WO2019237916A1 - 衣物处理装置的运行控制方法、系统、装置及存储介质 - Google Patents

衣物处理装置的运行控制方法、系统、装置及存储介质 Download PDF

Info

Publication number
WO2019237916A1
WO2019237916A1 PCT/CN2019/088859 CN2019088859W WO2019237916A1 WO 2019237916 A1 WO2019237916 A1 WO 2019237916A1 CN 2019088859 W CN2019088859 W CN 2019088859W WO 2019237916 A1 WO2019237916 A1 WO 2019237916A1
Authority
WO
WIPO (PCT)
Prior art keywords
load
motor
torque
fluctuation
rotation speed
Prior art date
Application number
PCT/CN2019/088859
Other languages
English (en)
French (fr)
Inventor
徐磊
秦向南
付俊永
赵小安
Original Assignee
广东威灵电机制造有限公司
美的威灵电机技术（上海）有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广东威灵电机制造有限公司, 美的威灵电机技术（上海）有限公司 filed Critical 广东威灵电机制造有限公司
Priority to KR1020207025146A priority Critical patent/KR102405502B1/ko
Publication of WO2019237916A1 publication Critical patent/WO2019237916A1/zh
Priority to US17/088,022 priority patent/US20210054554A1/en

Links

Images

Classifications

    • 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
    • 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 
    • 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 
    • D06F33/46—Control of the energy or water consumption
    • 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
    • D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
    • D06F34/14—Arrangements for detecting or measuring specific parameters
    • D06F34/18—Condition of the laundry, e.g. nature or weight
    • 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
    • D06F34/28—Arrangements for program selection, e.g. control panels therefor; Arrangements for indicating program parameters, e.g. the selected program or its progress
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • 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
    • D06F2103/02—Characteristics of laundry or load
    • D06F2103/04—Quantity, e.g. weight or variation of weight
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/24—Spin speed; Drum movements
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/26—Imbalance; Noise level
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/38—Time, e.g. duration
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/44—Current or voltage
    • D06F2103/46—Current or voltage of the motor driving the drum
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
    • D06F2105/02—Water supply
    • 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
    • D06F2105/48—Drum speed
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
    • D06F2105/52—Changing sequence of operational steps; Carrying out additional operational steps; Modifying operational steps, e.g. by extending duration of steps
    • D06F2202/065—
    • D06F2202/10—
    • D06F2202/12—
    • D06F2204/065—
    • D06F2220/00—
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43132—Rotation speed as function of minimum wave energy, toolwear, first learn for different speeds

