraction of the curved motor with the inner cylinder is weakened, thereby restoring the inner cylinder to balance .
  • a plurality of electromagnets may be separately provided to balance the inner cylinder, and the size of the attraction of each electromagnet to the inner cylinder is changed by the frequency converter to correct the offset inner cylinder, and the curved motor is only responsible for driving the inner cylinder. Turn.
  • the arc motor mounted on the outer cylinder of the washing machine can drive the inner cylinder to rotate, and can also perform positioning control on the offset inner cylinder.
  • the inner cylinder is deflected when the inner cylinder rotates
  • the air gap sensor installed on the inner wall of the outer cylinder senses the air gap between the inner cylinder and the air gap, and transmits the sensed air gap information to the frequency converter to make the frequency converter.
  • the current assigned to each arc motor changes, thereby changing the attractive force exerted by each arc motor on the inner cylinder, eliminating the eccentricity of the inner cylinder, returning the inner cylinder to the normal position, reducing the eccentricity of the inner cylinder of the washing machine and causing collision between the inner and outer cylinders.
  • the inner cylinder limit balance control method of the washing machine detects the air gap between the inner cylinder and the outer cylinder through a sensor, and transmits the air gap signal to the frequency converter, and obtains an air gap change compared with the air gap when the inner cylinder is stationary, that is, the gas is obtained.
  • the gap error signal and according to the change of the air gap, controls the corresponding change of the force applied by the positioning system to the inner cylinder.
  • the processor in the inverter can calculate the deviation value of the inner cylinder main shaft from the static state at the moment according to the air gap, and according to the deviation
  • the value feedback signal is applied to the control positioning system such that the force applied to the inner barrel changes accordingly.
  • This deviation value includes the angular displacement deviation value.
  • the movement of the inner cylinder can be decomposed into three movements, one of which is the rotation around its own main axis, which is represented by ⁇ 0 in the figure, and the remaining two are the inner cylinder main shafts around the X-axis and the Y-axis. motion.
  • O 1 is the center of mass of the inner cylinder
  • mg is the gravity of the inner cylinder.
  • the deviation value of the angular displacement of the inner cylinder main shaft includes two deviation values of the X-axis and the Y-axis, the angular displacement deviation value from the X-axis is ⁇ , and the angular displacement deviation value between the Y-axis and the Y-axis is ⁇ . That is, the angle at which the inner cylinder main shaft deviates from the vertical position at a certain moment, that is, the angle at which the inner cylinder main shaft rotates around the X-axis and the Y-axis, respectively.
  • Dx/dt and dy/dt are the derivation of ⁇ and ⁇ , respectively, that is, the angular velocity of the inner cylinder main shaft rotating around the X and Y axes.
  • the positioning system can generate a varying magnetic field, causing the inner cylinder to rotate by the induced ampere force, and also acts as an electromagnet to attract the inner cylinder. It can be understood that the inner cylinder of the washing machine can be attracted by the electromagnet. In other embodiments, it is also possible that the inner cylinder cannot be attracted by the electromagnet, and the inner cylinder is provided with a device that can be attracted by the electromagnet, thereby indirectly biasing the inner cylinder.
  • the positioning system is a curved motor, and four arc motors are symmetrically mounted on the outer cylinder, and the force applied to the inner cylinder is changed by changing the current supplied to the arc motor.
  • the attraction force applied by the positioning system to the inner cylinder includes forces in both the X-axis and the Y-axis, the X-axis and the Y-axis being two mutually perpendicular axes in the same plane, and the plane and the stationary state
  • the inner cylinder of the inner cylinder is vertical.
  • the inverter superimposes the control current on different arc motors, including positive superposition and negative superposition, so that the attractive force of the arc motor to the inner cylinder of the washing machine changes, and different arc motors are attached to the inner cylinder of the washing machine.
  • the attraction is different, so that the inner cylinder of the washing machine is attracted differently in different directions, the attractiveness of the arc-shaped motor with the inner cylinder away from it increases, and the attraction of the curved motor with the inner cylinder is weakened, thereby restoring the inner cylinder balance.
