WO2023084400A1 - Procédé et appareil de déséquilibre - Google Patents

Procédé et appareil de déséquilibre Download PDF

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Publication number
WO2023084400A1
WO2023084400A1 PCT/IB2022/060761 IB2022060761W WO2023084400A1 WO 2023084400 A1 WO2023084400 A1 WO 2023084400A1 IB 2022060761 W IB2022060761 W IB 2022060761W WO 2023084400 A1 WO2023084400 A1 WO 2023084400A1
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WIPO (PCT)
Prior art keywords
oob
drum
rotating assembly
motor
laundry apparatus
Prior art date
Application number
PCT/IB2022/060761
Other languages
English (en)
Inventor
Olaf Adrian ESKILDSEN
Original Assignee
Fisher & Paykel Appliances Limited
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Filing date
Publication date
Priority claimed from AU2021903591A external-priority patent/AU2021903591A0/en
Application filed by Fisher & Paykel Appliances Limited filed Critical Fisher & Paykel Appliances Limited
Publication of WO2023084400A1 publication Critical patent/WO2023084400A1/fr

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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 
    • 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
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/50—Control of washer-dryers characterised by the purpose or target of the control
    • D06F33/74—Responding to irregular working conditions, e.g. malfunctioning of pumps 
    • 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 
    • D06F33/50—Control of washer-dryers characterised by the purpose or target of the control
    • D06F33/76—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
    • D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
    • D06F37/20—Mountings, e.g. resilient mountings, for the rotary receptacle, motor, tub or casing; Preventing or damping vibrations
    • D06F37/22—Mountings, e.g. resilient mountings, for the rotary receptacle, motor, tub or casing; Preventing or damping vibrations in machines with a receptacle rotating or oscillating about a horizontal axis
    • 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
    • D06F58/00—Domestic laundry dryers
    • D06F58/32—Control of operations performed in domestic laundry dryers 
    • D06F58/34—Control of operations performed in domestic laundry dryers  characterised by the purpose or target of the control
    • 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
    • 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
    • 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
    • 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
    • D06F2105/54—Changing between normal operation mode and special operation modes, e.g. service mode, component cleaning mode or stand-by mode
    • 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
    • D06F2105/58—Indications or alarms to the control system or to the user
    • 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
    • D06F23/00—Washing machines with receptacles, e.g. perforated, having a rotary movement, e.g. oscillatory movement, the receptacle serving both for washing and for centrifugally separating water from the laundry 
    • D06F23/02—Washing machines with receptacles, e.g. perforated, having a rotary movement, e.g. oscillatory movement, the receptacle serving both for washing and for centrifugally separating water from the laundry  and rotating or oscillating about a horizontal axis
    • 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
    • D06F23/00—Washing machines with receptacles, e.g. perforated, having a rotary movement, e.g. oscillatory movement, the receptacle serving both for washing and for centrifugally separating water from the laundry 
    • D06F23/02—Washing machines with receptacles, e.g. perforated, having a rotary movement, e.g. oscillatory movement, the receptacle serving both for washing and for centrifugally separating water from the laundry  and rotating or oscillating about a horizontal axis
    • D06F23/025—Washing machines with receptacles, e.g. perforated, having a rotary movement, e.g. oscillatory movement, the receptacle serving both for washing and for centrifugally separating water from the laundry  and rotating or oscillating about a horizontal axis with a rotatable imperforate tub

Definitions

  • the invention relates to a laundry machine (such as a washer, dryer or combination washer-dryer) and to methods for controlling the laundry machine.
  • a laundry machine such as a washer, dryer or combination washer-dryer
  • a laundry machine operates in two distinct modes during its cycle: a) A cleaning mode in which the laundry machine drum rotates relatively slowly to tumble or agitate the clothes and wash liquid inside the drum, such that the clothing is cleaned by mechanical action. In this mode there is relative movement between the clothing and the inner surface of the drum; and b) A spin mode in which the drum rotates at a relatively high speed to remove liquid from the clothing by centrifugal force (for example to remove suds after a cleaning phase, or to remove as much water as possible during a dehydrating phase). In this mode the drum reaches a speed where the centrifugal force causes the clothing to adhere to (also termed "plastered” or “satellised”) the inner surface of the drum and to rotate with it.
  • Out of balance (OOB) loading occurs when the laundry load satellises during a spin phase with the mass of the load unevenly distributed about the centre of rotation of the drum. Spinning the drum in the OOB condition can cause undesired vibrations and resonances that result in noisy operation of the machine and potential damage to its drive and suspension systems. In some cases, the vibration may be of such magnitude that the drum is caused to strike the cabinet of the washing machine.
  • the laundry machine may be programmed to detect whether the drum is OOB at various stages during the spin phase. If OOB loading is detected then the laundry machine may be programmed to stop the drum completely so that the mass of the laundry load can be shifted. Further, the time taken to complete the spin phase may be significantly increased with repeated stopping of the drum to correct the OOB loading.
  • the present invention may be said to comprise a method of assessing out of balance in a laundry apparatus comprising, during operation of the apparatus: receiving output from one or more OOB sensors, determining from the OOB sensor output: a mass and/or rotating inertia, and a relative phase between a rotating assembly motion and non-rotating assembly motion, and generating OOB output indicative of balance of laundry in the drum.
  • the method further comprises determining speed from the OOB sensors.
  • the method further comprises determining an OOB condition from the OOB output.
  • the method further comprises operating the laundry apparatus to mitigate OOB laundry if it exists.
  • the relative phase is determined from input received from a gyroscope and motor and/or drum speed.
  • the laundry apparatus comprises: a non-rotating assembly suspended within an outer cabinet, and a rotating assembly within the non-rotating assembly, comprising a drum for laundry, wherein the rotating assembly can be rotated relative to the non-rotating assembly by a motor.
  • the non-rotating assembly has a gyroscope.