Definitions

  • the present application relates to the field of laundry treatment devices, and in particular, to an operation control method for a laundry treatment device, an operation control system for a laundry treatment device, a laundry treatment device, and a computer-readable storage medium.
  • the existing washing machine can adjust the injection water level and the amount of detergent according to the weight of the clothes placed by the user to ensure that the clothes are in the best washing conditions and ensure the quality of the washing. At the same time, it can avoid the cost of water and electricity.
  • Methods for measuring the weight of clothes in existing products It is mainly divided into two categories: one is to directly measure the weight of the laundry using a load cell; the other is to use the parameters such as the time and current required to detect the motor in the washing machine to accelerate under different load conditions or to another speed
  • the inertia of the clothes in the drum since the weight and the inertia are basically proportional, the inertia can be converted into weight according to the proportional relationship between them.
  • the method of directly measuring the weight of laundry by using a load cell requires additional installation of a load cell, which will increase the cost of the product, and requires a suitable installation space.
  • the existing design and installation are mostly inconvenient, and the motor in the washing machine is used to measure the inertia of the laundry.
  • the method does not require a special sensor, so there is no installation problem.
  • acceleration and deceleration are usually used to detect the load inertia.
  • the difference in the friction of the washing machine drum is not taken into account, which causes a large deviation in detection accuracy.
  • the influence of the load imbalance on the inertia detection results in a large error in the weight of the laundry, which cannot meet the needs of the user.
  • the washing machine running laundry is a process that mimics the process of hitting clothes with a hammer.
  • drum washing machines are composed of a stainless steel inner cylinder and a mechanical program controller.
  • a weight is provided in the washing machine shell to balance the centrifugal force generated by the washing machine during operation.
  • the load is unbalanced (the eccentric mass of the load consisting of the laundry and the drum is greater than or equal to the set mass threshold), as the speed and torque increase, the vibration and noise generated by the clothes and the drum together The larger it will affect the user experience and reduce the life of the washing machine.
  • This application is intended to solve at least one of the technical problems existing in the prior art or related technologies.
  • a first aspect of the present application is to provide an operation control method of a laundry processing apparatus.
  • a second aspect of the present application is to provide an operation control system of a laundry processing apparatus.
  • a third aspect of the present application is to provide a clothes treating apparatus.
  • a fourth aspect of the present application is to provide a computer-readable storage medium.
  • the present application provides a method for controlling the operation of a laundry processing apparatus, which includes: obtaining a load inertia of a cylinder and a torque fluctuation or a speed fluctuation of a motor; Moment fluctuation and pre-stored relational data of load inertia, torque fluctuation and load eccentric mass, to obtain the load eccentric mass of the clothes processing device; or according to load inertia, speed fluctuation and pre-stored stored load inertia, speed fluctuation and load eccentricity
  • the relationship data of the masses are used to obtain the eccentric load quality of the laundry processing device; and the laundry processing device is controlled to adjust the laundry according to the eccentric load quality.
  • the operation control method of the laundry processing device obtains the load inertia of the cylinder and the torque fluctuation or speed fluctuation of the motor, based on the stored relation data of the stored load inertia, torque fluctuation, and eccentric mass of the load, Determine the existing load inertia interval and the corresponding two fitting curves according to the load inertia, and then determine the corresponding coordinate points on the two fitted curves according to the torque fluctuations, and then determine the interval corresponding to the eccentric mass of the load.
  • the load inertia Estimate the corresponding load eccentric mass; or based on the stored stored data of load inertia, speed fluctuation and load eccentric mass, determine the existing load inertia interval and the corresponding two fitting curves based on the load inertia, and then determine two based on the speed fluctuation Fit the corresponding coordinate points on the curve, and then determine the interval corresponding to the eccentric mass of the load.
  • the corresponding eccentric mass of the load is estimated according to the load inertia, so as to accurately determine whether the load is unbalanced, and then adjust the clothing in time (such as controlling clothing Processing device performs shake operation) and / Or adjust the amount of injected water to avoid a large noise during the operation of the laundry treatment device, and at the same time to increase the service life of the laundry treatment device.
  • the clothing in time such as controlling clothing Processing device performs shake operation
  • the amount of injected water to avoid a large noise during the operation of the laundry treatment device, and at the same time to increase the service life of the laundry treatment device.
  • the step of obtaining the load inertia of the cylinder specifically includes: controlling the motor of the laundry treatment device to perform a first operation process at a first acceleration, and integrating the electromagnetic torque of the motor to obtain the first Integral result; control the motor to perform the second operation process at the second acceleration and integrate the electromagnetic torque of the motor to obtain the second integration result; collect the operating parameters of the laundry treatment device, wherein the operating parameters include at least: the first operating process Of the first running time and the speed of the two ends of the first running process, the second line of the second running process, and the speed of the two ends of the second running process; calculated based on the first integration result, the second integration result, and the operating parameters Load inertia of the motor.
  • the control motor performs the first operation process according to the first acceleration, and during the first operation process, the electromagnetic torque of the motor is integrated to obtain the first integration result; at the end of the first After the running process, the control motor performs the second running process according to the second acceleration, and integrates the electromagnetic torque of the motor during the second running process to obtain the second integration result.
  • the operating parameters of the laundry processing device are counted, and the operating parameters include but It is not limited to the first running time in the first running process and the speed values at both ends of the first running process, and the second running time in the second running process and the speeds at both ends of the second running process.
  • the result of the second integration, the first running time, the start time and the end time of the first running time and the second running time, and the speed values at the two points of the first running process and the second running process are used to calculate the load inertia of the current motor.
  • the method for determining the weight of laundry by detecting the load inertia of the motor takes into account the difference in the friction of the barrel of the laundry processing device, and also considers the impact of the load imbalance on the inertia detection, which improves the weight of the laundry.
  • the accuracy of the detection reduces the cost of water and electricity, and reduces the waste of resources. Since the first and second running processes are accelerated processes, compared to a single accelerated or uniform speed process, the time for clothes weight detection is reduced. To improve the user experience.
  • the load inertia is calculated by the following formula:
  • J is the load inertia
  • t A , t B , t C , and t D are the start time and end time of the first and second running durations, respectively
  • ⁇ A , ⁇ B , ⁇ C , and ⁇ D are Rotational speed values at both ends of the first and second running processes, with Are the first integration result and the second integration result.
  • the load inertia J is directly derived from the first integration result Second integration result Start time and end time t A , t B , t C , t D of the first and second operation durations, and the rotation speed values ⁇ A , ⁇ B , ⁇ C at both ends of the first and second operation processes And ⁇ D are calculated without complicated calculation.
  • T e1 is the electromagnetic torque of the first operation duration of t A as the start time
  • t B is the end time
  • T e2 is t C as the start time
  • t D is the end
  • the electromagnetic torque of the second running time of the moment wherein the number of turns of the drum during the first running time and the second running time is an integer multiple.
  • the step of acquiring torque fluctuations specifically includes: detecting the torque of the motor in real time during the first operation or the second operation; acquiring the measured maximum torque and the minimum torque Value; get the torque ripple according to the maximum torque and minimum torque.
  • the torque of the motor in the first running process or the second running process is detected in real time, and the maximum and minimum values of the torque are determined by determining the value of the torque.
  • the difference value is used as the torque fluctuation, and the torque of the barrel of the clothes treatment device is detected for one rotation or N cycles, ensuring that the calculated torque fluctuation can accurately represent the actual torque fluctuation of the motor, and avoiding the barrel of the clothes treatment device.
  • the calculated torque fluctuation is too large or too small, which causes the calculated eccentric mass to be too large or too small, and the result of judging whether or not a load imbalance occurs is inaccurate, which effectively avoids the clothes processing device. Larger noises occur during operation, and at the same time, the service life of the laundry treatment device is increased.
  • the step of obtaining the rotation speed fluctuation specifically includes: detecting a current rotation speed of the motor in real time during a first operation process or a second operation process; and performing high-pass filtering on the current rotation speed, To obtain filtered first speed range information; and obtain the speed fluctuation according to the maximum speed and minimum speed in the first speed range information.
  • the speed of the motor in the first or second running process is detected in real time, and high-pass filtering is performed to filter out acceleration information in the low frequency band, to obtain filtered first speed range information, and to compare the first The maximum speed and minimum speed in the speed range information, and then calculate the difference between the maximum speed and the minimum speed to get the speed fluctuation.
  • the rotation speed of the barrel of the clothes treatment device for one or N rotations is detected to ensure the calculation.
  • the fluctuation of the rotation speed can accurately represent the actual fluctuation of the rotation speed of the motor, and avoid the situation that the calculated rotation speed fluctuation is too large or too small in the case that the barrel of the laundry processing device rotates non-circularly, which causes the calculated eccentric mass to be too large or too small. It is small, the result of judging whether the load imbalance occurs is inaccurate, which effectively avoids a large noise during the operation of the laundry processing device, and at the same time improves the service life of the laundry processing device.
  • the first operation duration and the second operation duration are integer multiples of a rotation period of the barrel of the laundry processing apparatus, and the first operation duration and the second operation duration are equal to multiples of the rotation period.
  • the first operation duration and the second operation duration are integer multiples of the rotation period of the barrel of the laundry treatment apparatus, and the first operation duration and the second operation duration are equal to multiples of the rotation period.
  • the first running time is 4 rotations of the cylinder, and the cylinder corresponding to the second running time is also rotated 4 times.
  • the present application provides an operation control system of a laundry processing apparatus, including: a memory for storing a computer program; and a processor for executing a computer program to: obtain a load inertia of the barrel and a motor Torque fluctuation or rotation speed fluctuation; according to the load inertia, torque fluctuation and pre-stored stored load inertia, torque fluctuation and load eccentric mass relationship data, get the load eccentric mass of the clothes processing device; or according to load inertia, rotation speed fluctuation and The pre-stored data of the relationship between the load inertia, the fluctuation of the rotation speed, and the eccentric mass of the load are used to obtain the eccentric mass of the load of the laundry processing device.
  • the operation control system of the laundry processing apparatus includes a memory storing a computer program and a processor capable of executing the computer program.
  • the processor obtains the load inertia of the cylinder and the motor. After the torque fluctuation or rotation speed fluctuation, based on the stored stored data of load inertia, torque fluctuation and load eccentric mass, the existing load inertia interval and the corresponding two fitting curves are determined according to the load inertia, and then according to the torque fluctuation Determine the corresponding coordinate points on the two fitted curves, and then determine the interval corresponding to the eccentric mass of the load.
  • the corresponding eccentric mass of the load is estimated according to the load inertia; or based on the relationship of the stored stored load inertia, speed fluctuation, and eccentric mass of the load Data, determine the existing load inertia interval and the corresponding two fitting curves according to the load inertia, and then determine the corresponding coordinate points on the two fitting curves according to the speed fluctuation, and then determine the interval corresponding to the eccentric mass of the load.
  • the load Load bias corresponding to inertia estimation The quality of the heart, so as to accurately determine whether the load is unbalanced, and then adjust the amount of clothing and water in time, avoiding a large noise during the operation of the clothes processing device, and at the same time increasing the service life of the clothes processing device.
  • the operation control system of the laundry treatment device in the above technical solution provided in the present application may also have the following additional technical features:
  • the processor is specifically configured to execute a computer program to: control the motor of the laundry processing apparatus to perform a first operation process at a first acceleration, and integrate the electromagnetic torque of the motor to obtain a first integration result; Control the motor to perform a second running process at a second acceleration, and integrate the electromagnetic torque of the motor to obtain a second integration result; collect operating parameters of the laundry treatment device, wherein the operating parameters include at least: the first of the first operating process Running time and speed values at both ends of the first running process, second line duration of the second running process and both ends of the second running process; calculating the load of the motor based on the first integration result, the second integration result, and the operating parameters Inertia.
  • the control motor performs the first operation process according to the first acceleration, and during the first operation process, the electromagnetic torque of the motor is integrated to obtain the first integration result; at the end of the first After the running process, the control motor performs the second running process according to the second acceleration, and integrates the electromagnetic torque of the motor during the second running process to obtain the second integration result.
  • the operating parameters of the laundry processing device are counted, and the operating parameters include but It is not limited to the first running time in the first running process and the speed values at both ends of the first running process, and the second running time in the second running process and the speeds at both ends of the second running process.
  • the result of the second integration, the first running time, the start time and the end time of the first running time and the second running time, and the speed values at the two points of the first running process and the second running process are used to calculate the load inertia of the current motor. Load the inertia to get the weight of the laundry in the current laundry treatment device, and select the appropriate one according to the weight of the laundry The water level and the amount of detergent.
  • the method for determining the weight of clothes by detecting the load inertia of the motor in this application takes into account the difference in the friction of the barrel of the clothes processing device, and also considers the impact of the load imbalance on the inertia detection, which improves the weight of the clothes. The accuracy of the detection can reduce the cost of water and electricity, and reduce the waste of resources. Since the first and second running processes are accelerated processes, compared to a single accelerated or uniform speed process, the weight of clothes can be reduced. Time, improving the user experience.
  • the processor is specifically configured to execute a computer program to calculate the load inertia by the following formula:
  • J is the load inertia
  • t A , t B , t C , and t D are the start time and end time of the first and second running durations, respectively
  • ⁇ A , ⁇ B , ⁇ C , and ⁇ D are Rotational speed values at both ends of the first and second running processes, with Are the first integration result and the second integration result.
  • the load inertia J is directly derived from the first integration result Second integration result Start time and end time t A , t B , t C , t D of the first and second operation durations, and the rotation speed values ⁇ A , ⁇ B , ⁇ C at both ends of the first and second operation processes , ⁇ D can be calculated without complicated calculation.
  • the processor is specifically configured to execute a computer program to: detect the torque of the motor in real time during the first operation or the second operation; and acquire the measured maximum torque and the torque Minimum value: Get the torque fluctuation according to the maximum torque and minimum torque.
  • the torque of the motor in the first running process or the second running process is detected in real time, and the maximum and minimum values of the torque are determined by determining the value of the torque.
  • the difference value is used as the torque fluctuation, and the torque of the barrel of the clothes treatment device is detected for one rotation or N cycles, ensuring that the calculated torque fluctuation can accurately represent the actual torque fluctuation of the motor, and avoiding the barrel of the clothes treatment device.
  • the processor is specifically configured to execute a computer program to: in a first running process or a second running process, detect a current rotation speed of the motor in real time; perform high-pass filtering on the current rotation speed, To obtain filtered first speed range information; and obtain the speed fluctuation according to the maximum speed and minimum speed in the first speed range information.
  • the speed of the motor in the first or second running process is detected in real time, and high-pass filtering is performed to filter out acceleration information in the low frequency band, to obtain filtered first speed range information, and to compare the first The maximum speed and minimum speed in the speed range information, and then calculate the difference between the maximum speed and the minimum speed to get the speed fluctuation.
  • the rotation speed of the barrel of the clothes treatment device for one or N rotations is detected to ensure the calculation.
  • the fluctuation of the rotation speed can accurately represent the actual fluctuation of the rotation speed of the motor, and avoid the situation that the calculated rotation speed fluctuation is too large or too small in the case that the barrel of the laundry processing device rotates non-circularly, which causes the calculated eccentric mass to be too large or too small. It is small, the result of judging whether the load imbalance occurs is inaccurate, which effectively avoids a large noise during the operation of the laundry processing device, and at the same time improves the service life of the laundry processing device.
  • the first operation duration and the second operation duration are integer multiples of a rotation period of the barrel of the laundry processing apparatus, and the first operation duration and the second operation duration are equal to multiples of the rotation period.
  • the first operation duration and the second operation duration are integer multiples of the rotation period of the barrel of the laundry treatment apparatus, and the first operation duration and the second operation duration are equal to multiples of the rotation period.
  • the first running time is 4 rotations of the cylinder, and the cylinder corresponding to the second running time is also rotated 4 times.
  • the present application provides a laundry treatment apparatus including an operation control system of any one of the above laundry treatment apparatuses.
  • a laundry treatment device proposed in this application includes the operation control system of any of the above-mentioned laundry treatment devices, and has all the beneficial technical effects of the operation control system of the laundry treatment device, which will not be repeated here.
  • a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method according to any one of the foregoing technical solutions are implemented.
  • the computer-readable storage medium provided by this application can implement the steps of the method described in any of the above technical solutions when the computer program stored thereon is executed by a processor, and thus has all the beneficial technical effects of the operation control method of the above-mentioned laundry treatment device. , Will not repeat them here.
  • FIG. 1 shows a schematic flowchart of an operation control method of a laundry processing apparatus according to an embodiment of the present application
  • FIG. 2 shows a schematic flowchart of an operation control method of a laundry processing apparatus according to another embodiment of the present application
  • FIG. 3 shows a schematic flowchart of an operation control method of a laundry processing apparatus according to another embodiment of the present application
  • FIG. 4 shows a schematic flowchart of an operation control method of a laundry processing apparatus according to another embodiment of the present application
  • FIG. 5 shows a schematic block diagram of an operation control system of a laundry treatment apparatus according to an embodiment of the present application.
  • FIG. 6 shows a schematic block diagram of a clothes treating apparatus according to an embodiment of the present application
  • FIG. 7 is a schematic diagram showing a relationship between an actual speed, a commanded speed, and a torque of a drum washing machine according to an embodiment of the present application.
  • FIG. 8 shows a schematic block diagram of an eccentric mass calculation according to an embodiment of the present application.
  • FIG. 9 shows the corresponding torque fluctuation curves under different load masses and eccentric masses
  • FIG. 10 is a schematic flowchart of calculating an eccentric mass according to an embodiment of the present application.
  • FIG. 11 shows a schematic block diagram of an eccentric mass calculation according to another embodiment of the present application.
  • FIG. 12 is a schematic flowchart of calculating an eccentric mass according to another embodiment of the present application.
  • FIG. 13 shows a curve diagram of corresponding speed fluctuations under different load masses and eccentric masses according to an embodiment of the present application
  • FIG. 14 shows a flowchart of calculating an eccentric mass according to another embodiment of the present application.
  • An embodiment of the first aspect of the present application provides a method for controlling operation of a laundry processing apparatus.
  • FIG. 1 shows a schematic flowchart of an operation control method of a laundry processing apparatus according to an embodiment of the present application.
  • an operation control method of a clothing processing apparatus includes:
  • the operation control method of the laundry processing device obtains the load inertia of the cylinder and the torque fluctuation or speed fluctuation of the motor, based on the stored relation data of the stored load inertia, torque fluctuation, and eccentric mass of the load, Determine the existing load inertia interval and the corresponding two fitting curves according to the load inertia, and then determine the corresponding coordinate points on the two fitted curves according to the torque fluctuations, and then determine the interval corresponding to the eccentric mass of the load.
  • the load inertia Estimate the corresponding load eccentric mass; or based on the stored stored data of load inertia, speed fluctuation and load eccentric mass, determine the existing load inertia interval and the corresponding two fitting curves based on the load inertia, and then determine two based on the speed fluctuation Fit the corresponding coordinate points on the curve, and then determine the interval corresponding to the eccentric mass of the load.
  • the corresponding eccentric mass of the load is estimated according to the load inertia, so as to accurately determine whether the load is unbalanced, and then adjust the clothing in time (such as controlling clothing Processing device performs shake operation) and / Or adjust the amount of injected water to avoid a large noise during the operation of the laundry treatment device, and at the same time to increase the service life of the laundry treatment device.
  • the clothing in time such as controlling clothing Processing device performs shake operation
  • the amount of injected water to avoid a large noise during the operation of the laundry treatment device, and at the same time to increase the service life of the laundry treatment device.
  • FIG. 2 shows a schematic flowchart of an operation control method of a laundry processing apparatus according to another embodiment of the present application.
  • an operation control method of a clothing processing apparatus includes:
  • S206 Collect operating parameters of the laundry processing device
  • the operating parameters at least include: a first operating duration of the first operating process and a rotation speed value at both ends of the first operating process, a second row duration of the second operating process, and a rotation speed value at both ends of the second operating process.
  • the control motor performs the first operation process according to the first acceleration, and the electromagnetic torque of the motor is integrated during the first operation process to obtain a first integration result; at the end of the first After the running process, the control motor performs the second running process according to the second acceleration, and integrates the electromagnetic torque of the motor during the second running process to obtain the second integration result.