  • the inverter feeds back the control signal to the positioning system
  • cross feedback is performed, and the Y-axis control signal is fed back according to the angular displacement deviation value of the inner cylinder main shaft in the X-axis, according to the inner cylinder main shaft in the Y-axis.
  • the angular displacement deviation value is fed back to the X-axis control signal.
  • k 1 and k 2 in the figure are the control coefficients of angular displacement and angular velocity, respectively, which need to be based on actual system parameters (such as inner cylinder size, moment of inertia, etc.) and control requirements (response). Speed and overshoot) to determine. Therefore, according to the angular displacement deviation value and the angular velocity of the inner cylinder main shaft, the feedback control signal is sent to the positioning system, and the force applied to the inner cylinder is changed correspondingly by changing the control current parameter assigned to the positioning system.
  • the signal fed back according to the angular velocity is the same direction feedback, that is, the X-axis control signal is fed back according to the angular velocity of the inner cylinder main shaft at the X-axis, and the Y-axis control signal is fed back according to the angular velocity of the inner cylinder main shaft at the Y-axis.
  • the method in this embodiment can be implemented by using the system in the first embodiment.
  • the air gap between the inner cylinder and the outer cylinder is detected by the sensor, and the air conditioner in the inverter is stationary according to the air gap and the inner cylinder.
  • the error between the air gap between the inner cylinder and the outer cylinder is calculated to obtain the angular displacement deviation value of the inner cylinder main shaft, and the feedback control signal is sent to the positioning system according to the deviation value and the inner cylinder main shaft angular velocity superposition, and the distribution is assigned to
