CN108930127B - Eccentricity sensing method, eccentricity sensing device and pulsator washing machine - Google Patents
Eccentricity sensing method, eccentricity sensing device and pulsator washing machine Download PDFInfo
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- CN108930127B CN108930127B CN201710382474.0A CN201710382474A CN108930127B CN 108930127 B CN108930127 B CN 108930127B CN 201710382474 A CN201710382474 A CN 201710382474A CN 108930127 B CN108930127 B CN 108930127B
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Abstract
The invention provides an eccentricity sensing method of a pulsator washing machine, an eccentricity sensing device of the pulsator washing machine and the pulsator washing machine, wherein the eccentricity sensing method of the pulsator washing machine comprises the following steps: when the pulsator washing machine enters a dehydration stage, collecting the running speed of a motor of the pulsator washing machine; when the running rotating speed is within a preset rotating speed range, acquiring a plurality of preset currents of the motor in each electrical cycle; determining a current maximum value of the plurality of preset currents in each electrical cycle; and identifying the eccentricity of the pulsator washing machine according to the first current maximum value and the second current maximum value in every two adjacent electric cycles. Through the technical scheme of the invention, the specific eccentricity condition of the pulsator washing machine can be actively identified, so that the working state of the next stage of the pulsator washing machine is intelligently and diversely controlled according to the identified eccentricity condition, the eccentricity intelligent sensing is realized, and the user experience is improved.
Description
Technical Field
The invention relates to the technical field of washing machines, in particular to an eccentricity sensing method of a pulsator washing machine, an eccentricity sensing device of the pulsator washing machine and the pulsator washing machine.
Background
At present, the dehydration stage of the pulsator washing machine in the market is a multi-degree-of-freedom nonlinear working stage, and when eccentricity exists, the output of a motor is uncertain to cause a displacement or vibration phenomenon due to the action of a saline ring; in order to prevent the washing machine from colliding with the tub, most pulsator washing machines generally adopt a mechanical tub collision switch to judge the eccentricity,
however, when the eccentricity is recognized by a mechanical tub-hitting switch, the active sensing of eccentricity cannot be realized, and when the eccentricity of the wave wheel washing machine is large, the washing machine is generally protected after a serious tub-hitting state occurs, so that the user experience is poor.
Therefore, the eccentricity sensing technology of the pulsator washing machine needs to be improved.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
Therefore, an object of the present invention is to provide a novel eccentricity sensing method for a pulsator washing machine, which can actively identify a specific eccentricity condition of the pulsator washing machine, so as to intelligently and variously control a next-stage working state of the pulsator washing machine according to the identified eccentricity condition, thereby improving user experience while implementing intelligent eccentricity sensing.
The invention also provides an eccentric sensing device of the pulsator washing machine and the pulsator washing machine.
To achieve at least one of the above objects, according to a first aspect of the present invention, there is provided an eccentricity sensing method for a pulsator washing machine, including: when the pulsator washing machine enters a dehydration stage, collecting the running speed of a motor of the pulsator washing machine; when the running rotating speed is within a preset rotating speed range, acquiring a plurality of preset currents of the motor in each electrical cycle; determining a current maximum value of the plurality of preset currents in each electrical cycle; and identifying the eccentricity of the pulsator washing machine according to the first current maximum value and the second current maximum value in every two adjacent electric cycles.
In the technical scheme, when the pulsator washing machine enters a dehydration stage, a plurality of preset currents of the motor in each electrical cycle are collected when the running rotating speed of the motor of the pulsator washing machine is within a preset rotating speed range, the maximum value of the current in each electrical cycle is determined by comparing the magnitudes of the preset currents in each electrical cycle, the eccentricity condition of the pulsator washing machine is actively identified and sensed according to the two maximum values of the current in each two adjacent electrical cycles, the working state of the next stage of the pulsator washing machine is further intelligently and diversely controlled according to the judgment result of the specific eccentricity condition of the pulsator washing machine, and the user experience is improved while the eccentricity intelligent sensing is realized.
In the above technical solution, preferably, the step of identifying eccentricity of the pulsator washing machine according to a first current maximum value and a second current maximum value in every two adjacent electrical cycles includes: judging whether the absolute value of the difference between the first current maximum value and the second current maximum value is larger than a preset current value or not; if so, increasing the current accumulated times by 1 to serve as new accumulated times, and identifying the eccentricity of the pulsator washing machine according to the new accumulated times, wherein the accumulated times are times that the absolute value of the difference between the two current maximum values in two adjacent electric periods is continuously larger than the preset current value; if not, acquiring the current maximum value in the next electrical cycle to continuously judge whether the absolute value of the difference between the two current maximum values in each two adjacent electrical cycles is larger than the preset current value, and identifying the eccentricity of the pulsator washing machine according to the judgment result.