  • the operating parameters of the laundry processing device are counted, and the operating parameters include but It is not limited to the first running time in the first running process and the speed values at both ends of the first running process, and the second running time in the second running process and the speeds at both ends of the second running process.
  • the result of the second integration, the first running time, the start time and the end time of the first running time and the second running time, and the speed values at the two points of the first running process and the second running process are used to calculate the load inertia of the current motor.
  • Load inertia to get the weight of the laundry in the current laundry treatment device, and select the appropriate one according to the weight of the laundry
  • the water level and the amount of detergent The method for determining the weight of laundry by detecting the load inertia of the motor takes into account the difference in the friction of the barrel of the laundry processing device, and also considers the impact of the load imbalance on the inertia detection, which improves the weight
  • the accuracy of the detection reduces the cost of water and electricity, and reduces the waste of resources. Since the first and second running processes are accelerated processes, compared to a single accelerated or uniform speed process, the time for clothes weight detection is reduced. To improve the user experience.
  • the load inertia is calculated by the following formula:
  • J is the load inertia
  • t A , t B , t C , and t D are the start time and end time of the first and second running durations, respectively
  • ⁇ A , ⁇ B , ⁇ C , and ⁇ D are Rotational speed values at both ends of the first and second running processes, with Are the first integration result and the second integration result.
  • the load inertia J is directly derived from the first integration result Second integration result Start time and end time t A , t B , t C , t D of the first and second operation durations, and the rotation speed values ⁇ A , ⁇ B , ⁇ C at both ends of the first and second operation processes , ⁇ D can be calculated without complicated calculation.
  • FIG. 3 shows a schematic flowchart of an operation control method of a laundry treatment apparatus according to another embodiment of the present application.
  • an operation control method of a clothing processing apparatus includes:
  • S306 Collect operating parameters of the laundry processing device
  • S318 Control the laundry processing device to adjust laundry according to the eccentric load quality.
  • the torque of the motor in the first running process or the second running process is detected in real time, and the maximum and minimum values of the torque are determined by determining the value of the torque.
  • the difference value is used as the torque fluctuation, and the torque of the barrel of the clothes treatment device is detected for one rotation or N cycles, ensuring that the calculated torque fluctuation can accurately represent the actual torque fluctuation of the motor, and avoiding the barrel of the clothes treatment device.
  • the calculated torque fluctuation is too large or too small, which causes the calculated eccentric mass to be too large or too small, and the result of judging whether or not a load imbalance occurs is inaccurate, which effectively avoids the clothes processing device. Larger noises occur during operation, and at the same time, the service life of the laundry treatment device is increased.
  • FIG. 4 shows a schematic flowchart of an operation control method of a laundry processing apparatus according to another embodiment of the present application.
  • an operation control method of a clothing processing apparatus includes:
  • S406 Collect operating parameters of the laundry processing device
  • S408 Calculate the load inertia of the motor according to the first integration result, the second integration result, and the operating parameters.
  • S418 Control the laundry processing device to adjust laundry according to the eccentric load quality.
  • the speed of the motor in the first or second running process is detected in real time, and a high-pass filtering process is performed to filter out acceleration information in the low frequency band to obtain filtered first speed range information and compare the first The maximum speed and minimum speed in the speed range information, and then calculate the difference between the maximum speed and the minimum speed to get the speed fluctuation.
  • the rotation speed of the barrel of the clothes treatment device for one or N rotations is detected to ensure the calculation.
  • the fluctuation of the rotation speed can accurately represent the actual fluctuation of the rotation speed of the motor, and avoid the situation that the calculated rotation speed fluctuation is too large or too small in the case that the barrel of the laundry processing device rotates non-circularly, which causes the calculated eccentric mass to be too large or too small. It is small, the result of judging whether the load imbalance occurs is inaccurate, which effectively avoids a large noise during the operation of the laundry processing device, and at the same time improves the service life of the laundry processing device.
  • the first operation duration and the second operation duration are integer multiples of a rotation period of the barrel of the laundry processing apparatus, and the first operation duration and the second operation duration are equal to multiples of the rotation period.
  • the first operation duration and the second operation duration are integer multiples of the rotation period of the barrel of the laundry treatment apparatus, and the first operation duration and the second operation duration are equal to multiples of the rotation period.
  • the first running time is 4 rotations of the cylinder, and the cylinder corresponding to the second running time is also rotated 4 times.
  • An embodiment of the second aspect of the present application provides an operation control system of a laundry processing apparatus.
  • FIG. 5 shows a schematic block diagram of an operation control system of a laundry treatment apparatus according to an embodiment of the present application.
  • the operation control system 500 of the laundry processing apparatus includes:
  • the memory 502 is configured to store a computer program; the processor 504 is configured to execute a computer program to:
  • the operation control system of the laundry processing apparatus includes a memory storing a computer program and a processor capable of executing the computer program.
  • the processor obtains the load inertia of the cylinder and the motor. After the torque fluctuation or rotation speed fluctuation, based on the stored stored data of load inertia, torque fluctuation and load eccentric mass, the existing load inertia interval and the corresponding two fitting curves are determined according to the load inertia, and then according to the torque fluctuation Determine the corresponding coordinate points on the two fitted curves, and then determine the interval corresponding to the eccentric mass of the load.
  • the corresponding eccentric mass of the load is estimated according to the load inertia; or based on the relationship of the stored stored load inertia, speed fluctuation, and eccentric mass of the load Data, determine the existing load inertia interval and the corresponding two fitting curves according to the load inertia, and then determine the corresponding coordinate points on the two fitting curves according to the speed fluctuation, and then determine the interval corresponding to the eccentric mass of the load.
  • the load Load bias corresponding to inertia estimation Quality so as to accurately determine whether the load is unbalanced, and then timely adjust the laundry (such as controlling the laundry processing device to perform a shaking operation) and / or adjust the amount of injected water to avoid large noise during the operation of the laundry processing device, At the same time, the service life of the laundry treatment device is improved.
  • the processor 504 is specifically configured to execute a computer program to: control the motor of the laundry treatment device to perform a first operation process at a first acceleration, and integrate the electromagnetic torque of the motor to obtain a first integration result; and control the motor to The second acceleration performs a second running process, and integrates the electromagnetic torque of the motor to obtain a second integration result; collects operating parameters of the laundry treatment apparatus, wherein the operating parameters include at least: a first operating duration of the first operating process and The speed value at the two ends of the first running process, the second row duration of the second operation process, and the speed at both ends of the second running process; the load inertia of the motor is calculated according to the first integration result, the second integration result, and the operating parameters.
  • the control motor performs the first operation process according to the first acceleration, and the electromagnetic torque of the motor is integrated during the first operation process to obtain a first integration result; at the end of the first After the running process, the control motor performs the second running process according to the second acceleration, and integrates the electromagnetic torque of the motor during the second running process to obtain the second integration result.
  • the operating parameters of the laundry processing device are counted, and the operating parameters include but It is not limited to the first running time in the first running process and the speed values at both ends of the first running process, and the second running time in the second running process and the speeds at both ends of the second running process.
  • the result of the second integration, the first running time, the start time and the end time of the first running time and the second running time, and the speed values at the two points of the first running process and the second running process are used to calculate the load inertia of the current motor.
  • Load inertia to get the weight of the laundry in the current laundry treatment device, and select the appropriate one according to the weight of the laundry Position and the amount of detergent.
  • the method for determining the weight of laundry by detecting the load inertia of the motor takes into account the difference in the friction of the barrel of the laundry processing device, and also considers the impact of load imbalance on the detection of inertia, which improves the weight of the laundry.
  • the accuracy of the detection reduces the cost of water and electricity, and reduces the waste of resources. Since the first and second running processes are accelerated processes, compared to a single accelerated or uniform speed process, the time for clothes weight detection is reduced. To improve the user experience.
  • the processor 504 is specifically configured to execute a computer program to calculate the load inertia by the following formula:
  • J is the load inertia
  • t A , t B , t C , and t D are the start time and end time of the first and second running durations, respectively
  • ⁇ A , ⁇ B , ⁇ C , and ⁇ D are Rotational speed values at both ends of the first and second running processes, with Are the first integration result and the second integration result.
  • the load inertia J is directly derived from the first integration result Second integration result Start time and end time t A , t B , t C , t D of the first and second operation durations, and the rotation speed values ⁇ A , ⁇ B , ⁇ C at both ends of the first and second operation processes , ⁇ D can be calculated without complicated calculation.
  • the processor 504 is specifically configured to execute a computer program to: detect the torque of the motor in real time during the first operation or the second operation; obtain the measured maximum torque value and the minimum torque value; The maximum torque and minimum torque result in torque ripple.
  • the torque of the motor in the first running process or the second running process is detected in real time, and the maximum and minimum values of the torque are determined by determining the value of the torque.
  • the difference value is used as the torque fluctuation, and the torque of the barrel of the clothes treatment device is detected for one rotation or N cycles, ensuring that the calculated torque fluctuation can accurately represent the actual torque fluctuation of the motor, and avoiding the barrel of the clothes treatment device.
  • the calculated torque fluctuation is too large or too small, which causes the calculated eccentric mass to be too large or too small, and the result of judging whether or not a load imbalance occurs is inaccurate, which effectively avoids the clothes processing device. Larger noises occur during operation, and at the same time, the service life of the laundry treatment device is increased.
  • the processor 504 is specifically configured to execute a computer program to detect the current rotation speed of the motor in real time during the first running process or the second running process; and perform high-pass filtering on the current rotating speed to obtain the filtered First speed range information; and obtaining the speed fluctuation according to a maximum speed and a minimum speed in the first speed range information.
  • the speed of the motor in the first or second running process is detected in real time, and a high-pass filtering process is performed to filter out acceleration information in the low frequency band to obtain filtered first speed range information and compare the first The maximum speed and minimum speed in the speed range information, and then calculate the difference between the maximum speed and the minimum speed to get the speed fluctuation.
  • the rotation speed of the barrel of the clothes treatment device for one or N rotations is detected to ensure the calculation.
  • the fluctuation of the rotation speed can accurately represent the actual fluctuation of the rotation speed of the motor, and avoid the situation that the calculated rotation speed fluctuation is too large or too small in the case that the barrel of the laundry processing device rotates non-circularly, which causes the calculated eccentric mass to be too large or too small. It is small, the result of judging whether the load imbalance occurs is inaccurate, which effectively avoids a large noise during the operation of the laundry processing device, and at the same time improves the service life of the laundry processing device.
  • the first operation duration and the second operation duration are integer multiples of the rotation period of the barrel of the laundry treatment apparatus, and the first operation duration and the second operation duration are equal to multiples of the rotation period.
  • the first operation duration and the second operation duration are integer multiples of the rotation period of the barrel of the laundry treatment apparatus, and the first operation duration and the second operation duration are equal to multiples of the rotation period.
  • the first running time is 4 rotations of the cylinder, and the cylinder corresponding to the second running time is also rotated 4 times.
  • An embodiment of the third aspect of the present application provides a laundry processing apparatus.
  • FIG. 6 shows a schematic block diagram of a laundry processing apparatus 600 according to an embodiment of the present application.
  • the laundry processing apparatus 600 includes: an operation control system 602 of the laundry processing apparatus.
  • the laundry processing apparatus 600 proposed in the present application includes an operation control system 602 of the laundry processing apparatus, wherein the operation control system 602 of the laundry processing apparatus has all the technical effects of the above-mentioned operation control system of the laundry processing apparatus. Therefore, the laundry processing apparatus 600 also includes the above-mentioned The full technical effect of the operation control system of the laundry treatment device is not repeated here.
  • An embodiment of the fourth aspect of the present application provides a computer-readable storage medium on which a computer program is stored.
  • the computer program is executed by a processor, the steps of the method according to any one of the foregoing technical solutions are implemented.
  • the computer-readable storage medium provided by this application can implement the steps of the method described in any of the above technical solutions when the computer program stored thereon is executed by a processor, and thus has all the beneficial technical effects of the operation control method of the above-mentioned laundry treatment device. , Will not repeat them here.
  • FIG. 7 is a schematic diagram showing a relationship between an actual speed, a commanded speed, and a torque of a drum washing machine according to an embodiment of the present application.
  • FIG. 8 shows a schematic block diagram of an eccentric mass calculation according to an embodiment of the present application.
  • Figure 9 shows the curve of corresponding torque fluctuations under different load masses and eccentric masses.
  • FIG. 10 shows a schematic flowchart of calculating an eccentric mass according to an embodiment of the present application.
  • T d is unbalanced torque.
  • the unbalanced torque varies according to the rotation speed of the drum, and T f is the friction torque.
  • the drum rotates once in AB time, the electromagnetic torque is called T e1 , and the drum rotates once in CD time, the electromagnetic torque is called T e2 .
  • T e1 the electromagnetic torque
  • T e2 the electromagnetic torque
  • Equation 3 changes to:
  • FIG. 8 shows a block diagram of a control algorithm for calculating a load inertia.
  • FIG. 9 shows a schematic flowchart of an embodiment of the present application.
  • the load weight of the drum washing machine can be obtained through the corresponding relationship between the load inertia and the load mass. In actual use, it runs according to a preset speed curve and determines that the speed is a fixed value.
  • the control algorithm block diagram includes a load inertia identification module, a torque fluctuation detection module, a dehydration control data storage module, and a load eccentric weight calculation module.
  • the function of accurately calculating the eccentric weight of the load during the acceleration process of the drum washing machine is realized.
  • the load inertia identification module realizes the acquisition of the torque, speed and time of two acceleration sections with different acceleration during the acceleration process, and calculates the current load inertia value.
  • the torque fluctuation detection module Detects the torque fluctuation value in a specific interval; dehydration control data storage module, which stores a two-dimensional data table of the inertia value and torque fluctuation value of the drum washing machine under different inertia and eccentric weight; the load eccentric weight calculation module, which outputs according to the inertia detection module
  • the inertia value and the speed fluctuation value output by the speed fluctuation detection module are calculated by using a two-dimensional data table in the dehydration control data storage module and a two-dimensional linear fitting to calculate the eccentric weight under the current load.
  • the eccentric weight is less than a preset quality threshold
  • the drum is controlled to accelerate to rotate the laundry in the drum.
  • the eccentric weight is greater than the preset quality threshold
  • the drum is controlled to perform a clothing shaking operation and redistribute load. Therefore, the eccentric mass determined in the present application is more accurate and takes less time than the background art.
  • the load inertia identification module (inertia identification unit) is used to detect the inertia of the drum and its internal laundry;
  • the torque fluctuation detection module (torque fluctuation calculation unit) is used to detect the motor torque fluctuation;
  • the dehydration control data storage module A two-dimensional data table for storing inertia and torque fluctuations;
  • a load eccentric weight calculation module for calculating the eccentric weight of the load.
  • the recorded data in the dehydration control data storage module is preset data, and is used as a parameter of the load eccentric weight calculation module when the whole machine is running.
  • the load eccentric weight calculation module detects the load inertia and torque fluctuation in real time, and queries the dehydration control data storage module. Data, determine the current load and eccentric interval, and use the two-dimensional linear fitting calculation to obtain the eccentric mass of the load; further, as shown in Figure 9, the corresponding torque fluctuation curve under different load and eccentric mass , Determine the current interval according to the coordinate position of the load inertia in the figure, taking the mass of 4kg as an example, if a first speed moment fluctuation is detected, find the matching coordinates on the fitted straight line of the first load inertia corresponding to 6kg At point E, a matching coordinate point G is also found on the fitted straight line corresponding to the first load inertia corresponding to 3 kg, and the first load inertia corresponding to 4 kg and the first load inertia corresponding to 4 kg can be determined according to the coordinate points E and coordinate points G.
  • the coordinate point F corresponding to the torque fluctuation is determined according to the coordinate point F (that is, the
  • FIG. 11 shows a schematic block diagram of an eccentric mass calculation according to another embodiment of the present application.
  • FIG. 12 shows a schematic flowchart of calculating an eccentric mass according to another embodiment of the present application.
  • FIG. 13 shows a curve diagram of corresponding rotation speed fluctuations under different load masses and eccentric masses according to an embodiment of the present application.
  • FIG. 14 shows a flowchart of calculating an eccentric mass according to another embodiment of the present application.
  • FIG. 11 it includes a load inertia identification module, a rotation speed processing module, a rotation speed fluctuation detection module, a dehydration control data storage module, and a load eccentric weight calculation module. .
  • the function of accurately calculating the eccentric weight of the load during the acceleration process of the drum washing machine is realized.
  • the load inertia identification module realizes the acquisition of the torque, speed and time of two acceleration sections with different accelerations during the acceleration process, and calculates the inertia value of the current load; the speed processing module performs calculation processing on the motor speed to obtain Easy-to-use speed information; speed fluctuation detection module, which detects the speed fluctuation value of a specific interval at the same time as inertia detection; dehydration control data storage module, which stores the inertia value and speed fluctuation value of the drum washing machine under different inertia and eccentric weight Two-dimensional data table; load eccentric weight calculation module, according to the inertia value output by the inertia detection module and the speed fluctuation value output by the speed fluctuation detection module, use the two-dimensional data table in the dehydration control data storage module to calculate by two-dimensional linear fitting Show the eccentric weight under the current load.
  • the drum When the eccentric weight is less than a preset quality threshold, the drum is controlled to accelerate to rotate the laundry in the drum. When the eccentric weight is greater than the preset quality threshold, the drum is controlled to perform a clothing shaking operation and redistribute load. Therefore, the eccentric mass determined in the present application is more accurate and takes less time than the background art.
  • the load inertia identification module (inertia identification unit) is used to detect the inertia of the drum and its internal clothes;
  • the speed processing module (speed processing and speed fluctuation calculation unit) is used to mathematically process the motor speed;
  • the speed fluctuation detection module (Speed processing and speed fluctuation calculation unit), for detecting motor speed fluctuation;
  • dehydration control data storage module for storing two-dimensional data table of inertia and speed fluctuation; load eccentric weight calculation module, for calculating eccentric weight of load.
  • the load inertia and the speed fluctuation are detected in real time to calculate the eccentric load state.
  • the recorded data in the dehydration control data storage module is preset data, and is used as a parameter of the load eccentric weight calculation module when the whole machine is running.
  • the data in the dehydration control data storage module is two-dimensional data corresponding to the load inertia and speed fluctuation and the eccentric mass of the load.
  • the load inertia and speed fluctuation are detected under the preset load weight and eccentric mass, and recorded in the dehydration control data storage module.
  • the set load weight and eccentric mass are selected according to the maximum allowable load of the drum washing machine currently applied.
  • the load weight of the drum washing machine can be obtained through the corresponding relationship between the load inertia and the load mass. In actual use, it operates according to a preset speed curve, and the speed is determined to be a fixed value. During the calculation of the load speed fluctuation, the speed is first required to be high enough within the preset time to ensure that the clothing has been fitted to the barrel wall. Since the motor is accelerating, the speed information of the motor includes both acceleration information and speed fluctuation information. It is necessary to extract the speed fluctuation information for calculating the speed fluctuation.
  • Solution 1 Perform high-pass filtering on the actual speed of the motor. The selection of the filter cut-off frequency requires that it can retain the speed fluctuation information at the current detected speed and filter out low-frequency acceleration information.
  • Option 2 subtract the motor speed command from the actual motor speed, remove acceleration information, and retain speed fluctuation information.
  • the load eccentric weight calculation module detects the load inertia and speed fluctuation in real time during the acceleration process of the drum washing machine, queries the data in the dehydration control data storage module, determines the current load and eccentricity interval, and uses two-dimensional linear fitting calculations to obtain Eccentric load. Specifically, the load eccentric weight calculation module finds the curve of the corresponding speed fluctuation under different load weight and eccentric mass after detecting the load inertia and speed fluctuation in real time, and determines the current interval in FIG. 13 according to the load inertia, and the mass is 4kg.
  • a matching coordinate point H is found on the fitted line corresponding to the first load inertia corresponding to 6 kg, and a match is also found on the fitted line corresponding to the first load inertia corresponding to 3 kg.
  • the coordinate point J can be determined according to the coordinate point H and the coordinate point J to determine the first load inertia corresponding to 4kg and the coordinate point I corresponding to the first speed fluctuation, and the corresponding vertical coordinate value (i.e., The eccentric mass corresponding to the first speed fluctuation), and the specific process steps of calculating the eccentric weight of the load are shown in FIG. 14.
  • the term “plurality” means two or more. Unless otherwise specifically defined, the directions or positional relationships indicated by the terms “upper” and “lower” are based on those shown in the drawings. The orientation or positional relationship is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, structure and operation in a specific orientation, so it cannot be understood as a limitation on this application;
  • the terms “connected”, “installed”, “fixed”, etc. should be understood in a broad sense. For example, “connected” can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or through the middle. The media are indirectly connected. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Washing Machine And Dryer (AREA)