  • the method comprises: further determining from the OOB sensor output: a non-rotating assembly parameter, and/or a rotating assembly parameter, to generate OOB output indicative of balance of laundry in the drum.
  • a non-rotating assembly parameter is determined from input received from a gyroscope.
  • the mass and/or rotating inertia is determined from input received from a weight sensor and/or motor.
  • a rotating assembly parameter is determined from input received from a motor.
  • the input received from the motor is one or more of motor current, voltage, torque, position and/or speed.
  • the OOB output is generated using a model.
  • the model is a function of: a mass and/or rotating inertia, and a relative phase between the rotating assembly motion and non-rotating assembly motion, and optionally motor speed.
  • relative phase between the rotating assembly motion and the non-rotating assembly motion comprises a phase difference between movement of one or more axes of the inner drum and motor and/or drum rotation.
  • the model comprises one or more of: equation(s), algorithm(s), numerical method(s), look-up table(s) and/or other mathematical construct(s) which can be used to process the OOB input parameters to generate the OOB outputs.
  • Optionally processing the OOB input parameters to generate OOB outputs comprises one or more of: simultaneously solving dynamic motion equations, and using look-up tables to retrieve appropriate values from pre-solved dynamic motion equations.
  • OOB output comprises one or more of: static OOB mass, dynamic OOB mass, dynamic OOB angle, a decision on existence of OOB, and/or control signal to operate the washing machine.
  • the method further comprises: determining whether an OOB condition exists, and/or determining the character or severity of the OOB condition if it exists.
  • either or both of the steps of determining whether an OOB condition exists, and/or determining the character or severity of the OOB condition if it exists comprises comparing one or more OOB outputs to a predetermined threshold or limit.
  • the method further comprises modifying operation of the laundry apparatus based on the OOB output.
  • Optionally modifying operation of the laundry apparatus comprises:
  • the laundry apparatus comprises a horizontal axis drum.
  • the laundry apparatus has a drum rotated by an axial flux motor.
  • the method is carried out during a spin cycle of the laundry apparatus operation, and optionally during a dehydration spin cycle.
  • the method is carried out during a first speed plateau of the spin cycle of the laundry apparatus operation.
  • the present invention may be said to comprise a laundry apparatus comprising, a motor and drum, one or more sensors, comprising at least a gyroscope, and a controller, wherein the controller is configured to, during operation of the machine: receive output from one or more OOB sensors, determine from the OOB sensor output: a mass and/or rotating inertia, and a relative phase between a rotating assembly motion and non-rotating assembly motion, and generate OOB output indicative of balance of laundry in the drum.
  • the motor is an axial flux motor.
  • the drum is a horizontal axis drum.
  • the laundry apparatus further comprises determining speed from the OOB sensors.
  • controller is further configured to determine an OOB condition from the OOB output.
  • controller is further configured to operate the laundry apparatus to mitigate OOB laundry if it exists.
  • the relative phase is determined from input received from the gyroscope and motor and/or drum speed.
  • the laundry apparatus further comprises: a non-rotating assembly suspended within an outer cabinet, and a rotating assembly within the non-rotating assembly, wherein the drum is within the non-rotating assembly and configured to hold laundry during operation of the apparatus, and wherein the rotating assembly can be rotated relative to the non-rotating assembly by the motor.
  • the controller is configured to further determine from the OOB sensor output: a non-rotating assembly parameter, and/or a rotating assembly parameter, to generate OOB output indicative of balance of laundry in the drum.
  • the non-rotating assembly parameter is determined from input received from the gyroscope.
  • the laundry apparatus further comprises a weight sensor and wherein the mass and/or rotating inertia is determined from input received from a weight sensor and/or motor.
  • the input received from the motor is derived from one or more of motor current, voltage, torque, position and/or speed.
  • the gyroscope is mounted on the non-rotating assembly.
  • the OOB output is generated using a model.
  • the model is a function of: a mass and/or rotating inertia, and a relative phase between the rotating assembly motion and non-rotating assembly motion, and optionally motor speed.
  • relative phase between drum movement and motor rotation comprises a phase difference between movement of one or more axes of the drum and motor and/or drum rotation.
  • the model comprises one or more of: equation(s), algorithm(s), numerical method(s), look-up table(s) and/or other mathematical construct(s) which can be used to process the OOB input parameters to generate the OOB outputs.
  • Optionally processing the OOB input parameters to generate OOB outputs comprises one or more of: simultaneously solving dynamic motion equations, and using look-up tables to retrieve appropriate values from pre-solved dynamic motion equations.
  • OOB output comprises one or more of: static OOB mass, dynamic OOB mass, dynamic OOB angle, a decision on existence of OOB, and/or control signal to operate the washing machine.
  • controller is further configured to: determine whether an OOB condition exists, and/or determine the character or severity of the OOB condition if it exists.
  • either or both of the steps of determining whether an OOB condition exists, and/or determining the character or severity of the OOB condition if it exists comprises comparing one or more OOB outputs to a predetermined threshold or limit.
  • the laundry apparatus further comprises modifying operation of the washing machine based on the OOB output.
  • Optionally modifying operation of the washing machine comprises:
  • the controller generates OOB output during a spin cycle of the laundry apparatus operation, and optionally during a dehydration spin cycle.
  • the controller generates OOB output during a first speed plateau of the spin cycle of the laundry apparatus operation.
  • the present invention may be said to comprise a method of assessing OOB condition in a laundry apparatus comprising: modelling motion of a laundry apparatus as notional drum that during comprises cyclical variation of motion in a rotational frame of reference and a translation frame of reference, and making an OOB assessment of an OOB condition based on parameters indicative of cyclical variation of motion in the frames of reference, and optionally if an the OOB condition indicates an imbalance, controlling the laundry apparatus to mitigate the imbalance.