  • the control current parameter of the positioning system changes the force applied to the inner cylinder, thereby offsetting the eccentric force of the inner cylinder, restoring the inner cylinder to the normal position, reducing the eccentricity of the inner cylinder of the washing machine and causing collision between the inner and outer cylinders.
  • the process is repeatedly implemented to reduce the eccentricity of the inner cylinder and the collision with the outer cylinder in the dynamic operation of the inner cylinder.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Control Of Washing Machine And Dryer (AREA)
  • Main Body Construction Of Washing Machines And Laundry Dryers (AREA)

Abstract

一种洗衣机内筒限位平衡控制系统，包括定位系统、变频器、气隙传感器（2），变频器电连接安装在洗衣机外筒（3）上的定位系统，气隙传感器（2）安装在外筒的内壁并电连接变频器。内筒转动时，气隙传感器（2）感应内筒与其之间的气隙，将感应到的气隙信息传输给变频器，使变频器分配给定位系统的电流改变，进而改变定位系统对内筒施加的力，减少洗衣机内筒的偏心及造成的内外筒碰撞。一种洗衣机内筒限位平衡控制方法，通过传感器检测内筒与外筒（3）之间的气隙，根据所述气隙的变化控制定位系统对内筒施加的力相应变化，减少洗衣机内筒的偏心及造成的内外筒碰撞。

Description

洗衣机内筒限位平衡控制系统和方法 技术领域
本发明涉及一种限位平衡控制系统和方法，尤其是一种洗衣机内筒限位平衡控制系统和方法，属于洗衣机装置领域。
背景技术
洗衣机内筒在转动时，由于衣物分布不均匀导致内筒偏心，如果偏心力过大，则会导致内筒撞击外筒，从而使洗衣机产生较大的振动和噪音。
有鉴于此特提出本发明。
发明内容
本发明要解决的技术问题在于克服现有技术的不足，提供一种洗衣机内筒限位平衡控制系统和方法，能够减少洗衣机内筒的偏心及造成的内外筒碰撞。
为解决上述技术问题，本发明采用技术方案的基本构思是：
一种洗衣机内筒限位平衡控制系统，包括定位系统、变频器、气隙传感器，变频器电连接定位系统，定位系统设置于洗衣机外筒，气隙传感器安装在外筒的内壁，气隙传感器电连接变频器。
一种洗衣机内筒限位平衡控制方法，通过传感器检测内筒与外筒之间的气隙，根据所述气隙的变化控制定位系统对内筒施加的力相应变化。
采用上述技术方案后，本发明与现有技术相比具有以下有益效果。
本发明洗衣机内筒限位平衡控制系统，安装在洗衣机外筒上的定位系统既可以使内筒转动，又可以对偏移的内筒进行定位控制。在内筒转动时，采用安装在外筒内壁的气隙传感器感应内筒与其之间的气隙，将感应到的气隙信息传输给变频器，使变频器分配给定位系统的电流改变，进而改变定位系统对内筒施加的力，消除内筒偏心，使内筒恢复正常位置，减少洗衣机内筒的偏心及造成的内外筒碰撞。
本发明洗衣机内筒限位平衡控制方法，通过传感器检测内筒与外筒之间的气隙，根据气隙的变化，使定位系统对内筒施加的力相应变化，进而消除内筒偏心，使内筒恢复 正常位置，减少洗衣机内筒的偏心及造成的内外筒碰撞。
下面结合附图对本发明的具体实施方式作进一步详细的描述。
附图说明