Abstract

一种衣物处理装置的运行控制方法，包括：获取筒体的负载惯量以及电机的转矩波动或转速波动；根据负载惯量、转矩波动及预存储的存储负载惯量、转矩波动及负载偏心质量的关系数据，得到衣物处理装置的负载偏心质量；或根据负载惯量、转速波动及预存储的存储负载惯量、转速波动及负载偏心质量的关系数据，得到衣物处理装置的负载偏心质量；根据所述负载偏心质量控制衣物处理装置调整衣物。根据计算得到的负载偏心质量及时调整衣物和/或注入水量，避免了衣物处理装置在运行过程中出现较大的噪声，同时提高了衣物处理装置的使用寿命。

Description

衣物处理装置的运行控制方法、系统、装置及存储介质
本申请要求于2018年06月14日提交中国专利局、申请号为201810615370.4、发明名称为“衣物处理装置的运行控制方法、系统、装置及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及衣物处理装置领域，具体而言，涉及一种衣物处理装置的运行控制方法、一种衣物处理装置的运行控制系统、一种衣物处理装置以及一种计算机可读存储介质。
背景技术
现有洗衣机能够根据用户放置衣服重量调整注入水位以及洗涤剂量，确保衣服处于最佳的洗涤条件，保证洗涤质量，同时也能避免出现费水费电的情况，现有产品中检测衣服重量的方法主要分为两大类：一类是采用称重传感器直接测量衣物的重量；另一类是利用检测洗衣机中的电机在不同负载条件下加速或者加速到另一转速所需的时间、电流等参数，来测量筒中衣物的惯量，由于重量与惯量基本上是成比例的，根据它们之间的比例关系就可以把惯量转换成重量。
采用称重传感器直接测量衣物的重量的方式需要额外安装称重传感器，会造成产品成本增加，并且需要一个适合的安装空间，现有设计安装多为不便，而利用洗衣机中的电机测量衣物惯量的方法不需要专门的传感器，因此不存在安装问题，在滚筒洗衣机中，通常是通过加减速来检测负载惯量，并未考虑到洗衣机滚筒摩擦的差异性，导致检测精度偏差较大，同时也没考虑负载不平衡对于惯量检测的影响，得到的衣物重量误差较大，不 能满足用户需要。
其次，洗衣机运行洗衣是一个模仿棒锤敲打衣物的过程，目前滚筒洗衣机是由不锈钢内筒和机械程序控制器组成，通常在洗衣机外壳设置有配重，用于平衡洗衣机在运行过程中产生的离心力，在洗衣机工作转动时，如果负载不平衡时(衣物和滚筒组成的负载的偏心质量大于或等于设定质量阈值)，随着转速和转矩的升高，衣服与滚筒共同产生的震动和噪声会越大，影响用户的使用体验，同时会降低洗衣机的使用寿命。
发明内容
本申请旨在至少解决现有技术或相关技术中存在的技术问题之一。
为此，本申请的第一方面在于，提供了一种衣物处理装置的运行控制方法。
本申请的第二方面在于，提供了一种衣物处理装置的运行控制系统。
本申请的第三方面在于，提供了一种衣物处理装置。
本申请的第四方面在于，提供了一种计算机可读存储介质。
有鉴于此，根据本申请的第一个方面，本申请提供了一种衣物处理装置的运行控制方法，包括：获取筒体的负载惯量以及电机的转矩波动或转速波动；根据负载惯量、转矩波动及预存储的存储负载惯量、转矩波动及负载偏心质量的关系数据，得到衣物处理装置的负载偏心质量；或根据负载惯量、转速波动及预存储的存储负载惯量、转速波动及负载偏心质量的关系数据，得到衣物处理装置的负载偏心质量；根据所述负载偏心质量控制所述衣物处理装置调整衣物。
本申请所提供的衣物处理装置的运行控制方法，在获取到筒体的负载惯量以及电机的转矩波动或者转速波动后，基于存储的存储负载惯量、转矩波动及负载偏心质量的关系数据，根据负载惯量确定现有负载惯量区间以及对应的两个拟合曲线，进而根据转矩波动确定两个拟合曲线上对应的坐标点，进而确定负载偏心质量对应的区间，优选地，根据负载惯量估计对应的负载偏心质量；或者基于存储的存储负载惯量、转速波动及负载偏心质量的关系数据，根据负载惯量确定现有负载惯量区间以及对应的两个 拟合曲线，进而根据转速波动确定两个拟合曲线上对应的坐标点，进而确定负载偏心质量对应的区间，优选地，根据负载惯量估计对应的负载偏心质量，从而精准判断是否出现负载不平衡的情况，进而及时调整衣物(如控制衣物处理装置进行抖散操作)和/或调整注入水量，避免了衣物处理装置在运行过程中出现较大的噪声，同时提高了衣物处理装置的使用寿命。
上述技术方案，优选地，获取所述筒体的负载惯量的步骤，具体包括：控制衣物处理装置的电机以第一加速度进行第一运行过程，并对电机的电磁转矩进行积分以得到第一积分结果；控制电机以第二加速度进行第二运行过程，并对电机的电磁转矩进行积分以得到第二积分结果；采集衣物处理装置的运行参数，其中，运行参数至少包括：第一运行过程的第一运行时长以及第一运行过程的两端点转速值、第二运行过程的第二行时长以及第二运行过程的两端点转速值；根据第一积分结果、第二积分结果以及运行参数计算电机的负载惯量。
在该技术方案中，在衣物处理装置运行过程中，控制电机按照第一加速度进行第一运行过程，在第一运行过程中对电机的电磁转矩进行积分得到第一积分结果；在结束第一运行过程后，控制电机按照第二加速度进行第二运行过程，并对第二运行过程中电机的电磁转矩进行积分，得到第二积分结果；统计衣物处理装置的运行参数，其中运行参数包括但不限于第一运行过程中的第一运行时长和第一运行过程的两端点转速值以及第二运行过程中的第二运行时长和第二运行过程的两端点转速值，通过第一积分结果、第二积分结果、第一运行时长、第一运行时长的和第二运行时长的开始时刻和结束时刻以及第一运行过程和第二运行过程两端点的转速值计算当前电机的负载惯量，进而根据负载惯量得到当前衣物处理装置中衣物的重量，并根据衣物重量选择合适的水位和洗涤剂量，本申请计算通过检测电机的负载惯量确定衣物的重量的方法考虑到衣物处理装置的筒体摩擦的差异性，同时考虑到负载不平衡对于惯量检测的影响，提高了衣服重量的检测的精准程度，减少费水费电的情况，减少了资源的浪费，由于第一运行过程和第二运行过程都是加速的过程，相对于单一加速或匀速过程，减少了衣服重量检测的时间，提高了用户的使用体验。
上述技术方案，优选地，负载惯量通过以下公式计算得到：
Figure PCTCN2019088859-appb-000001
其中，J为负载惯量，t A、t B、t C、t D分别为第一运行时长的和第二运行时长的开始时刻和结束时刻；ω A、ω B、ω C、ω D分别为第一运行过程和第二运行过程两端点的转速值，
Figure PCTCN2019088859-appb-000002
和
Figure PCTCN2019088859-appb-000003
为第一积分结果和第二积分结果。
在该技术方案中，负载惯量J直接由第一积分结果
Figure PCTCN2019088859-appb-000004
第二积分结果
Figure PCTCN2019088859-appb-000005
第一运行时长的和第二运行时长的开始时刻和结束时刻t A、t B、t C、t D、第一运行过程和第二运行过程两端点的转速值ω A、ω B、ω C、ω D计算得到，无需复杂的计算，其中，T e1为t A作为开始时刻、t B作为结束时刻的第一运行时长的电磁转矩，T e2为t C作为开始时刻、t D作为结束时刻的第二运行时长的电磁转矩，其中，在第一运行时长和第二运行时长内滚筒旋转的圈数为整数倍。
上述任一技术方案，优选地，获取转矩波动的步骤，具体包括：在第一运行过程或第二运行过程中，实时检测电机的转矩；获取测量得到的转矩最大值及转矩最小值；根据转矩最大值及转矩最小值得到转矩波动。
在该技术方案中，实时检测电机在第一运行过程或第二运行过程中的转矩，通过确定转矩的数值确定转矩的最大值和最小值，进而将最大值与最小值之间的差值作为转矩波动，检测衣物处理装置的筒体旋转一周或者N周下的转矩，确保了计算得到的转矩波动能够准确表征电机的实际转矩波动，避免在衣物处理装置的筒体旋转非整周的情况下，计算得到的转矩波动过大或者过小，进而造成计算确定的偏心质量过大或者过小，判断是否出现负载不平衡的结果不准确，有效避免了衣物处理装置在运行过程中出现较大的噪声，同时提高了衣物处理装置的使用寿命。
上述任一技术方案，优选地，获取所述转速波动的步骤，具体包括：在第一运行过程或第二运行过程中，实时检测所述电机的当前转速；对所 述当前转速进行高通滤波，以得到滤波后的第一转速范围信息；根据所述第一转速范围信息中的转速最大值及转速最小值得到所述转速波动。
在该技术方案中，实时检测电机在第一运行过程或第二运行过程中的转速，并进行高通滤波处理，滤除低频段的加速度信息，得到滤波后的第一转速范围信息，比较第一转速范围信息中的转速最大值和转速最小值，进而计算转速最大值和转速最小值的差值，得到转速波动，检测衣物处理装置的筒体旋转一周或者N周下的转速，确保了计算得到的转速波动能够准确表征电机的实际转速波动，避免在衣物处理装置的筒体旋转非整周的情况下，计算得到的转速波动过大或者过小，进而造成计算确定的偏心质量过大或者过小，判断是否出现负载不平衡的结果不准确，有效避免了衣物处理装置在运行过程中出现较大的噪声，同时提高了衣物处理装置的使用寿命。
上述任一技术方案，优选地，第一运行时长及第二运行时长为衣物处理装置筒体的旋转周期的整数倍，且第一运行时长和第二运行时长相对于旋转周期的倍数相等。
在该技术方案中，第一运行时长及第二运行时长为衣物处理装置筒体的旋转周期的整数倍，且第一运行时长和第二运行时长相对于旋转周期的倍数相等。如第一运行时长为筒体旋转4周，对应第二运行时长的筒体同样旋转4周，通过对第一运行时长以及第二运行时长的旋转周期的统一，确保计算得到的负载惯量可信度最高，进而确定的衣服重量更为精确。
根据本申请的第二个方面，本申请提供了衣物处理装置的运行控制系统，包括：存储器，用于存储计算机程序；处理器，用于执行计算机程序以：获取筒体的负载惯量以及电机的转矩波动或转速波动；根据负载惯量、转矩波动及预存储的存储负载惯量、转矩波动及负载偏心质量的关系数据，得到衣物处理装置的负载偏心质量；或根据负载惯量、转速波动及预存储的存储负载惯量、转速波动及负载偏心质量的关系数据，得到衣物处理装置的负载偏心质量。
本申请所提供的衣物处理装置的运行控制系统，该衣物处理装置的运行控制系统包括存储有计算机程序的存储器以及能够执行该计算机程序的 处理器，处理器在获取到筒体的负载惯量以及电机的转矩波动或者转速波动后，基于存储的存储负载惯量、转矩波动及负载偏心质量的关系数据，根据负载惯量确定现有负载惯量区间以及对应的两个拟合曲线，进而根据转矩波动确定两个拟合曲线上对应的坐标点，进而确定负载偏心质量对应的区间，优选地，根据负载惯量估计对应的负载偏心质量；或者基于存储的存储负载惯量、转速波动及负载偏心质量的关系数据，根据负载惯量确定现有负载惯量区间以及对应的两个拟合曲线，进而根据转速波动确定两个拟合曲线上对应的坐标点，进而确定负载偏心质量对应的区间，优选地，根据负载惯量估计对应的负载偏心质量，从而精准判断是否出现负载不平衡的情况，进而及时调整衣物和注入水量，避免了衣物处理装置在运行过程中出现较大的噪声，同时提高了衣物处理装置的使用寿命。
另外，本申请提供的上述技术方案中的衣物处理装置的运行控制系统还可以具有如下附加技术特征：
上述技术方案，优选地，处理器，具体用于执行计算机程序以：控制衣物处理装置的电机以第一加速度进行第一运行过程，并对电机的电磁转矩进行积分以得到第一积分结果；控制电机以第二加速度进行第二运行过程，并对电机的电磁转矩进行积分以得到第二积分结果；采集衣物处理装置的运行参数，其中，运行参数至少包括：第一运行过程的第一运行时长以及第一运行过程的两端点转速值、第二运行过程的第二行时长以及第二运行过程的两端点转速值；根据第一积分结果、第二积分结果以及运行参数计算电机的负载惯量。
在该技术方案中，在衣物处理装置运行过程中，控制电机按照第一加速度进行第一运行过程，在第一运行过程中对电机的电磁转矩进行积分得到第一积分结果；在结束第一运行过程后，控制电机按照第二加速度进行第二运行过程，并对第二运行过程中电机的电磁转矩进行积分，得到第二积分结果；统计衣物处理装置的运行参数，其中运行参数包括但不限于第一运行过程中的第一运行时长和第一运行过程的两端点转速值以及第二运行过程中的第二运行时长和第二运行过程的两端点转速值，通过第一积分结果、第二积分结果、第一运行时长、第一运行时长的和第二运行时长的 开始时刻和结束时刻以及第一运行过程和第二运行过程两端点的转速值计算当前电机的负载惯量，进而根据负载惯量得到当前衣物处理装置中衣物的重量，并根据衣物重量选择合适的水位和洗涤剂量，本申请计算通过检测电机的负载惯量确定衣物的重量的方法考虑到衣物处理装置的筒体摩擦的差异性，同时考虑到负载不平衡对于惯量检测的影响，提高了衣服重量的检测的精准程度，减少费水费电的情况，减少了资源的浪费，由于第一运行过程和第二运行过程都是加速的过程，相对于单一加速或匀速过程，减少了衣服重量检测的时间，提高了用户的使用体验。
上述技术方案，优选地，处理器，具体用于执行计算机程序以：通过以下公式计算负载惯量：
Figure PCTCN2019088859-appb-000006
其中，J为负载惯量，t A、t B、t C、t D分别为第一运行时长的和第二运行时长的开始时刻和结束时刻；ω A、ω B、ω C、ω D分别为第一运行过程和第二运行过程两端点的转速值，
Figure PCTCN2019088859-appb-000007
和
Figure PCTCN2019088859-appb-000008
为第一积分结果和第二积分结果。
在该技术方案中，负载惯量J直接由第一积分结果
Figure PCTCN2019088859-appb-000009
第二积分结果
Figure PCTCN2019088859-appb-000010
第一运行时长的和第二运行时长的开始时刻和结束时刻t A、t B、t C、t D、第一运行过程和第二运行过程两端点的转速值ω A、ω B、ω C、ω D计算得到，无需复杂的计算。
上述任一技术方案，优选地，处理器，具体用于执行计算机程序以：在第一运行过程或第二运行过程中，实时检测电机的转矩；获取测量得到的转矩最大值及转矩最小值；根据转矩最大值及转矩最小值得到转矩波动。
在该技术方案中，实时检测电机在第一运行过程或第二运行过程中的转矩，通过确定转矩的数值确定转矩的最大值和最小值，进而将最大值与最小值之间的差值作为转矩波动，检测衣物处理装置的筒体旋转一周或者N周下的转矩，确保了计算得到的转矩波动能够准确表征电机的实际转矩 波动，避免在衣物处理装置的筒体旋转非整周的情况下，计算得到的转矩波动过大或者过小，进而造成计算确定的偏心质量过大或者过小，判断是否出现负载不平衡的结果不准确，有效避免了衣物处理装置在运行过程中出现较大的噪声，同时提高了衣物处理装置的使用寿命。