  • a laundry apparatus for assessing and/or mitigating OOB condition comprising: a suspended assembly comprising a rotating assembly and a non-rotating assembly, one or more sensors on the rotating and/or non-rotating assembly which provide output indicative of rotational and/or translational cyclic variation in the suspended assembly, and a controller to use the output from the sensors to: model motion of the suspended assembly as notional drum that during operation comprises cyclical variation of motion in a rotational frame of reference and a translation frame of reference, and making an OOB assessment of an OOB condition based on parameters indicative of cyclical variation of motion in the frames of reference, and optionally if an the OOB condition indicates an imbalance, controlling the laundry apparatus to mitigate the imbalance.
  • the present invention may be said to comprise a laundry apparatus for assessing and/or mitigating OOB condition comprising: a suspended assembly comprising a rotating assembly and a non-rotating assembly, an axial flux motor to rotate the rotating assembly, one or more sensors, including a gyroscope on the nonrotating assembly, and a controller to use the output from the one or more sensors including the gyroscope to make an OOB assessment.
  • the present invention may be said to comprise a front-loader laundry apparatus comprising: an outer cabinet, a horizontal drum in the cabinet, a direct drive axial flux motor to rotate the drum, a gyroscope to measure movement of the drum.
  • said laundry apparatus comprises a non-rotating assembly suspended within the outer cabinet, and a rotating assembly, comprising the drum, received within the non-rotating assembly and configured to hold laundry during operation of the apparatus, wherein rotation of the rotating assembly relative to the non-rotating assembly is directly driven by the axial flux motor.
  • the present invention may be said to comprise a method of assessing out of balance in an axial flux motor horizontal axis drum laundry apparatus comprising during operation of the laundry apparatus: receiving from sensors input to determine a rotating inertia, static imbalance, dynamic imbalance and phase difference between movement of one or more axes of the drum and motor and/or speed, and generating output indicative of out of balance mass in the drum.
  • the present invention may be said to comprise an axial flux motor horizontal axis drum laundry apparatus comprising a gyroscope to measure movement of the drum during operation of the laundry apparatus, and a controller configured to: receive from sensors a rotating inertia, static imbalance, dynamic imbalance and phase difference between movement of one or more axes of the drum and motor and/or drum speed, and generate output indicative of out of balance mass in the drum.
  • the apparatus further comprises the controller modifying operation of the laundry apparatus based on the output.
  • This invention may also be said broadly to consist in the parts, elements and features referred to or indicated in the specification of the application, individually or collectively, and any or all combinations of any two or more of said parts, elements or features, and where specific integers are mentioned herein which have known equivalents in the art to which this invention relates, such known equivalents are deemed to be incorporated herein as if individually set forth.
  • Figures 1A to ID show horizontal axis laundry apparatus in diagrammatic form, directly driven by an electric motor and with a gyroscope and controller to implement OOB assessment and/or control.
  • Figures 2A, 2B, 2C show, in diagrammatic form, how static and dynamic OOB mass and angle can be modelled to provide an indication of the balance of laundry in a laundry apparatus drum.
  • Figures 3, 4 show in diagrammatic form and flow diagram form a high level method for assessing out of balance in a laundry apparatus.
  • Figures 5, 6 show in diagrammatic form a particular example of a method for assessing out of balance in a laundry apparatus.
  • Figure 7 shows motor angular position over time for a motor driving rotation of the rotating assembly of the laundry apparatus.
  • Figure 8 shows the output, for x, y and z axes, of a gyroscope mounted to a nonrotating assembly of the laundry apparatus.
  • Figures 9A, 9B shows a graph of the various spin speeds versus time of a typical dehydration spin cycle during which multiple out of balance assessments are made at various time points, and an improved dehydration spin cycle according to the present embodiments.
  • Figure 10A, 10B respectively show a matrix of criteria for determining and OOB condition.
  • out of balance A brief description of out of balance will be described with reference to Figures 2A, 2B. It should be appreciated that those skilled in the art will understand the nature of out of balance, so it does not need to be described in detail.
  • the present method involves determining, using a model, the static and dynamic imbalance of a representative drum (“notional drum”) 1 as it spins with an out of balance load.
  • a representative drum (“notional drum”) 1
  • an actual washing machine has a rotating inner drum 11 and a non-rotating outer drum 5, which together form part of a rotating and non-rotating assembly respectively. This combination can be more generally modelled by a notional drum 1.
  • the notional drum 1 and the actual drums 5, 11 will be described herein.
  • the static imbalance is a vector, the scalar quantity of which can be represented as shown in Figure 2A, by an equivalent notional mass (“static OOB mass”) 27 located centrally along the axial direction (x-axis) of the drum, and at the drum radius R.
  • the static OOB mass exerts a radially outward centrifugal force on the drum as it spins, and causes an oscillatory vibration of the suspended assembly in a plane orthogonal to the axis of rotation, here represented by the arrows Y and Z.
  • the static OOB mass 27 causes gravity to exert torque on the notional drum 1 about the axis of rotation (about the x-axis). That is, there is a negative torque (relative to the direction of rotation "m") as the drum lifts the mass towards its highest point of the revolution, and a positive torque as the mass falls toward its lowest point of the revolution. This results in a variation in the rotational speed (i.e. angular velocity) of the drum during each revolution, and thus a cyclic variation of the rotating notional drum 1 .
  • the dynamic imbalance is a vector, the scalar quantity of which can be represented as shown in Figure 2B by an equivalent pair of notional masses ("dynamic OOB mass”) 28A, 28B that are equal and opposite each other rotationally, but separated axially.
  • dynamic OOB mass an equivalent pair of notional masses
  • the mass pair As the notional drum 1 rotates, the mass pair generate rocking couples about the x, y and/or z axes that cause the notional drum 1 to "wobble" or otherwise moves with a cyclic variation.
  • the dynamic imbalance may tend to generate a rocking couple about only one, or primarily one, of either the x, y or z axis.
  • cyclic variation it is not necessarily meant just rotational motion, but rather any motion that occurs according to some cyclical motion such as rotation and/or simple harmonic motion/sine wave function).