In the technical scheme, in the process of identifying the eccentricity of the pulsator washing machine according to two current maximum values (a first current maximum value and a second current maximum value) in every two adjacent electric periods, specifically, firstly, calculating a difference value between the first current maximum value and the second current maximum value, then, when the absolute value of the difference value is judged to be larger than a preset current value, increasing the accumulated times that the statistical absolute value of the difference value between the two current maximum values is larger than the preset current value by 1 time, and further identifying the eccentricity condition of the pulsator washing machine according to the new accumulated times obtained after adding 1; and if the absolute value of the difference value of the current two current maximum values is not greater than the preset current value, continuously obtaining the current maximum value in the next electrical cycle, so that the new two adjacent current maximum values are continuously subjected to difference calculation and the operation of calculating the absolute value of the difference value, and the eccentricity condition of the pulsator washing machine is further identified according to the magnitude relation with the preset current value, so that the accuracy of actively sensing the specific eccentricity condition of the pulsator washing machine can be ensured, and the vibration and displacement phenomena caused by overlarge eccentricity during dehydration are effectively avoided.
In any of the above technical solutions, preferably, the step of identifying the eccentricity of the pulsator washing machine according to the new accumulated number of times includes: judging whether the new accumulated times reach preset times within preset time; if so, controlling the pulsator washing machine to carry out shaking and scattering work, wherein the eccentricity of the pulsator washing machine is abnormal; if not, the eccentricity of the pulsator washing machine is normal, and the pulsator washing machine is controlled to continue to perform dehydration.
In the technical scheme, in the process of identifying the specific eccentricity condition of the pulsator washing machine according to the accumulated times that the absolute value of the difference value of the maximum values of the currents in the two adjacent electric periods is greater than the preset current value, if the updated accumulated times reach the preset times within the preset time, namely the accumulated times that the absolute value of the difference value of the maximum values of the currents in the two adjacent electric periods within the preset time is greater than the preset current value reaches the preset times, the eccentricity abnormality of the pulsator washing machine is explained, the pulsator washing machine is easy to vibrate or shift due to the overlarge eccentricity during dehydration, and at the moment, the pulsator washing machine needs to be controlled to carry out shaking-up work to continue normal dehydration; and if the accumulated times after each updating is within the safety range of the preset times, the rotary drum washing machine can be controlled to carry out dehydration work, so that the intelligent and diversified control of the working state of the next stage of the rotary drum washing machine is realized, and the user experience is improved.
In any of the above technical solutions, preferably, after the pulsator washing machine enters a dehydration stage and before the operation rotation speed of a motor of the pulsator washing machine is collected, the eccentricity sensing method further includes: detecting whether an acceleration instruction for a motor of the pulsator washing machine is received; if so, controlling the running rotating speed of the motor to accelerate within a preset rotating speed range, otherwise controlling the running rotating speed of the motor to keep the preset rotating speed to stably run, wherein the preset rotating speed is within the preset rotating speed range.
In the technical scheme, the specific eccentricity condition of the pulsator washing machine can be identified in the motor acceleration stage of the dehydration stage, and can also be identified in the motor speed stabilization operation stage of the dehydration stage, so that the stage diversification and feasibility of the pulsator washing machine for realizing active eccentricity sensing are ensured.
In any of the above technical solutions, preferably, the preset current includes: a torque current of the motor or a bus current of the motor.
In the technical scheme, the current in the eccentricity of the motor of the pulsator washing machine can be actively sensed through the acquired current information of the motor of the pulsator washing machine, and can be the torque current in each electric cycle of the motor of the pulsator washing machine or the bus current in each electric cycle of the motor; further, the respective torque currents may be obtained by first obtaining phase currents in each electrical cycle of the motor and then coordinate-transforming them. Therefore, the accuracy of actively sensing the specific eccentric condition of the pulsator washing machine can be ensured.
According to the second aspect of the present invention, there is also provided an eccentricity sensing device of a pulsator washing machine, comprising: the acquisition module is used for acquiring the running speed of a motor of the pulsator washing machine when the pulsator washing machine enters a dehydration stage; the acquisition module is used for acquiring a plurality of preset currents of the motor in each electrical cycle when the running rotating speed is within a preset rotating speed range; a determination module for determining a current maximum value of the plurality of preset currents in each electrical cycle; and the identification module is used for identifying the eccentricity of the pulsator washing machine according to the first current maximum value and the second current maximum value in every two adjacent electric cycles.