上述任一技术方案，优选地，处理器，具体用于执行计算机程序以：在第一运行过程或第二运行过程中，实时检测所述电机的当前转速；对所述当前转速进行高通滤波，以得到滤波后的第一转速范围信息；根据所述第一转速范围信息中的转速最大值及转速最小值得到所述转速波动。
在该技术方案中，实时检测电机在第一运行过程或第二运行过程中的转速，并进行高通滤波处理，滤除低频段的加速度信息，得到滤波后的第一转速范围信息，比较第一转速范围信息中的转速最大值和转速最小值，进而计算转速最大值和转速最小值的差值，得到转速波动，检测衣物处理装置的筒体旋转一周或者N周下的转速，确保了计算得到的转速波动能够准确表征电机的实际转速波动，避免在衣物处理装置的筒体旋转非整周的情况下，计算得到的转速波动过大或者过小，进而造成计算确定的偏心质量过大或者过小，判断是否出现负载不平衡的结果不准确，有效避免了衣物处理装置在运行过程中出现较大的噪声，同时提高了衣物处理装置的使用寿命。
上述任一技术方案，优选地，第一运行时长及第二运行时长为衣物处理装置筒体的旋转周期的整数倍，且第一运行时长和第二运行时长相对于旋转周期的倍数相等。
在该技术方案中，第一运行时长及第二运行时长为衣物处理装置筒体的旋转周期的整数倍，且第一运行时长和第二运行时长相对于旋转周期的倍数相等。如第一运行时长为筒体旋转4周，对应第二运行时长的筒体同样旋转4周，通过对第一运行时长以及第二运行时长的旋转周期的统一，确保计算得到的负载惯量可信度最高，进而确定的衣服重量更为精确。
根据本申请的第三个方面，本申请提供了一种衣物处理装置，包括上述任一项衣物处理装置的运行控制系统。
本申请提出的一种衣物处理装置，包括上述任一项衣物处理装置的运 行控制系统，具备衣物处理装置的运行控制系统的全部有益技术效果，在此不再赘述。
根据本申请的第四个方面，提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现如上述任一技术方案所述的方法的步骤。
本申请提供的计算机可读存储介质，其上存储的计算机程序被处理器执行时可实现上述任一技术方案所述的方法的步骤，因而具有上述衣物处理装置的运行控制方法的全部有益技术效果，在此不再赘述。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1示出了根据本申请一个实施例的衣物处理装置的运行控制方法的示意流程图；
图2示出了根据本申请另一个实施例的衣物处理装置的运行控制方法的示意流程图；
图3示出了根据本申请另一个实施例的衣物处理装置的运行控制方法的示意流程图；
图4示出了根据本申请另一个实施例的衣物处理装置的运行控制方法的示意流程图；
图5示出了根据本申请一个实施例的衣物处理装置的运行控制系统的示意框图。
图6示出了根据本申请一个实施例的衣物处理装置示意框图；
图7示出了根据本申请一个实施例的滚筒洗衣机的实际速度、指令速度以及转矩三者之间的关系示意图；
图8示出了根据本申请一个实施例的偏心质量计算的示意框图；
图9示出了不同负载质量和偏心质量下对应的转矩波动的曲线；
图10示出了根据本申请一个实施例的计算偏心质量的流程示意图；
图11示出了根据本申请另一个实施例的偏心质量计算的示意框图；
图12示出了根据本申请另一个实施例的计算偏心质量的流程示意图；
图13示出了根据本申请一个实施例的不同负载质量和偏心质量下对应的转速波动的曲线示意图；
图14示出了根据本申请又一个实施例的计算偏心质量的流程示意图。
具体实施方式
为了能够更清楚地理解本申请的上述方面、特征和优点，下面结合附图和具体实施方式对本申请进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本申请，但是，本申请还可以采用其他不同于在此描述的其他方式来实施，因此，本申请的保护范围并不受下面公开的具体实施例的限制。
本申请的第一方面的实施例提供了一种衣物处理装置的运行控制方法。
图1示出了根据本申请一个实施例的衣物处理装置的运行控制方法的示意流程图。
如图1所示，本申请的一个实施例的衣物处理装置的运行控制方法包括：
S102，获取筒体的负载惯量以及电机的转矩波动或转速波动；
S104，根据负载惯量、转矩波动及预存储的存储负载惯量、转矩波动及负载偏心质量的关系数据，得到衣物处理装置的负载偏心质量，或；根据负载惯量、转速波动及预存储的存储负载惯量、转速波动及负载偏心质量的关系数据，得到衣物处理装置的负载偏心质量；
S106，根据所述负载偏心质量控制所述衣物处理装置调整衣物。
本申请所提供的衣物处理装置的运行控制方法，在获取到筒体的负载惯量以及电机的转矩波动或者转速波动后，基于存储的存储负载惯量、转矩波动及负载偏心质量的关系数据，根据负载惯量确定现有负载惯量区间以及对应的两个拟合曲线，进而根据转矩波动确定两个拟合曲线上对应的 坐标点，进而确定负载偏心质量对应的区间，优选地，根据负载惯量估计对应的负载偏心质量；或者基于存储的存储负载惯量、转速波动及负载偏心质量的关系数据，根据负载惯量确定现有负载惯量区间以及对应的两个拟合曲线，进而根据转速波动确定两个拟合曲线上对应的坐标点，进而确定负载偏心质量对应的区间，优选地，根据负载惯量估计对应的负载偏心质量，从而精准判断是否出现负载不平衡的情况，进而及时调整衣物(如控制衣物处理装置进行抖散操作)和/或调整注入水量，避免了衣物处理装置在运行过程中出现较大的噪声，同时提高了衣物处理装置的使用寿命。
图2示出了根据本申请另一个实施例的衣物处理装置的运行控制方法的示意流程图。
如图2所示，本申请的一个实施例的衣物处理装置的运行控制方法包括：
S202，控制衣物处理装置的电机以第一加速度进行第一运行过程，并对电机的电磁转矩进行积分以得到第一积分结果；
S204，控制电机以第二加速度进行第二运行过程，并对电机的电磁转矩进行积分以得到第二积分结果；
S206，采集衣物处理装置的运行参数；
S208，根据第一积分结果、第二积分结果以及运行参数计算电机的负载惯量。
S210，获取电机的转矩波动或转速波动；
S212，根据负载惯量、转矩波动及预存储的存储负载惯量、转矩波动及负载偏心质量的关系数据，得到衣物处理装置的负载偏心质量，或；根据负载惯量、转速波动及预存储的存储负载惯量、转速波动及负载偏心质量的关系数据，得到衣物处理装置的负载偏心质量；
S214，根据所述负载偏心质量控制所述衣物处理装置调整衣物。
其中，运行参数至少包括：第一运行过程的第一运行时长以及第一运行过程的两端点转速值、第二运行过程的第二行时长以及第二运行过程的两端点转速值。
在该实施例中，在衣物处理装置运行过程中，控制电机按照第一加速 度进行第一运行过程，在第一运行过程中对电机的电磁转矩进行积分得到第一积分结果；在结束第一运行过程后，控制电机按照第二加速度进行第二运行过程，并对第二运行过程中电机的电磁转矩进行积分，得到第二积分结果；统计衣物处理装置的运行参数，其中运行参数包括但不限于第一运行过程中的第一运行时长和第一运行过程的两端点转速值以及第二运行过程中的第二运行时长和第二运行过程的两端点转速值，通过第一积分结果、第二积分结果、第一运行时长、第一运行时长的和第二运行时长的开始时刻和结束时刻以及第一运行过程和第二运行过程两端点的转速值计算当前电机的负载惯量，进而根据负载惯量得到当前衣物处理装置中衣物的重量，并根据衣物重量选择合适的水位和洗涤剂量，本申请计算通过检测电机的负载惯量确定衣物的重量的方法考虑到衣物处理装置的筒体摩擦的差异性，同时考虑到负载不平衡对于惯量检测的影响，提高了衣服重量的检测的精准程度，减少费水费电的情况，减少了资源的浪费，由于第一运行过程和第二运行过程都是加速的过程，相对于单一加速或匀速过程，减少了衣服重量检测的时间，提高了用户的使用体验。
在本申请的一个实施例中，负载惯量通过以下公式计算得到：
Figure PCTCN2019088859-appb-000011
其中，J为负载惯量，t A、t B、t C、t D分别为第一运行时长的和第二运行时长的开始时刻和结束时刻；ω A、ω B、ω C、ω D分别为第一运行过程和第二运行过程两端点的转速值，
Figure PCTCN2019088859-appb-000012
和
Figure PCTCN2019088859-appb-000013
为第一积分结果和第二积分结果。
在该技术方案中，负载惯量J直接由第一积分结果
Figure PCTCN2019088859-appb-000014
第二积分结果
Figure PCTCN2019088859-appb-000015
第一运行时长的和第二运行时长的开始时刻和结束时刻t A、t B、t C、t D、第一运行过程和第二运行过程两端点的转速值ω A、ω B、ω C、ω D计算得到，无需复杂的计算。
图3示出了根据本申请另一个实施例的衣物处理装置的运行控制方法 的示意流程图。
如图3所示，本申请的一个实施例的衣物处理装置的运行控制方法包括：
S302，控制衣物处理装置的电机以第一加速度进行第一运行过程，并对电机的电磁转矩进行积分以得到第一积分结果；
S304，控制电机以第二加速度进行第二运行过程，并对电机的电磁转矩进行积分以得到第二积分结果；
S306，采集衣物处理装置的运行参数；
S308，根据第一积分结果、第二积分结果以及运行参数计算电机的负载惯量。
S310，在第一运行过程或第二运行过程中，实时检测电机的转矩；
S312，获取测量得到的转矩最大值及转矩最小值；
S314，根据转矩最大值及转矩最小值得到转矩波动；
S316，根据负载惯量、转矩波动及预存储的存储负载惯量、转矩波动及负载偏心质量的关系数据，得到衣物处理装置的负载偏心质量；
S318，根据所述负载偏心质量控制所述衣物处理装置调整衣物。
在该实施例中，实时检测电机在第一运行过程或第二运行过程中的转矩，通过确定转矩的数值确定转矩的最大值和最小值，进而将最大值与最小值之间的差值作为转矩波动，检测衣物处理装置的筒体旋转一周或者N周下的转矩，确保了计算得到的转矩波动能够准确表征电机的实际转矩波动，避免在衣物处理装置的筒体旋转非整周的情况下，计算得到的转矩波动过大或者过小，进而造成计算确定的偏心质量过大或者过小，判断是否出现负载不平衡的结果不准确，有效避免了衣物处理装置在运行过程中出现较大的噪声，同时提高了衣物处理装置的使用寿命。
图4示出了根据本申请另一个实施例的衣物处理装置的运行控制方法的示意流程图。
如图4所示，本申请的一个实施例的衣物处理装置的运行控制方法包括：
S402，控制衣物处理装置的电机以第一加速度进行第一运行过程，并 对电机的电磁转矩进行积分以得到第一积分结果；
S404，控制电机以第二加速度进行第二运行过程，并对电机的电磁转矩进行积分以得到第二积分结果；
S406，采集衣物处理装置的运行参数；
S408，根据第一积分结果、第二积分结果以及运行参数计算电机的负载惯量。
S410，在第一运行过程或第二运行过程中，实时检测所述电机的当前转速；
S412，对所述当前转速进行高通滤波，以得到滤波后的第一转速范围信息；
S414，根据所述第一转速范围信息中的转速最大值及转速最小值得到所述转速波动；
S416，根据负载惯量、转速波动及预存储的存储负载惯量、转速波动及负载偏心质量的关系数据，得到衣物处理装置的负载偏心质量；
S418，根据所述负载偏心质量控制所述衣物处理装置调整衣物。
在该实施例中，实时检测电机在第一运行过程或第二运行过程中的转速，并进行高通滤波处理，滤除低频段的加速度信息，得到滤波后的第一转速范围信息，比较第一转速范围信息中的转速最大值和转速最小值，进而计算转速最大值和转速最小值的差值，得到转速波动，检测衣物处理装置的筒体旋转一周或者N周下的转速，确保了计算得到的转速波动能够准确表征电机的实际转速波动，避免在衣物处理装置的筒体旋转非整周的情况下，计算得到的转速波动过大或者过小，进而造成计算确定的偏心质量过大或者过小，判断是否出现负载不平衡的结果不准确，有效避免了衣物处理装置在运行过程中出现较大的噪声，同时提高了衣物处理装置的使用寿命。
在本申请的一个实施例中，第一运行时长及第二运行时长为衣物处理装置筒体的旋转周期的整数倍，且第一运行时长和第二运行时长相对于旋转周期的倍数相等。
在该实施例中，第一运行时长及第二运行时长为衣物处理装置筒体的 旋转周期的整数倍，且第一运行时长和第二运行时长相对于旋转周期的倍数相等。如第一运行时长为筒体旋转4周，对应第二运行时长的筒体同样旋转4周，通过对第一运行时长以及第二运行时长的旋转周期的统一，确保计算得到的负载惯量可信度最高，进而确定的衣服重量更为精确。
本申请的第二方面的实施例提供了一种衣物处理装置的运行控制系统。
图5示出了根据本申请一个实施例的衣物处理装置的运行控制系统的示意框图。
如图5所示，本申请的一个实施例的衣物处理装置的运行控制系统500包括：
存储器502，用于存储计算机程序；处理器504，用于执行计算机程序以：
获取筒体的负载惯量以及电机的转矩波动或转速波动；根据负载惯量、转矩波动及预存储的存储负载惯量、转矩波动及负载偏心质量的关系数据，得到衣物处理装置的负载偏心质量，或；根据负载惯量、转速波动及预存储的存储负载惯量、转速波动及负载偏心质量的关系数据，得到衣物处理装置的负载偏心质量；根据所述负载偏心质量控制所述衣物处理装置调整衣物。
本申请所提供的衣物处理装置的运行控制系统，该衣物处理装置的运行控制系统包括存储有计算机程序的存储器以及能够执行该计算机程序的处理器，处理器在获取到筒体的负载惯量以及电机的转矩波动或者转速波动后，基于存储的存储负载惯量、转矩波动及负载偏心质量的关系数据，根据负载惯量确定现有负载惯量区间以及对应的两个拟合曲线，进而根据转矩波动确定两个拟合曲线上对应的坐标点，进而确定负载偏心质量对应的区间，优选地，根据负载惯量估计对应的负载偏心质量；或者基于存储的存储负载惯量、转速波动及负载偏心质量的关系数据，根据负载惯量确定现有负载惯量区间以及对应的两个拟合曲线，进而根据转速波动确定两个拟合曲线上对应的坐标点，进而确定负载偏心质量对应的区间，优选地，根据负载惯量估计对应的负载偏心质量，从而精准判断是否出现负载不平衡的情况，进而及时调整衣物(如控制衣物处理装置进行抖散操作)和/或 调整注入水量，避免了衣物处理装置在运行过程中出现较大的噪声，同时提高了衣物处理装置的使用寿命。