  • the movement of the drum when spinning in the out of balance condition is thus dependent on both the cyclic variations of the static imbalance, the cyclic (e.g. "wobbling") variations of the dynamic imbalance and the phase difference between those two excitations, as well as the natural resonances of the suspended assembly system.
  • the static and dynamic OOB masses 27, 28A, 28B are not necessarily representative of the actual physical location and size of actual OOB masses in drum, but rather notional masses that provide a model which can specify notional drum 1 motion.
  • the size and location/distribution of the OOB masses can be used to make an assessment as to whether or not the actual inner/outer drum assembly 11, 5 might be out of balance (due to an unevenly distributed real mass (i.e. laundry load)), and how severe or problematic the out of balance loading is going to be during advancement of the spin phase.
  • Figures 2A, 2B represent static and dynamic imbalance in a horizontal axis machine
  • the OOB condition in a vertical axis machine can likewise be modelled in terms of static and dynamic imbalance.
  • Figure 2C shows a diagrammatic representation of the static and dynamic OOB masses, which do not necessarily rotate in phase with one another.
  • the dynamic OOB angle is the angle between the orientation of the static imbalance and the orientation of the dynamic imbalance.
  • the method and apparatus relate to balance of a laundry apparatus that can be modelled ("out of balance model") as a notional drum 1 with static and dynamic imbalance vectors from which cyclic variation of nominal static and dynamic masses can be determined.
  • the cyclic variation can be rotational motion and/or other cyclical motion such as simple harmonic motion/sine wave function). This results in a cyclic variation of a rotating (could also be termed "angular") frame of reference and a cyclic variation in a translational frame of reference (which can result in precession/wobbling).
  • the cyclic variation provides information from which an out of balance condition can be determined (OOB assessment).
  • OOB sensors such as one or more gyroscopes, accelerometers, IMUs, motor sensors, positional sensors, angular sensors and the like can be used to provide input information.
  • the OOB sensors can be placed on the actual laundry apparatus in suitable locations to capture cyclic variation of the rotational and/or translation frames of reference.
  • the OOB sensors provide OOB input parameters which can be used to model the notional drum and the static/dynamic imbalance and/or static/dynamic OOB masses and/or cyclic variation.
  • This provides OOB output parameters, such as static OOB mass, dynamic OOB mass, and dynamic OOB angle. These are used to make an OOB assessment to determine the OOB condition (which could be imbalance, balance, or other assessment), from which laundry apparatus control strategies can be determined and/or implemented.
  • the laundry apparatus 1 in this case a horizontal axis/front- loader laundry apparatus - but more generally could be, without any limitation, a washer, dryer or combination washer-dryer
  • the laundry apparatus 1 has a motor 10, a horizontal axis internal drum 11 and an outer drum 5 suspended in an outer cabinet ("housing") 12, a gyroscope 13, a weight sensor 14, and a motor sensor 15.
  • the motor drives the drum 11 to rotate and rotationally oscillate in the axial direction along the x axis (see insert Figure ID).
  • the output signals of the weight sensor 14 can be used to derive information representative of the drum mass and/or rotational inertia.
  • the output signals of the motor sensor 15 (which could be an angular sensor, an angular velocity sensor, to obtain one or more of motor current, voltage, torque, position and/or speed) can be used to derive information representative of the cyclic variations in angular velocity of the inner drum 11 spinning with an out of balance load.
  • the weight sensor 14 and motor sensor 15 are optional and instead it is possible to determine load mass (and therefore load inertia) and motor speed (and therefore cyclic variations in the angular velocity of the drum) "sensorlessly" via the motor current/torque (e.g. from output from a motor controller).
  • FIG. 1A a laundry machine (apparatus) 1 of the horizontal-axis (also termed "front-loading") variety is shown.
  • the front-loading machine includes an outer cabinet 12 with a front door 3 allowing access to a perforated rotatable inner drum 11 for holding a load of laundry such as clothing for washing, and mounted within the outer cabinet to rotate about a horizontal axis (x-axis).
  • a generally cylindrical, fixed (non-rotating) outer drum 5 for containing washing liquid is mounted (suspended, for example on springs 18) within the cabinet 12 around the rotating inner drum 11.
  • a motor 10 is attached at the rear of the outer drum 5 to directly drive rotation of the inner drum 11 relative to the outer drum 5 about the horizontal axis.
  • Figure IB shows, in cross section, the inner and outer drums 11 and 5, and motor 10, of the laundry machine.
  • the outer cabinet 2 is not shown.
  • the stator 6 of the motor (shown in this Figure as an axial flux motor 7) is fixedly attached at the end of the (non-rotating) outer drum 5, for example by mounting to the bearing housing structure 16 which is held in the end wall 5a of outer drum 5.
  • Rotor 8 external to the outer drum 5 is rotationally fixed to the outer end of a rotor shaft 9 which extends through a passage in the end of the outer drum 5 and engages with the rotating inner drum 4 at its other end.
  • the rotor shaft 9 is mounted via at least one or more bearings 14, such as roller bearings, carried by the bearing housing component 16.
  • the following description refers to: a) the "rotating assembly”, which comprises the inner drum 11 containing a laundry load and the rotating parts of the motor 10/7 (for example the rotor 8); b) the “non-rotating assembly”, which comprises the outer drum 5 and fixed/non- rotating parts of the motor 10/7 (for example the stator 6) and c) the "suspended assembly", which comprises the rotating assembly and nonrotating assembly which are, as an assembled unit, suspended inside of the cabinet 12.
  • the rotating assembly could have motion in the rotational frame of reference
  • the non-rotating assembly could have motion in the translational frame of reference, although this is not essential.
  • the method of the present embodiments could alternatively be carried out in a laundry machine directly driven by some other type of electric motor (such as a radial flux motor), or in a machine that is not directly driven and is instead driven via a belt and/or gearbox.