图1是实施例一的洗衣机内筒限位平衡控制系统的结构示意图。
图2是实施例二中的内筒偏移位置分析图。
图3是实施例二中的控制流程示意图。
图4是实施例二中的交叉反馈示意图。
具体实施方式
实施例一
如图1所示，洗衣机内筒限位平衡控制系统，包括定位系统、变频器、气隙传感器2。定位系统为弧形电机1，变频器电连接弧形电机1，弧形电机1安装在洗衣机外筒3上，气隙传感器2安装在外筒3的内壁，气隙传感器2电连接变频器。
弧形电机1成对、对称安装于外筒3上。
在本实施例中，弧形电机1为两对四个，两对弧形电机的中心连线正交。即四个弧形电机均匀分布在外筒的外壁上。
在内筒4上安装有与弧形电机高度相对应的感应背板，在弧形电机产生的变化的磁场中，感应背板中产生感应电流，进而感应背板受安培力驱动内筒旋转。
同时，弧形电机也作为电磁铁，可以对洗衣机内筒产生吸力，需要理解的是，洗衣机内筒可以被电磁铁吸引。在其他实施例中，也可以是内筒不能被电磁铁吸引，而在内筒上设置可以被电磁铁吸引的装置，从而间接使内筒受力。
在洗衣机内筒偏移时，根据偏移位置，通过变频器改变输入至相关弧形电机的电流，使得弧形电机对洗衣机内筒产生的吸引力改变，不同的弧形电机对洗衣机内筒的吸引力不同，从而使洗衣机内筒在不同方向受到的吸引力不同，内筒背离的弧形电机的吸引力增大，而内筒偏向的弧形电机的吸引力减弱，进而使内筒恢复平衡。
在其他实施例中，也可以单独设置若干电磁铁负责使内筒保持平衡，通过变频器改变各电磁铁对内筒吸引力大小进而对偏移内筒纠偏，而弧形电机只负责驱使内筒转动。
本发明实施例的洗衣机内筒限位平衡控制系统，安装在洗衣机外筒上的弧形电机既可以驱动内筒转动，又可以对偏移的内筒进行定位控制。在内筒转动时，内筒发生偏移 时，内筒与外筒之间的气隙会发生变化，采用安装在外筒内壁的气隙传感器感应内筒与其之间的气隙，将感应到的气隙信息传输给变频器，使变频器分配给各弧形电机的电流改变，进而改变各弧形电机对内筒施加的吸引力，消除内筒偏心，使内筒恢复正常位置，减少洗衣机内筒的偏心及造成的内外筒碰撞。
实施例二
洗衣机内筒限位平衡控制方法，通过传感器检测内筒与外筒之间的气隙，将此气隙信号传至变频器，与内筒静止时的气隙比较得到气隙变化，即得出气隙误差信号，并根据所述气隙的变化控制定位系统对内筒施加的力相应变化。
由于内筒偏移致使内筒与外筒间气隙变化，也即变频器内的处理器根据气隙即可计算得出内筒主轴在此刻与其在静止状态下的偏差值，并根据此偏差值反馈信号至控制定位系统，使其对内筒施加的力相应变化。
此偏差值包括角位移偏差值。如图2所示，内筒的运动可以分解成三个运动，其一是绕自身主轴的自转，图中用ω0表示，剩下两个分别是内筒主轴绕X轴和Y轴方向的运动。O1为内筒质心，mg表示内筒所受重力。
内筒主轴角位移的偏差值包括X轴向和Y轴向两个偏差值，与X轴之间的角位移偏差值为α，与Y轴之间的角位移偏差值为β。即内筒主轴在某一时刻偏离竖直位置的角度，也就是内筒主轴分别绕X轴和Y轴转过的角度。dx/dt和dy/dt分别是对α和β求导，也就是内筒主轴绕X和Y轴转动的角速度。
定位系统即可以产生变化磁场，使内筒受感应而生的安培力而旋转，同时也作为电磁铁对内筒产生吸引力。可以理解的是，洗衣机内筒可以被电磁铁吸引。在其他实施例中，也可以是内筒不能被电磁铁吸引，而在内筒上设置可以被电磁铁吸引的装置，从而间接使内筒受力。
定位系统为弧形电机，四个弧形电机在外筒上对称安装，通过改变提供给弧形电机的电流来改变对内筒施加的力。定位系统对内筒施加的吸引力包括X轴向和Y轴向两个方向的力，所述X轴和Y轴为同一个平面内的两个相互垂直的轴，且此平面与静止状态下的内筒的主轴垂直。根据内筒的偏移情况，变频器给不同的弧形电机叠加控制电流，包括正叠加及负叠加，使得弧形电机对洗衣机内筒产生的吸引力改变，不同的弧形电机对洗衣机内筒的吸引力不同，从而使洗衣机内筒在不同方向受到的吸引力不同，内筒背离的弧形电机的吸引力增大，而内筒偏向的弧形电机的吸引力减弱，进而使内筒恢复平衡。
当内筒在高速旋转时，如果其主轴位置发生偏转，需要施加相应的控制力。但是，由于高速旋转时的陀螺效应，主轴回复运动的方向并不沿着外加控制力的方向，而是与外力方向垂直，例如沿着X轴向施加外力，内筒主轴会在Y轴向产生偏移。因此，就需要通过X轴向的偏移角度来计算Y轴向的回复力，Y轴向的偏移角度来计算X轴向的回复力，所以称为“交叉反馈”，如图4所示。