优选地，处理器504，具体用于执行计算机程序以：控制衣物处理装置的电机以第一加速度进行第一运行过程，并对电机的电磁转矩进行积分以得到第一积分结果；控制电机以第二加速度进行第二运行过程，并对电机的电磁转矩进行积分以得到第二积分结果；采集衣物处理装置的运行参数，其中，运行参数至少包括：第一运行过程的第一运行时长以及第一运行过程的两端点转速值、第二运行过程的第二行时长以及第二运行过程的两端点转速值；根据第一积分结果、第二积分结果以及运行参数计算电机的负载惯量。
在该实施例中，在衣物处理装置运行过程中，控制电机按照第一加速度进行第一运行过程，在第一运行过程中对电机的电磁转矩进行积分得到第一积分结果；在结束第一运行过程后，控制电机按照第二加速度进行第二运行过程，并对第二运行过程中电机的电磁转矩进行积分，得到第二积分结果；统计衣物处理装置的运行参数，其中运行参数包括但不限于第一运行过程中的第一运行时长和第一运行过程的两端点转速值以及第二运行过程中的第二运行时长和第二运行过程的两端点转速值，通过第一积分结果、第二积分结果、第一运行时长、第一运行时长的和第二运行时长的开始时刻和结束时刻以及第一运行过程和第二运行过程两端点的转速值计算当前电机的负载惯量，进而根据负载惯量得到当前衣物处理装置中衣物的重量，并根据衣物重量选择合适的水位和洗涤剂量，本申请计算通过检测电机的负载惯量确定衣物的重量的方法考虑到衣物处理装置的筒体摩擦的差异性，同时考虑到负载不平衡对于惯量检测的影响，提高了衣服重量的检测的精准程度，减少费水费电的情况，减少了资源的浪费，由于第一运行过程和第二运行过程都是加速的过程，相对于单一加速或匀速过程，减少了衣服重量检测的时间，提高了用户的使用体验。
优选地，处理器504，具体用于执行计算机程序以：通过以下公式计算负载惯量：
Figure PCTCN2019088859-appb-000016
其中，J为负载惯量，t A、t B、t C、t D分别为第一运行时长的和第二运行时长的开始时刻和结束时刻；ω A、ω B、ω C、ω D分别为第一运行过程和第二运行过程两端点的转速值，
Figure PCTCN2019088859-appb-000017
和
Figure PCTCN2019088859-appb-000018
为第一积分结果和第二积分结果。
在该实施例中，负载惯量J直接由第一积分结果
Figure PCTCN2019088859-appb-000019
第二积分结果
Figure PCTCN2019088859-appb-000020
第一运行时长的和第二运行时长的开始时刻和结束时刻t A、t B、t C、t D、第一运行过程和第二运行过程两端点的转速值ω A、ω B、ω C、ω D计算得到，无需复杂的计算。
优选地，处理器504，具体用于执行计算机程序以：在第一运行过程或第二运行过程中，实时检测电机的转矩；获取测量得到的转矩最大值及转矩最小值；根据转矩最大值及转矩最小值得到转矩波动。
在该实施例中，实时检测电机在第一运行过程或第二运行过程中的转矩，通过确定转矩的数值确定转矩的最大值和最小值，进而将最大值与最小值之间的差值作为转矩波动，检测衣物处理装置的筒体旋转一周或者N周下的转矩，确保了计算得到的转矩波动能够准确表征电机的实际转矩波动，避免在衣物处理装置的筒体旋转非整周的情况下，计算得到的转矩波动过大或者过小，进而造成计算确定的偏心质量过大或者过小，判断是否出现负载不平衡的结果不准确，有效避免了衣物处理装置在运行过程中出现较大的噪声，同时提高了衣物处理装置的使用寿命。
优选地，处理器504，具体用于执行计算机程序以：在第一运行过程或第二运行过程中，实时检测所述电机的当前转速；对所述当前转速进行高通滤波，以得到滤波后的第一转速范围信息；根据所述第一转速范围信息中的转速最大值及转速最小值得到所述转速波动。
在该实施例中，实时检测电机在第一运行过程或第二运行过程中的转速，并进行高通滤波处理，滤除低频段的加速度信息，得到滤波后的第一 转速范围信息，比较第一转速范围信息中的转速最大值和转速最小值，进而计算转速最大值和转速最小值的差值，得到转速波动，检测衣物处理装置的筒体旋转一周或者N周下的转速，确保了计算得到的转速波动能够准确表征电机的实际转速波动，避免在衣物处理装置的筒体旋转非整周的情况下，计算得到的转速波动过大或者过小，进而造成计算确定的偏心质量过大或者过小，判断是否出现负载不平衡的结果不准确，有效避免了衣物处理装置在运行过程中出现较大的噪声，同时提高了衣物处理装置的使用寿命。
优选地，第一运行时长及第二运行时长为衣物处理装置筒体的旋转周期的整数倍，且第一运行时长和第二运行时长相对于旋转周期的倍数相等。
在该实施例中，第一运行时长及第二运行时长为衣物处理装置筒体的旋转周期的整数倍，且第一运行时长和第二运行时长相对于旋转周期的倍数相等。如第一运行时长为筒体旋转4周，对应第二运行时长的筒体同样旋转4周，通过对第一运行时长以及第二运行时长的旋转周期的统一，确保计算得到的负载惯量可信度最高，进而确定的衣服重量更为精确。
本申请的第三方面的实施例提供了一种衣物处理装置。
图6示出了根据本申请一个实施例的衣物处理装置600示意框图。
如图6所示，本申请的一个实施例的衣物处理装置600包括：衣物处理装置的运行控制系统602。
本申请提出的衣物处理装置600包括衣物处理装置的运行控制系统602，其中衣物处理装置的运行控制系统602具备上述衣物处理装置的运行控制系统的全部技术效果，因此，衣物处理装置600同样具备上述衣物处理装置的运行控制系统的全部技术效果，在此不再赘述。
本申请的第四方面的实施例提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现如上述任一技术方案所述的方法的步骤。
本申请提供的计算机可读存储介质，其上存储的计算机程序被处理器执行时可实现上述任一技术方案所述的方法的步骤，因而具有上述衣物处理装置的运行控制方法的全部有益技术效果，在此不再赘述。
图7示出了根据本申请一个实施例的滚筒洗衣机的实际速度、指令速度以及转矩三者之间的关系示意图。
图8示出了根据本申请一个实施例的偏心质量计算的示意框图。
图9示出了不同负载质量和偏心质量下对应的转矩波动的曲线。
图10示出了根据本申请一个实施例的计算偏心质量的流程示意图。
需要说明的是，本申请衣物处理装置的负载惯量计算原理推导过程如下：
在考虑到通常情况下电机运动方程中的粘滞系数B都比较小，在忽略粘滞系数B时，电机的运动方程可变换成：
Figure PCTCN2019088859-appb-000021
其中T d为不平衡转矩，以滚筒洗衣机为例，不平衡转矩根据滚筒转速周期变化，T f为摩擦转矩。
如图7所示，A-B的时间内滚筒旋转一圈，电磁转矩称为T e1，将C-D的时间内滚筒旋转一圈，电磁转矩称为T e2，对公式1两边同时在A-B和C-D进行积分，得到
Figure PCTCN2019088859-appb-000022
进一步计算得到:
Figure PCTCN2019088859-appb-000023
其中，
Figure PCTCN2019088859-appb-000024
则公式3变化成：
Figure PCTCN2019088859-appb-000025
其中t A和t B为A、B点的时间。
同理计算得到
Figure PCTCN2019088859-appb-000026
在摩擦转矩统一化后得到：
Figure PCTCN2019088859-appb-000027
利用公式4减去公式6得到负载惯量：
Figure PCTCN2019088859-appb-000028
具体地，图8示出了计算负载惯量的控制算法框图。
具体地，图9示出了本申请的一个实施例的流程示意图。
基于公式7，可以通过负载惯量与负载质量的对应关系获取滚筒洗衣机的负载重量，在实际使用过程中，按照预设的速度曲线运行，认定转速为固定值，则负载重量可以表示为：
Figure PCTCN2019088859-appb-000029
如图8所示，控制算法框图中包括负载惯量辨识模块、转矩波动检测模块、脱水控制数据存储模块、负载偏心重量计算模块。实现滚筒洗衣机在加速过程中准确计算负载偏心重量功能。负载惯量辨识模块，实现在加速过程中，对两个不同加速度的加速段的转矩、转速和时间量的获取，计算出当前负载的惯量值；转矩波动检测模块，在惯量检测的同时，检测特定区间的转矩波动值；脱水控制数据存储模块，存储滚筒洗衣机在不同惯量和偏心重量下的惯量值与转矩波动值的二维数据表；负载偏心重量计算模块，根据惯量检测模块输出的惯量值以及转速波动检测模块输出的转速波动值，利用脱水控制数据存储模块内二维数据表格，通过二维线性拟合，计算出当前负载下的偏心重量。在所述偏心重量小于预设质量阈值时，控制滚筒加速转动以对所述滚筒内的衣物进行脱水，当在所述偏心重量大于预设质量阈值时，控制滚筒执行衣物抖散操作，重新分配负载。因此，本申请确定的该偏心质量相比于背景技术更加精确，耗时更短。
具体地，负载惯量辨识模块(惯量辨识单元)，用于检测滚筒及其内部衣物的惯量；转矩波动检测模块(转矩波动计算单元)，用于检测电机转矩波动；脱水控制数据存储模块，用于存储惯量和转矩波动的二维数据表；负载偏心重量计算模块，用于计算负载偏心重量。在滚筒洗衣机加速过程中实时检测负载惯量与转矩波动，从而计算出负载偏心状态。具体地，脱水控制数据存储模块中记录数据为预设数据，在整机运行时作为负载偏 心重量计算模块的参数，负载偏心重量计算模块实时检测负载惯量和转矩波动，查询脱水控制数据存储模块中的数据，确定当前的负载和偏心所处的区间，采用二维线性拟合计算得到负载偏心质量；进一步地，如图9所示了不同负载质量和偏心质量下对应的转矩波动的曲线，根据负载惯量在图中的坐标位置确定当前的区间，以质量为4kg为例，如果检测到一个第一速矩波动，在与6kg对应的第一负载惯量的拟合直线上找到匹配的坐标点E，还在与3kg对应的第一负载惯量的拟合直线上找到匹配的坐标点G，进而可根据坐标点E和坐标点G确定与4kg对应的第一负载惯量和与该个第一转矩波动对应的坐标点F，根据该坐标点F确定对应纵坐标值(即该个第一转矩波动对应的偏心质量)。具体地计算负载偏心重量的流程步骤参见图10。
图11示出了根据本申请另一个实施例的偏心质量计算的示意框图。
图12示出了根据本申请另一个实施例的计算偏心质量的流程示意图。
图13示出了根据本申请一个实施例的不同负载质量和偏心质量下对应的转速波动的曲线示意图。
图14示出了根据本申请又一个实施例的计算偏心质量的流程示意图。
结合图11至13以及图14，在本申请的一个实施例中，如图11所示，包括负载惯量辨识模块、转速处理模块、转速波动检测模块、脱水控制数据存储模块、负载偏心重量计算模块。实现滚筒洗衣机在加速过程中准确计算负载偏心重量功能。负载惯量辨识模块，实现在加速过程中，对两个不同加速度的加速段的转矩、转速和时间量的获取，计算出当前负载的惯量值；转速处理模块，对电机转速进行运算处理，获得易于使用的转速信息；转速波动检测模块，在惯量检测的同时，检测得到特定区间的转速波动值；脱水控制数据存储模块，存储滚筒洗衣机在不同惯量和偏心重量下的惯量值与转速波动值的二维数据表；负载偏心重量计算模块，根据惯量检测模块输出的惯量值以及转速波动检测模块输出的转速波动值，利用脱水控制数据存储模块内二维数据表格，通过二维线性拟合，计算出当前负载下的偏心重量。在所述偏心重量小于预设质量阈值时，控制滚筒加速转动以对所述滚筒内的衣物进行脱水，当在所述偏心重量大于预设质量阈值 时，控制滚筒执行衣物抖散操作，重新分配负载。因此本申请确定的该偏心质量相比于背景技术更加精确，耗时更短。
具体地，负载惯量辨识模块(惯量辨识单元)，用于检测滚筒及其内部衣物的惯量；转速处理模块(转速处理及转速波动计算单元)，用于对电机转速进行数学处理；转速波动检测模块(转速处理及转速波动计算单元)，用于检测电机转速波动；脱水控制数据存储模块，用于存储惯量和转速波动的二维数据表；负载偏心重量计算模块，用于计算负载偏心重量。在滚筒洗衣机加速过程中实时检测负载惯量与转速波动，从而计算出负载偏心状态。具体地，脱水控制数据存储模块中记录数据为预设数据，在整机运行时作为负载偏心重量计算模块的参数。脱水控制数据存储模块中数据为负载惯量和转速波动与负载偏心质量对应的二维数据，在预设的负载重量和偏心质量下检测负载惯量和转速波动，记录在脱水控制数据存储模块中，预设的负载重量和偏心质量，根据当前应用滚筒洗衣机的允许最大负载选取。
基于公式7，可以通过负载惯量与负载质量的对应关系获取滚筒洗衣机的负载重量，在实际使用过程中，按照预设的速度曲线运行，认定转速为固定值，转速处理和转速波动计算需要在加速过程中计算负载转速波动，首先要求预设时间内转速足够高，保证衣物已经完成贴合桶壁。由于电机处于加速过程中，电机的转速信息中同时包含了加速度信息和转速波动信息，需要提取出转速波动信息，用于计算转速波动。
方案1：对电机实际转速进行高通滤波，滤波截止频率的选取要求能够保留当前检测转速下的转速波动信息，滤出低频的加速度信息。
方案2：电机实际转速减去电机转速指令，去除加速信息，保留转速波动信息。
在预设时间内，检测滚筒位置，检测记录滚筒旋转一周内的处理后速度信息，记录下其中的最大值和最小值。转速波动＝最大值-最小值。
其中，负载偏心重量计算模块在滚筒洗衣机加速过程中，实时检测负载惯量和转速波动，查询脱水控制数据存储模块中数据，确定当前的负载和偏心所处的区间，采用二维线性拟合计算得到负载偏心重量。具体地， 负载偏心重量计算模块在实时检测得到负载惯量和转速波动后，查找不同负载重量和偏心质量下对应的转速波动的曲线，根据负载惯量在图13中确定当前的区间，以质量为4kg为例，如果检测到一个第一速度波动，在与6kg对应的第一负载惯量的拟合直线上找到匹配的坐标点H，还在与3kg对应的第一负载惯量的拟合直线上找到匹配的坐标点J，进而可根据坐标点H和坐标点J确定与4kg对应的第一负载惯量和与该个第一速度波动对应的坐标点I，根据该坐标点I确定对应纵坐标值(即该个第一速度波动对应的偏心质量)，具体地计算负载偏心重量的流程步骤参见图14。
在本申请的描述中，术语“多个”则指两个或两个以上，除非另有明确的限定，术语“上”、“下”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制；术语“连接”、“安装”、“固定”等均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本申请的至少一个实施例或示例中。在本申请中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (14)