  • some other type of electric motor such as a radial flux motor
  • the method relies on detecting cyclic variations (e.g. by measuring angle and/or angular velocity to obtain one or more of motor current, voltage, torque, position and/or speed) )to determine the static imbalance of the rotating inner drum 11, it may be preferred to carry out the method in a directly driven laundry machine where the rotor of the motor has a direct rigid connection to the rotating inner drum.
  • the embodiment shown has an axial flux motor, but that is not essential and e.g. a radial flux motor could be used for the apparatus/method described herein.
  • a radial flux motor could be used for the apparatus/method described herein.
  • carrying out the method in a laundry machine driven by an axial flux motor can be beneficial because such a motor provides a higher torque (compared to a radial flux motor of similar diameter and thickness).
  • the apparatus provides a method and/or apparatus to determine various input parameters, as follows.
  • a method and/or apparatus is provided for determining the cyclic variation in angular velocity of the non-rotating assembly as it "wobbles" or otherwise moves with cyclic variation in 3 dimensional space.
  • These variations can be detected by OOB sensors associated with the non-rotating assembly.
  • a gyroscope 13 (or other angular velocity sensor) is attached to the non-rotating assembly, for example, at a location along the axial length of the suspended outer drum 5, as shown diagrammatically in Figure 1C. The rocking motion of the suspended outer drum 5 is measured by the gyroscope.
  • the gyroscope 13 outputs a combined signal, or three separate signals, indicating the movement of the drum in the x, y and/or z axes.
  • the axes can be seen in Figure ID.
  • the output signals take the form of a sine wave, as the drum 11 moves about each axis in approximately a sinusoidal manner.
  • An example of the output signal from a suitable gyroscope is shown in Figure 8.
  • the output signals of the gyroscope are used to derive information representative of the cyclic variation in the angular velocity of the non-rotating assembly.
  • the gyroscope 13 is preferably mounted to the outer drum (e.g. 5 in Figure 1C) of the suspended assembly of the washing machine. Studying the way that the suspended assembly reacts to excitation and mounting the gyroscope so that one of its axes aligns with the drum's preferred axis of motion can make the calculation stages of the method easier.
  • the apparatus may have a weight sensor 14 used for determining the mass of the drum (including the clothing load and any absorbed water) and/or rotational inertia.
  • the mass sensor may be located in the feet of the washing machine, or attached at the suspension, for example, in order to measure extension of springs 18 under the weight of the load.
  • data from the motor such as one or more of motor current, voltage, torque, position and/or speed
  • estimate the mass and rotational inertia of the rotating assembly based on the torque required to accelerate the rotating inner drum 11 from a first speed to a second speed.
  • the apparatus may have a motor speed and/or position sensor 15 use for determining the angular velocity of the motor.
  • a hall effect sensor or encoder could be used.
  • data from the motor such as current, (or some other type of sensorless control methodology) to estimate the position and/or speed of the motor.
  • the gyroscope 13, weight sensor 14 (if used), motor speed 15 (if used) and/or position sensor (if used) and any other component that provides information from which the OOB condition can be characterised is termed an "OOB sensor".
  • the OOB sensors might be used for other assessment and control also, in addition to OOB assessment and control.
  • the motor itself can be used as an OOB sensor, to the extent that data from the motor (such as current, torque, position, speed and temperature) can be processed to provide information which may alone, or in combination with other information, enable the OOB condition to be assessed. This might comprise determining whether an OOB condition exists, and/or determining the character or severity of the OOB condition if it exists. This might comprise comparing one or more OOB outputs to a predetermined threshold or limit.
  • Figures 10A, 10B respectively show a matrix of criteria for determining and OOB condition.
  • a two dimensional matrix 110 setting out quadrants 110A to HOB for values of static OOB mass 112 and dynamic OOB mass 113 could be used, each quadrant 110A to HOB separated by a combination of static OOB mass 114 and dynamic OOB mass thresholds 115.
  • a OOB condition can be determined as existing 11A or not existing 11B, and what control should be applied (being any of those described herein).
  • a three dimensional matrix 120 setting out cubic regions e.g. 120A for values of static OOB mass 112 and dynamic OOB mass 113 and dynamic OOB angle 121.
  • Each cubic region e.g. 120A is separated by a combination of static OOB mass 114 and dynamic OOB mass 115 thresholds and a dynamic OOB angle 122 threshold.
  • a OOB condition can be determined as existing 11A or not existing 11B, and what control should be applied (being any of those described herein).
  • OOB condition decisions could be used, and the above is by way of example only. Look-up tables, algorithms, empirical data, formula or others could be used, for example.
  • the apparatus also has a controller 16.
  • the controller is connected to the motor and/or motor sensor, gyroscope, weight sensor and any other OOB sensors (e.g. accelerometers) and any other sensors of the laundry machine.
  • the controller can provide signals to drive the motor, which in turn drives rotation of the drum.
  • the controller is programmed among other things to receive input data, generate OOB output (to be described later) indicative of the balance of laundry in the drum, and then take appropriate action.
  • controller could be programmed to take one or more of the following actions:
  • OOB control method is implemented in the controller and/or by control of various operations of the washing machine 1, such as control of the motor 10. This is just one non-limiting example.
  • the controller 16 receives inputs and makes an assessment about the balance of the load in the washing machine drum. Based on the assessment, the controller 16 can then take appropriate operational actions on the washing machine.
  • the controller 16 uses the following OOB input parameters 20, which come from OOB sensors.
  • Rotating inertia 20A o this can be determined from mass information and take the units (Kg.m 2 )
  • Rotating assembly parameter 20B o One or more parameters being or indicative of rotating assembly motion, one non-limiting example being motion in a rotational frame of reference, such as magnitude and phase of cyclic variation in angular velocity of the rotating assembly.
  • the rotating and non-rotating inputs can be used to determine a relative phase angle between the phase of the rotating assembly motion and phase of the non-rotating Assembly motion ("relative phase") 20D, which is fed into the model. This could be deemed to be an OOB input parameter into the model in lieu of the rotating assembly and no-rotating assembly parameters.