故在本实施例中，变频器反馈此控制信号至定位系统时实行交叉反馈，根据内筒主轴在X轴向的角位移偏差值反馈Y轴向的控制信号，根据内筒主轴在Y轴向的角位移偏差值反馈X轴向的控制信号。
同时，在控制中为了保证系统的渐近性，必须加入阻尼，也就是角速度信号，即前述的dx/dt和dy/dt。如图4所示，图中的k1和k2分别是角位移和角速度的控制系数，这两个系数需要根据实际系统的参数(如内筒的尺寸、转动惯量等)和控制要求(响应速度和超调量)来确定。因此，根据内筒主轴的角位移偏差值及角速度两个参数叠加后得到反馈控制信号送至定位系统，通过改变分配给定位系统的控制电流参数使其对内筒施加的力相应变化。
而根据角速度反馈的信号为同向反馈，即根据内筒主轴在X轴向的角速度反馈X轴向的控制信号，根据内筒主轴在Y轴向的角速度反馈Y轴向的控制信号。
本实施例中的方法可利用实施例一中的系统实施。如图3所示，本发明实施例的洗衣机内筒限位平衡控制方法，通过传感器检测内筒与外筒之间的气隙，通过变频器内的处理器根据此气隙与内筒静止时内筒与外筒之间的气隙之间的误差计算得出内筒主轴的角位移偏差值，并根据此偏差值及内筒主轴角速度叠加得到反馈控制信号送至定位系统，通过改变分配给定位系统的控制电流参数使其对内筒施加的力相应变化，进而抵消内筒偏心力，使内筒恢复正常位置，减少洗衣机内筒的偏心及造成的内外筒碰撞。过程重复实现，以在内筒的动态运行中减少内筒的偏心及与外筒的碰撞。
上述实施例中的实施方案可以进一步组合或者替换，且实施例仅仅是对本发明的优选实施例进行描述，并非对本发明的构思和范围进行限定，在不脱离本发明设计思想的前提下，本领域中专业技术人员对本发明的技术方案作出的各种变化和改进，均属于本发明的保护范围。

Claims (12)

  1. 一种洗衣机内筒限位平衡控制系统，其特征在于：包括定位系统、变频器、气隙传感器，变频器电连接定位系统，定位系统设置于洗衣机外筒，气隙传感器安装在外筒的内壁，气隙传感器电连接变频器。
  2. 根据权利要求1所述的洗衣机内筒限位平衡控制系统，其特征在于，定位系统为弧形电机，弧形电机安装于所述洗衣机的外筒，并与所述变频器电连接。
  3. 根据权利要求2所述的洗衣机内筒限位平衡控制系统，其特征在于：弧形电机成对、对称安装于外筒上。
  4. 根据权利要求1所述的洗衣机内筒限位平衡控制系统，其特征在于：在内筒上安装有与弧形电机高度相对应的感应背板。
  5. 一种洗衣机内筒限位平衡控制方法，其特征在于：通过传感器检测内筒与外筒之间的气隙，根据所述气隙的变化控制定位系统对内筒施加的力相应变化。
  6. 根据权利要求5所述的洗衣机内筒限位平衡控制方法，其特征在于：所述定位系统为弧形电机，通过改变提供给弧形电机的电流来改变对内筒施加的力。
  7. 根据权利要求5所述的洗衣机内筒限位平衡控制方法，其特征在于，所述定位系统为弧形电机，根据所述气隙通过处理器计算得出内筒主轴的偏差值，并根据此偏差值反馈控制信号至定位系统，使定位系统对内筒施加的力相应变化。
  8. 根据权利要求7所述的洗衣机内筒限位平衡控制方法，其特征在于：根据所述气隙通过处理器计算得出内筒主轴的角位移偏差值，并根据此角位移偏差值反馈控制信号至定位系统，使定位系统对内筒施加的力相应变化。
  9. 根据权利要求8所述的洗衣机内筒限位平衡控制方法，其特征在于：内筒主轴角位移的偏差值包括X轴向和Y轴向两个偏差值，定位系统对内筒施加的力也分为上述两个方向的力，所述X轴和Y轴为同一个平面内的两个相互垂直的轴，且此平面与静止状态下的内筒的主轴垂直。
  10. 根据权利要求9所述的洗衣机内筒限位平衡控制方法，其特征在于：反馈控制信号时实行交叉反馈，根据内筒主轴在X轴向的角位移偏差值反馈Y轴向的控制信号，根据内筒主轴在Y轴向的角位移偏差值反馈X轴向的控制信号。
  11. 根据权利要求7、8、9或10所述的洗衣机内筒限位平衡控制方法，其特征在于：根据内筒主轴的角位移偏差值及角速度反馈控制信号至定位系统，使定位系统对内筒施加的力相应变化。
  12. 根据权利要求11所述的洗衣机内筒限位平衡控制方法，其特征在于：根据内筒主轴的角位移偏差值及角速度反馈控制信号至定位系统，使定位系统对内筒施加的力相应变化，根据角速度反馈的信号同向反馈，即根据内筒主轴在X轴向的角速度反馈X轴向的控制信号，根据内筒主轴在Y轴向的角速度反馈Y轴向的控制信号。
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