  1. 一种衣物处理装置的运行控制方法，所述衣物处理装置包括筒体及电机，所述电机驱动所述筒体进行旋转，其中，包括：
    获取所述筒体的负载惯量以及所述电机的转矩波动或转速波动；
    根据所述负载惯量、所述转矩波动及预存储的存储负载惯量、转矩波动及负载偏心质量的关系数据，得到所述衣物处理装置的负载偏心质量；或
    根据所述负载惯量、所述转速波动及预存储的存储负载惯量、转速波动及负载偏心质量的关系数据，得到所述衣物处理装置的负载偏心质量；
    根据所述负载偏心质量控制所述衣物处理装置调整衣物。
  2. 根据权利要求1所述的衣物处理装置的运行控制方法，其中，
    获取所述筒体的负载惯量的步骤，具体包括：
    控制所述衣物处理装置的电机以第一加速度进行第一运行过程，并对所述电机的电磁转矩进行积分以得到第一积分结果；
    控制所述电机以第二加速度进行第二运行过程，并对所述电机的电磁转矩进行积分以得到第二积分结果；
    采集所述衣物处理装置的运行参数，其中，所述运行参数至少包括：所述第一运行过程的第一运行时长以及所述第一运行过程的两端点转速值、所述第二运行过程的第二行时长以及所述第二运行过程的两端点转速值；
    根据所述第一积分结果、所述第二积分结果以及所述运行参数计算所述电机的负载惯量。
  3. 根据权利要求2所述的衣物处理装置的运行控制方法，其中，所述负载惯量通过以下公式计算得到：
    其中，J为所述负载惯量，t A、t B、t C、t D分别为所述第一运行时长的和所述第二运行时长的开始时刻和结束时刻；ω A、ω B、ω C、ω D分别为所述 第一运行过程和所述第二运行过程两端点的转速值，
    Figure PCTCN2019088859-appb-100002
    和
    Figure PCTCN2019088859-appb-100003
    为所述第一积分结果和所述第二积分结果。
  4. 根据权利要求3所述的衣物处理装置的运行控制方法，其中，获取所述转矩波动的步骤，具体包括：
    在所述第一运行过程或所述第二运行过程中，实时检测所述电机的转矩；
    获取测量得到的转矩最大值及转矩最小值；
    根据所述转矩最大值及所述转矩最小值得到所述转矩波动。
  5. 根据权利要求3所述的衣物处理装置的运行控制方法，其中，获取所述转速波动的步骤，具体包括：
    在所述第一运行过程或所述第二运行过程中，实时检测所述电机的当前转速；
    对所述当前转速进行高通滤波，以得到滤波后的第一转速范围信息；
    根据所述第一转速范围信息中的转速最大值及转速最小值得到所述转速波动。
  6. 根据权利要求3所述的衣物处理装置的运行控制方法，其中，获取所述转速波动的步骤，具体包括：
    在所述第一运行过程或所述第二运行过程中，实时检测所述电机的当前转速；
    将所述当前转速与预设转速的差值进行高通滤波，以得到滤波后的第二转速范围信息；
    根据所述第二转速范围信息中的转速最大值及转速最小值得到所述转速波动。
  7. 根据权利要求2至6中任一项所述的衣物处理装置的运行控制方法，其中，
    所述第一运行时长及所述第二运行时长为所述衣物处理装置筒体的旋转周期的整数倍，且所述第一运行时长和所述第二运行时长相对于所述旋转周期的倍数相等。
  8. 一种衣物处理装置的运行控制系统，所述衣物处理装置包括筒体及电机，所述电机驱动所述筒体进行旋转，其中，包括：
    存储器，用于存储计算机程序；
    处理器，用于执行所述计算机程序以：
    获取所述筒体的负载惯量以及所述电机的转矩波动或转速波动；
    根据所述负载惯量、所述转矩波动及预存储的存储负载惯量、转矩波动及负载偏心质量的关系数据，得到所述衣物处理装置的负载偏心质量；或
    根据所述负载惯量、所述转速波动及预存储的存储负载惯量、转速波动及负载偏心质量的关系数据，得到所述衣物处理装置的负载偏心质量；
    根据所述负载偏心质量控制所述衣物处理装置调整衣物。
  9. 根据权利要求8所述的衣物处理装置的运行控制系统，其中：所述处理器，具体用于执行所述计算机程序以：
    控制所述衣物处理装置的电机以第一加速度进行第一运行过程，并对所述电机的电磁转矩进行积分以得到第一积分结果；
    控制所述电机以第二加速度进行第二运行过程，并对所述电机的电磁转矩进行积分以得到第二积分结果，
    采集所述衣物处理装置的运行参数，其中，所述运行参数至少包括：所述第一运行过程的第一运行时长以及所述第一运行过程的两端点转速值、所述第二运行过程的第二行时长以及所述第二运行过程的两端点转速值；
    根据所述第一积分结果、所述第二积分结果以及所述运行参数计算所述电机的负载惯量。
  10. 根据权利要求9所述的衣物处理装置的运行控制系统，其中，还包括：所述处理器，具体用于执行所述计算机程序以：
    在所述第一运行过程或所述第二运行过程中，实时检测所述电机的转矩；
    获取测量得到的转矩最大值及转矩最小值；
    根据所述转矩最大值及所述转矩最小值得到所述转矩波动。
  11. 根据权利要求9所述的衣物处理装置的运行控制系统，其中，还 包括：所述处理器，具体用于执行所述计算机程序以：
    在所述第一运行过程或所述第二运行过程中，实时检测所述电机的当前转速；
    对所述当前转速进行高通滤波，以得到滤波后的第一转速范围信息；
    根据所述第一转速范围信息中的转速最大值及转速最小值得到所述转速波动。
  12. 根据权利要求9所述的衣物处理装置的运行控制系统，其中，还包括：所述处理器，具体用于执行所述计算机程序以：
    在所述第一运行过程或所述第二运行过程中，实时检测所述电机的当前转速；
    将所述当前转速与预设转速的差值进行高通滤波，以得到滤波后的第二转速范围信息；
    根据所述第二转速范围信息中的转速最大值及转速最小值得到所述转速波动。
  13. 一种衣物处理装置，其中，包括：如权利要求8至12中任一项所述的衣物处理装置的运行控制系统。
  14. 一种计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时实现如权利要求1至7中任一项所述衣物处理装置的运行控制方法的步骤。
PCT/CN2019/088859 2018-06-14 2019-05-28 衣物处理装置的运行控制方法、系统、装置及存储介质 WO2019237916A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020207025146A KR102405502B1 (ko) 2018-06-14 2019-05-28 의류처리장치의 운행제어방법, 시스템, 의류처리장치 및 저장매체
US17/088,022 US20210054554A1 (en) 2018-06-14 2020-11-03 Operation control method and system for clothing treatment device, clothing treatment device, and storage medium