  • motor (or inner drum) speed may be a further OOB input parameter.
  • the motor speed may be ascertainable from the motor/motor sensor output and/or rotating assembly parameter, given that the motor is directly driving rotation of the rotating assembly. Alternatively there may be a separate sensor or sensor output for communicating information from which motor speed can be derived.
  • the controller 16 receives and processes the OOB sensor outputs (from the controller perspective, OOB sensor input) from various the sensors (.e.g. sensor 13, 14, 15), step 30, to determine/generate the OOB input parameters 20, step 31. In particular, the controller 16 receives and processes the following OOB sensor input:
  • step 31 the box "calculate magnitude and phase angle" relates to the relative phase input, but also contains the rotating assembly parameter and non-rotating assembly parameter information. As will be described later, the magnitude and phase angle relating to each of the rotating and non-rotating assembly are determined by processing the OOB sensor output.
  • the OOB input parameters 20 are processed in a model 24 (e.g. comprising look-up tables and/or equations), step 32, in order to determine/generate one or more OOB outputs 25, step 33, being OOB output parameters and/or control signals.
  • processing the OOB input parameters to generate OOB outputs comprises one or more of: simultaneously solving dynamic motion equations, and using look-up tables to retrieve appropriate values from pre-solved dynamic motion equations.
  • the OOB outputs are a range of parameters and/or signals which can be used to assess or characterise the out of balance condition and/or assess actions that should be taken and/or implement those actions 26, step 33.
  • the OOB output parameters can be one or more of:
  • An OOB condition (can also be termed an OOB state) means the state of the wash load/drum - whether it is out of balance or not out of balance, or some other indicator of its balance status.
  • the OOB control signals can be anything to control an operation of the laundry apparatus in response to a OOB condition.
  • the OOB input parameters 20 are provided into a process model 24 that is implemented by the controller 16.
  • the model 24 implements a function of the OOB input parameters as follows.
  • Model f( rotating inertia, rotating assembly parameter, non-rotating assembly parameter)
  • Model f( rotating inertia, rotating assembly parameter, non-rotating assembly parameter, relative phase, speed) and could comprise equation(s), algorithm(s), numerical method(s), look-up table(s) and/or other mathematical construct(s) which can be used to process the OOB input parameters 20 to generate the OOB outputs 25.
  • the model can be based on equations which describe the motion of the notional drum 1 under OOB conditions (which can lead to inferences about the OOB condition of the actual suspended assembly), assuming it to behave as a rigid rotating body. Motion of the suspended assembly may also be described as a mass/damper/spring systems.
  • a speed could be used in addition, for example.
  • the model just item 24.
  • the rotating assembly parameter and non-rotating assembly parameter are used to obtain relative phase which is fed into the model, the model could be characterised as follows.
  • Model f( rotating inertia, relative phase) or
  • the controller 16 implements the model 24 at suitable times in the laundry apparatus cycle. During those periods, the method of Figure 4 is repeated/iterated. During the periods where the model 24 is implemented, the controller 16 can generate the OOB outputs 17 continuously or periodically, based on taking sensor 13, 14, 15 outputs or other outputs continuously or periodically.
  • the platform is provided for the gyroscope 13 X-axis to be aligned with the axis (X-axis) of rotation of the drum 11.
  • the gyroscope sensor is mounted on the non-rotating assembly, on a sidewall of the outer drum 5.
  • the gyroscope sensor is part of an Inertial Measurement Unit IC (IMU) which also includes a 3-axis accelerometer, however only the gyroscope output is required for processing.
  • IMU Inertial Measurement Unit
  • both the rotating assembly parameter/motion and non-rotating assembly parameter/motion could be derived from a single IMU, however the difficulties of mounting and axially positioning the IMU on the motor/inner drum 11 make this alternative less attractive.
  • the controller 16 implements a dynamic behaviour model 24 on an operating basis at a suitable time in the washing machine cycle.
  • the method is implemented during a spin cycle (dehydration cycle).
  • a spin cycle typically, a spin cycle has various stages where the drum angular velocity (spin speed) increases at each stage. As the spin speed increases, it reaches a plateau where the speed remains constant, before accelerating to a higher spin speed plateau.
  • spin speed drum angular velocity
  • multiple OOB decisions are be made during the cycle - typically an OOB decision is made at each plateau.
  • the washing apparatus will not increase the spin speed to the next plateau, unless an out of balance detection is undertaken, and no out of balance is detected at a previous plateau. In many cases, the out of balance loading may not be detected until the spin speed has got up to the second, third or subsequent plateau.
  • the OOB method (to determine an OOB condition) is made at the first spin speed cycle plateau, but the efficacy of the method is such that the dynamic behaviour of the drum (in its present loading condition) can be more accurately predicted for subsequent/higher speeds. This may be sufficient to make a decision to push to higher spin speeds, without further OOB detection being required.
  • OOB load mitigation is required, it can be done at the early stage when the drum is still spinning relatively slowly, rather than a later stage. OOB monitoring can still continue throughout all spin cycle stages, but there is a better chance that any out of balance is detected and mitigated much earlier.
  • Model f( rotating inertia, rotating assembly parameter, non-rotating assembly parameter)
  • Model f( rotating inertia, rotating assembly parameter, non-rotating assembly parameter, relative phase, speed)
  • the model could be re-characterised as:
  • Model f( rotating inertia, relative phase) or
  • Model f( rotating inertia, relative phase, speed) from the following inputs.
  • these inputs could be determined continuously or at discrete points in time (using a suitable sampling period), using sensors and/or sensorlessly. Below are just examples of how the parameters could be determined.
  • model inputs rotating assembly parameter, non-rotating assembly parameter, (or relative phase), speed
  • step 31 which can be termed "OOB input parameters”.
  • OOB input parameters might take the form for example, of an OOB input signal that specifies the OOB input parameter.
  • Model determines OOB output parameters (such as static OOB mass, dynamic OOB mass and dynamic OOB angle), step 32. Together, these can be used to determine an OOB condition (such as whether the laundry apparatus is out of balance or not) which can then be used to determine and implement a suitable control action, step 33.
  • the mass and/or rotating inertia, of the rotating assembly may be determined by applying an acceleration to the motor 10 and observing the response of the drum 11. For example, if the motor speed is increased from 120 - 180 RPM, the response (e.g. lag) in the actual increase in angular velocity of the rotating assembly can be used to determine mass and/or inertia. Alternatively, the motor could be allowed to coast and the response of the drum observed. Rotating inertia is specified in kg.m 2 . This is just one example, and the rotating inertia could be calculated from other inputs relating to the motor, or relating to other aspects of the apparatus. In yet further variation, a weight sensor could be used to measure the mass of the load, and hence calculate the rotating inertia.
  • the rotating assembly parameter 20B is calculated from the motor/sensor output and provided to the model 24.
  • Figure 5 shows the steps, while Figure 6 shows representation of the information determined at each step.
  • the controller 16 receives motor speed input 60 (in this case, angular position versus time) from the motor 10 controller and/or motor speed/angular position sensor 15 in order to determine motor speed (that is, motor angular velocity).
  • motor speed input 60 in this case, angular position versus time
  • the input 60 could take the form of an angular position of the motor 10 at various points in time, which via differentiation can be converted to an angular velocity.
  • the angular position information 60 is accumulated over time and is differentiated to provide an angular velocity (also termed “motor speed” or “drum rotation speed”) 62.
  • the angular velocity comprises a base velocity component 63 (offset), which relates to the intended rotational speed of the motor 10/drum 11 (that is, rotational speed in normal conditions, in the absence OOB).
  • the base velocity component 63 is actually increasing (increasing trend), which indicates an increase of rotational speed of the motor as the spin cycle progresses.
  • the angular velocity 62 also comprises an oscillating (“cyclic”) component 64, that relates to the per revolution variation in angular velocity variation due to static OOB mass.
  • the base component 63 can be filtered out (to de-trend and remove offset 61-63) from the angular velocity 62, leaving the oscillating ("cyclic") component 64.
  • This component 64 is a rotating assembly parameter signal (that represents a rotating assembly (OOB) input parameter - 1/rev ripple magnitude and phase of angular velocity of the rotating assembly spinning about the x axis) that is provided to the model as the rotating assembly parameter 20B. This can be used to determine static OOB mass (one of the OOB output parameters 25) as will be described in the model description below.
  • OOB rotating assembly
  • the non-rotating assembly parameter 20C is calculated from the gyroscope and provided to the model 24.
  • Figure 5 shows the steps, while Figure 6 shows representation of the information at each step.
  • the gyroscope 13 outputs a combined signal, or three separate signals, indicating the movement of non-rotating assembly.
  • the gyroscope measures tilt in the x, y and z axes.
  • Figure 8 shows typical outputs from a gyroscope on z, y and z axes. Generally this takes the form of a sine wave, as the drum 11 wobbles on each axis in approximately a sinusoidal manner. Since the rotating assembly moves together with the non-rotating assembly (i.e. both are part of the suspended assembly) the non-rotating assembly parameter is indicative of the motion of both the inner drum 11 and outer drum 5.
  • the controller 16 receives sensor input 65 from the gyroscope 13.
  • the controller can receive and process all three gyroscope signals (that is X, Y and Z axes) , or just two signals for two of the axes, or just one signal for one axis.
  • the signal for a single (z) axis is taken.
  • the signal for two, (z, y axes) is taken.
  • the gyroscope 13 z-axis output is captured/sampled 65 and then processed. Where there is a dynamic imbalance, the output of the gyroscope 13 will be generally sinusoidal, although may have noise or other variations also, as can be seen in graph 65, Figure 6.
  • the signal can be filtered (de-trended and remove any offsets 66) leaving the oscillating ("cyclic") component 66 (which in this case is the variation in angular velocity about the z-axis).
  • This component 66 is a non-rotating assembly parameter signal (that represents a non-rotating assembly OOB input parameter - 1/rev signal magnitude and phase of angular velocity of the non-rotating assembly moving about the z axis) that is provided to the model 24 as the non-rotating assembly parameter 20C. This can be used to determine dynamic OOB mass (one of the OOB output parameters 25) as will be described in the model description below.
  • the controller 16 looks at the phase difference between the variation in motor angular velocity (which represents the spin of the rotating assembly on the x-axis), and the variation in angular velocity detected by the gyroscope (which represents the wobbling (or other cyclic variation) movement of the notional drum 1 in the x, z and/or y axis).
  • the z-axis movement is used.
  • the controller 16 uses the non-rotating assembly parameter signal 66 and the rotating OOB signal 64 previously determined, and determines the relative phase angle between them 68. It can do this by calculating a 1/revolution ripple magnitude and phase 67 from each signal 66, 64 and determining a phase diagram.
  • phase difference OOB input 68 (which is a relative phase OOB input signal (that represents a relative phase OOB input parameter), which can be provided to the model 24 as the relative phase OOB input. This can be used to determine dynamic OOB angle (one of the OOB output parameters 25) as will be described in the model description below.
  • Motor speed relates to the speed of the motor rotating (e.g. angular velocity) and can be measured in any suitable way, such as through motor current.
  • motor speed could be determined by processing the rotating assembly parameter signal (in which case the motor speed may be represented by the base velocity component 63), however in other embodiments it may be provided as a separate signal or parameter.
  • the model 24 comprises a series of equations describing the motion of the rotating assembly (assuming it to behave as a rigid body both spinning about the x axis and wobbling about the z axis) which are solved simultaneously using numerical methods. If additional axes of gyroscope data are provided to the model, then the equations could be derived and solved to also take into account wobble of the drum on its other axes.