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810615370.4 2018-06-14
CN201810615370.4A CN108755009B (zh) 2018-06-14 2018-06-14 衣物处理装置的运行控制方法、系统、装置及存储介质

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/088,022 Continuation US20210054554A1 (en) 2018-06-14 2020-11-03 Operation control method and system for clothing treatment device, clothing treatment device, and storage medium

Publications (1)

Publication Number Publication Date
WO2019237916A1 true WO2019237916A1 (zh) 2019-12-19

Family

ID=64021794

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/088859 WO2019237916A1 (zh) 2018-06-14 2019-05-28 衣物处理装置的运行控制方法、系统、装置及存储介质

Country Status (4)

Country Link
US (1) US20210054554A1 (zh)
KR (1) KR102405502B1 (zh)
CN (1) CN108755009B (zh)
WO (1) WO2019237916A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114717791A (zh) * 2022-03-17 2022-07-08 美的威灵电机技术（上海）有限公司 衣物处理装置的控制方法及其装置

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108755009B (zh) * 2018-06-14 2021-02-23 广东威灵电机制造有限公司 衣物处理装置的运行控制方法、系统、装置及存储介质
CN111593541B (zh) * 2019-02-21 2022-03-29 无锡小天鹅电器有限公司 衣物处理装置的控制方法、系统以及存储介质
CN111733564B (zh) * 2019-03-22 2022-09-16 无锡小天鹅电器有限公司 洗衣机转速控制方法、装置、存储介质及洗衣机
CN112095286B (zh) * 2019-05-30 2023-05-02 无锡飞翎电子有限公司 衣物处理装置及其运行控制方法、系统、及存储介质
CN113930939B (zh) * 2020-06-29 2023-10-03 美的威灵电机技术（上海）有限公司 衣物处理设备的负载偏心检测方法、装置和衣物处理设备
CN113862959B (zh) * 2020-06-30 2023-03-14 美的威灵电机技术（上海）有限公司 衣物处理设备的控制方法、控制装置和衣物处理设备
CN111893707B (zh) * 2020-08-03 2022-11-08 海信冰箱有限公司 一种洗衣机的控制方法及洗衣机
CN114108246B (zh) * 2020-08-27 2023-10-31 无锡小天鹅电器有限公司 衣物处理装置及其控制方法、计算机可读存储介质
CN112553831B (zh) * 2020-11-17 2021-10-22 珠海格力电器股份有限公司 一种桶内负载的摆平方法及装置
CN112538717A (zh) * 2020-11-27 2021-03-23 长虹美菱股份有限公司 一种利用新型摆平动作的脱水控制方法
DE102020131991A1 (de) * 2020-12-02 2022-06-02 Miele & Cie. Kg Verfahren zum Betreiben eines Waschautomaten und Waschautomat
CN115441796A (zh) * 2021-06-02 2022-12-06 台达电子工业股份有限公司 基于负载转矩-转动惯量自学习模型的速度控制方法
CN114575108B (zh) * 2022-02-15 2023-02-17 珠海格力电器股份有限公司 滚筒洗衣机控制装置、方法、存储介质及电子设备

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102454085A (zh) * 2011-06-26 2012-05-16 无锡小天鹅通用电器有限公司 识别不同负载的脱水控制方法
CN102828382A (zh) * 2011-06-15 2012-12-19 苏州三星电子有限公司 判断滚筒洗衣机高速脱水前偏心状态的方法
CN103966799A (zh) * 2014-04-29 2014-08-06 广东威灵电机制造有限公司 滚筒洗衣机及其的惯量检测方法、惯量检测装置
CN103966804A (zh) * 2014-04-29 2014-08-06 广东威灵电机制造有限公司 滚筒洗衣机及其的惯量检测方法、惯量检测装置
CN104593996A (zh) * 2014-12-11 2015-05-06 广东威灵电机制造有限公司 脱水控制方法、装置和洗衣机
US20180100260A1 (en) * 2016-10-07 2018-04-12 Lg Electronics Inc. Washing machine and method of controlling the same
CN108547116A (zh) * 2018-06-14 2018-09-18 广东威灵电机制造有限公司 衣物处理装置的运行控制方法、系统、装置及存储介质
CN108547117A (zh) * 2018-06-14 2018-09-18 广东威灵电机制造有限公司 衣物处理装置的运行控制方法、系统以及衣物处理装置
CN108755009A (zh) * 2018-06-14 2018-11-06 广东威灵电机制造有限公司 衣物处理装置的运行控制方法、系统、装置及存储介质
CN108774849A (zh) * 2018-06-14 2018-11-09 广东威灵电机制造有限公司 衣物处理装置的运行控制方法、系统及存储介质

Family Cites Families (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2553881B1 (fr) * 1983-10-25 1987-11-20 Esswein Sa Procede de determination d'une charge de linge dans un tambour tournant, et machine a laver et/ou a secher mettant en oeuvre ce procede
JP3297073B2 (ja) * 1992-03-31 2002-07-02 株式会社東芝 洗濯機
US5475291A (en) * 1992-12-10 1995-12-12 Matsushita Electric Industrial Co., Ltd. Adjustment device for adjusting control parameters of a servo motor and an adjustment method therefor
US6418581B1 (en) * 1999-06-24 2002-07-16 Ipso-Usa, Inc. Control system for measuring load imbalance and optimizing spin speed in a laundry washing machine
JP3891923B2 (ja) * 2002-11-27 2007-03-14 シャープ株式会社 洗濯機
US7591038B2 (en) * 2003-04-28 2009-09-22 Emerson Electric Co., Method and system for operating a clothes washing machine
US7905122B2 (en) * 2003-04-28 2011-03-15 Nidec Motor Corporation Method and system for determining a washing machine load unbalance
EP1609901A1 (en) * 2004-06-24 2005-12-28 Electrolux Home Products Corporation N.V. Haushold laundry washing machine with improved spinning phase
US7739764B2 (en) * 2005-04-27 2010-06-22 Whirlpool Corporation Method and apparatus for monitoring load size and load imbalance in washing machine
KR101215446B1 (ko) * 2005-11-15 2012-12-26 삼성전자주식회사 세탁기
EP1995366B1 (en) * 2007-05-21 2015-05-06 Samsung Electronics Co., Ltd. Washing machine and control method of maintaining a balanced state of laundry thereof
JP4375447B2 (ja) * 2007-06-26 2009-12-02 パナソニック株式会社 洗濯機
JP5042808B2 (ja) * 2007-12-27 2012-10-03 三星電子株式会社 ドラム式洗濯機
WO2011122849A2 (ko) * 2010-03-30 2011-10-06 엘지전자 주식회사 모터 제어방법 및 장치와, 세탁기 및 그 제어방법
US9115456B2 (en) * 2011-12-20 2015-08-25 Whirlpool Corporation Method for detecting satellization speed of clothes load in a horizontal axis laundry treating appliance
US9091012B2 (en) * 2011-12-22 2015-07-28 Whirlpool Corporation Method and apparatus for determining an inertia of a laundry load in a laundry treating appliance
US20130160221A1 (en) * 2011-12-22 2013-06-27 Whirlpool Corporation Method for maximizing drum rotational speed by continuously monitoring inertia during extraction
KR102104443B1 (ko) * 2013-07-18 2020-04-24 엘지전자 주식회사 세탁기 및 그 제어방법
EP3162942B1 (en) * 2015-10-26 2021-06-30 Electrolux Appliances Aktiebolag Laundry treating machine and method for determining the amount of laundry loaded in a rotating drum of a laundry treating machine
US9863080B2 (en) * 2015-11-19 2018-01-09 Whirlpool Corporation Laundry treating appliance and methods of operation
US10041202B2 (en) * 2015-11-19 2018-08-07 Whirlpool Corporation Laundry treating appliance and methods of operation
CN105429549B (zh) * 2015-12-11 2018-01-23 珠海格力电器股份有限公司 洗衣机运行数据的处理方法及装置
US10211763B2 (en) * 2016-02-29 2019-02-19 Linestream Technologies Method for automatically identifying speed operation range in a mechanical system driven by PMSM or induction motors under friction and load condition
CN106702665B (zh) * 2016-12-13 2019-03-15 广东威灵电机制造有限公司 洗衣机及其的惯量检测方法和装置
CN107059326B (zh) * 2017-05-31 2020-04-03 广东威灵电机制造有限公司 洗衣机的惯量检测方法、洗衣机及存储介质

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102828382A (zh) * 2011-06-15 2012-12-19 苏州三星电子有限公司 判断滚筒洗衣机高速脱水前偏心状态的方法
CN102454085A (zh) * 2011-06-26 2012-05-16 无锡小天鹅通用电器有限公司 识别不同负载的脱水控制方法
CN103966799A (zh) * 2014-04-29 2014-08-06 广东威灵电机制造有限公司 滚筒洗衣机及其的惯量检测方法、惯量检测装置
CN103966804A (zh) * 2014-04-29 2014-08-06 广东威灵电机制造有限公司 滚筒洗衣机及其的惯量检测方法、惯量检测装置
CN104593996A (zh) * 2014-12-11 2015-05-06 广东威灵电机制造有限公司 脱水控制方法、装置和洗衣机
US20180100260A1 (en) * 2016-10-07 2018-04-12 Lg Electronics Inc. Washing machine and method of controlling the same
CN108547116A (zh) * 2018-06-14 2018-09-18 广东威灵电机制造有限公司 衣物处理装置的运行控制方法、系统、装置及存储介质
CN108547117A (zh) * 2018-06-14 2018-09-18 广东威灵电机制造有限公司 衣物处理装置的运行控制方法、系统以及衣物处理装置
CN108755009A (zh) * 2018-06-14 2018-11-06 广东威灵电机制造有限公司 衣物处理装置的运行控制方法、系统、装置及存储介质
CN108774849A (zh) * 2018-06-14 2018-11-09 广东威灵电机制造有限公司 衣物处理装置的运行控制方法、系统及存储介质

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114717791A (zh) * 2022-03-17 2022-07-08 美的威灵电机技术（上海）有限公司 衣物处理装置的控制方法及其装置
CN114717791B (zh) * 2022-03-17 2023-08-29 美的威灵电机技术（上海）有限公司 衣物处理装置的控制方法及其装置

Also Published As

Publication number Publication date
KR102405502B1 (ko) 2022-06-03
US20210054554A1 (en) 2021-02-25
KR20200112974A (ko) 2020-10-05
CN108755009B (zh) 2021-02-23
CN108755009A (zh) 2018-11-06

Similar Documents

Publication Publication Date Title
WO2019237916A1 (zh) 衣物处理装置的运行控制方法、系统、装置及存储介质
CN108547116B (zh) 衣物处理装置的运行控制方法、系统、装置及存储介质
CN108547117B (zh) 衣物处理装置的运行控制方法、系统以及衣物处理装置
US7905122B2 (en) Method and system for determining a washing machine load unbalance
US6826932B2 (en) Drum-type washing machine
CN108774849B (zh) 衣物处理装置的运行控制方法、系统及存储介质
EP1764436A1 (en) A laundry appliance with load balancing system
CN110552164B (zh) 偏心感知方法及偏心感知装置、存储介质、波轮洗衣机
KR101287535B1 (ko) 세탁기 및 그 포량감지방법
CN107099973B (zh) 洗衣机桶体的不平衡检测方法、洗衣机及存储介质
CN108755008B (zh) 衣物处理装置的负载惯量检测方法、系统以及装置
EP1888831A1 (en) Method and system for operating a clothes washing machine
EP2458063A2 (en) Washing machine and method to detect suds thereof
AU2007334750A1 (en) Improved laundry appliance
CN107190465A (zh) 滚筒洗衣机及其控制方法、装置、机器可读存储介质
CN110872760A (zh) 一种洗衣机偏心检测方法
US20130340485A1 (en) Method and device for detecting an imbalance in a laundry treatment appliance
CN107059335A (zh) 洗衣机桶体的不平衡检测方法、洗衣机及存储介质
CN109778486B (zh) 一种洗衣机衣物称重方法和洗衣机
CN112095286A (zh) 衣物处理装置及其运行控制方法、系统、及存储介质
JP6550329B2 (ja) 洗濯機の脱水時における振動低減方法
JP2010051433A (ja) ドラム式洗濯機
CN108547115B (zh) 衣物处理装置的运行控制方法、系统、装置及存储介质
CN109100005B (zh) 一种衣物重量的感知方法及系统
CN113930939B (zh) 衣物处理设备的负载偏心检测方法、装置和衣物处理设备

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19818740

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 20207025146

Country of ref document: KR

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 03/05/2021)

122 Ep: pct application non-entry in european phase

Ref document number: 19818740

Country of ref document: EP

Kind code of ref document: A1