  • the model is a function of three OOB input parameters (or two parameters if recharacterising the model so the relative phase as an input instead of rotating/non- rotating assembly parameters), which are obtained as described above
  • equations of motion for a rotating rigid body could be derived by a skilled person or obtained from a reference (e.g. textbook) on dynamic modelling.
  • this model can be represented by the following equations.
  • Model f( rotating inertia, rotating assembly parameter, non-rotating assembly parameter)
  • the model could be re-characterised as:
  • Model f( rotating inertia, relative phase) or
  • the model may be solved using look-up tables to retrieve appropriate values from pre-solved equations of motion. For example, if the dynamic motion equations are pre-solved for different rotational speeds, then the appropriate values may be selected from a table based on the actual rotational speed at which the laundry machine is operating at the time the OOB assessment is made.
  • controller 16 can determine and output the following OOB output parameters 25 representative of the actual static and dynamic imbalance of the rotating assembly:
  • These OOB outputs 25 are indicative of the balance (that is balanced or out of balance) of laundry in the drum.
  • the outputs can be used to determine the existence of an OOB condition and/or determine what can be done to mitigate the OOB condition.
  • the three OOB output parameters are compared to thresholds or limits (for example, thresholds or limits that define acceptable static and dynamic OOB mass values for operation of the laundry machine at certain rotational speeds), and from that a determination is made whether the laundry apparatus is out of balance - it is, the OOB condition (status) is deemed out of balance and the appropriate control actions are taking to mitigate (which comprises reducing, resolving, improving or eliminating) OOB laundry in the drum.
  • the OOB output parameters are placed in a matrix or other data structure, and from that OOB condition determined.
  • One or more of these actions can mitigate OOB laundry in the drum (e.g. redistributing the laundry so it is no longer clumped in one location).
  • mitigation involves moving the drum in an attempt to shift the laundry so it is no longer out of balance.
  • a laundry machine herein can cover, without any limitation, a washer, dryer or combination washer-dryer.
  • OOB input parameters including the use of a relative phase between rotational and translation frames of reference (e.g. between the motor speed and the x, y and/or z axis movement), as inputs to a model that can assess out of balance, which could in then be used to make appropriate control of the machine.
  • the OOB sensors, their placement and OOB parameter inputs described are not the options. Any suitable arrangement of OOB sensors to obtain suitable OOB inputs for the model can be used. As one example, a single IMU could be used to obtain the inputs. In another options, a laundry apparatus with an axial flux motor and a gyroscope could be used.
  • the embodiments give much more information about the OOB mass size and distribution much earlier in the spin cycle. This enables an early decision about OOB condition, and enables earlier actions to be taken, which minimises disruption to the spin cycle.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Testing Of Balance (AREA)
  • Control Of Washing Machine And Dryer (AREA)

Abstract

Procédé d'évaluation du déséquilibre dans un appareil de blanchisserie comprenant, pendant le fonctionnement de l'appareil : la réception d'une sortie à partir d'un ou de plusieurs capteurs OOB, la détermination à partir de la sortie du capteur OOB : d'une masse et/ou d'une inertie de rotation, et d'une phase relative entre un mouvement d'ensemble rotatif et un mouvement d'ensemble non rotatif, et la génération d'une sortie OOB indiquant l'équilibre du linge dans le tambour.
PCT/IB2022/060761 2021-11-10 2022-11-09 Procédé et appareil de déséquilibre WO2023084400A1 (fr)

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US20070039104A1 (en) * 2005-08-19 2007-02-22 Lg Electronics Inc. Apparatus for sensing type of unbalance of washing machine and method thereof
WO2007149209A2 (fr) * 2006-06-21 2007-12-27 Alliance Laundry Systems Llc Système de commande de machine à laver le linge pour détecter un déséquilibre de charge et sélectionner une vitesse d'extraction
WO2010026246A1 (fr) * 2008-09-08 2010-03-11 Arcelik Anonim Sirketi Machine à laver séchante
DE102009028508A1 (de) * 2009-08-13 2011-02-17 BSH Bosch und Siemens Hausgeräte GmbH Verfahren zum Ermitteln einer Unwucht bei einer Wäschetrommel einer Waschmaschine und Waschmaschine
EP2330244A1 (fr) * 2008-08-22 2011-06-08 Panasonic Corporation Machine à laver
US20170096760A1 (en) * 2015-10-01 2017-04-06 Whirlpool Corporation Laundry treating appliance and methods of operation
US20180016728A1 (en) * 2016-07-15 2018-01-18 Haier Us Appliance Solutions, Inc. Washing machine appliance out-of-balance detection
EP3690103A1 (fr) * 2019-02-01 2020-08-05 LG Electronics Inc. Machine à laver et son procédé de commande

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070039104A1 (en) * 2005-08-19 2007-02-22 Lg Electronics Inc. Apparatus for sensing type of unbalance of washing machine and method thereof
WO2007149209A2 (fr) * 2006-06-21 2007-12-27 Alliance Laundry Systems Llc Système de commande de machine à laver le linge pour détecter un déséquilibre de charge et sélectionner une vitesse d'extraction
EP2330244A1 (fr) * 2008-08-22 2011-06-08 Panasonic Corporation Machine à laver
WO2010026246A1 (fr) * 2008-09-08 2010-03-11 Arcelik Anonim Sirketi Machine à laver séchante
DE102009028508A1 (de) * 2009-08-13 2011-02-17 BSH Bosch und Siemens Hausgeräte GmbH Verfahren zum Ermitteln einer Unwucht bei einer Wäschetrommel einer Waschmaschine und Waschmaschine
US20170096760A1 (en) * 2015-10-01 2017-04-06 Whirlpool Corporation Laundry treating appliance and methods of operation
US20180016728A1 (en) * 2016-07-15 2018-01-18 Haier Us Appliance Solutions, Inc. Washing machine appliance out-of-balance detection
EP3690103A1 (fr) * 2019-02-01 2020-08-05 LG Electronics Inc. Machine à laver et son procédé de commande

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