In the technical scheme, when the pulsator washing machine enters a dehydration stage, a plurality of preset currents of the motor in each electrical cycle are collected when the running rotating speed of the motor of the pulsator washing machine is within a preset rotating speed range, the maximum value of the current in each electrical cycle is determined by comparing the magnitudes of the preset currents in each electrical cycle, the eccentricity condition of the pulsator washing machine is actively identified and sensed according to the two maximum values of the current in each two adjacent electrical cycles, the working state of the next stage of the pulsator washing machine is further intelligently and diversely controlled according to the judgment result of the specific eccentricity condition of the pulsator washing machine, and the user experience is improved while the eccentricity intelligent sensing is realized.
In the above technical solution, preferably, the identification module includes: the judgment submodule is used for judging whether the absolute value of the difference between the first current maximum value and the second current maximum value is larger than a preset current value or not; the processing submodule is used for increasing 1 to serve as a new accumulated time when the judgment submodule judges that the absolute value is larger than the preset current value, and identifying the eccentricity of the pulsator washing machine according to the new accumulated time, wherein the accumulated time is the time when the absolute value of the difference between the maximum values of the two currents in the two adjacent statistical electric periods is continuously larger than the preset current value; and the control submodule is used for controlling to obtain the current maximum value in the next electric cycle when the judgment submodule judges that the absolute value is smaller than or equal to the preset current value so as to continuously judge whether the absolute value of the difference between the two current maximum values in every two adjacent electric cycles is larger than the preset current value or not and identifying the eccentricity of the pulsator washing machine according to the judgment result.
In the technical scheme, in the process of identifying the eccentricity of the pulsator washing machine according to two current maximum values (a first current maximum value and a second current maximum value) in every two adjacent electric periods, specifically, firstly, calculating a difference value between the first current maximum value and the second current maximum value, then, when the absolute value of the difference value is judged to be larger than a preset current value, increasing the accumulated times that the statistical absolute value of the difference value between the two current maximum values is larger than the preset current value by 1 time, and further identifying the eccentricity condition of the pulsator washing machine according to the new accumulated times obtained after adding 1; and if the absolute value of the difference value of the current two current maximum values is not greater than the preset current value, continuously obtaining the current maximum value in the next electrical cycle, so that the new two adjacent current maximum values are continuously subjected to difference calculation and the operation of calculating the absolute value of the difference value, and the eccentricity condition of the pulsator washing machine is further identified according to the magnitude relation with the preset current value, so that the accuracy of actively sensing the specific eccentricity condition of the pulsator washing machine can be ensured, and the vibration and displacement phenomena caused by overlarge eccentricity during dehydration are effectively avoided.
In any one of the above technical solutions, preferably, the processing sub-module is specifically configured to: judging whether the new accumulated times reach preset times within preset time; if so, controlling the pulsator washing machine to carry out shaking and scattering work, wherein the eccentricity of the pulsator washing machine is abnormal; if not, the eccentricity of the pulsator washing machine is normal, and the pulsator washing machine is controlled to continue to perform dehydration.
In the technical scheme, in the process of identifying the specific eccentricity condition of the pulsator washing machine according to the accumulated times that the absolute value of the difference value of the maximum values of the currents in the two adjacent electric periods is greater than the preset current value, if the updated accumulated times reach the preset times within the preset time, namely the accumulated times that the absolute value of the difference value of the maximum values of the currents in the two adjacent electric periods within the preset time is greater than the preset current value reaches the preset times, the eccentricity abnormality of the pulsator washing machine is explained, the pulsator washing machine is easy to vibrate or shift due to the overlarge eccentricity during dehydration, and at the moment, the pulsator washing machine needs to be controlled to carry out shaking-up work to continue normal dehydration; and if the accumulated times after each updating is within the safety range of the preset times, the rotary drum washing machine can be controlled to carry out dehydration work, so that the intelligent and diversified control of the working state of the next stage of the rotary drum washing machine is realized, and the user experience is improved.
In any one of the above technical solutions, preferably, the eccentricity sensing device of the pulsator washing machine further includes: the detection module is used for detecting whether an acceleration instruction for the motor of the pulsator washing machine is received or not after the pulsator washing machine enters a dehydration stage and before the acquisition module acquires the running rotating speed of the motor of the pulsator washing machine; and the control module is used for controlling the running rotating speed of the motor to accelerate within a preset rotating speed range when the detection module detects the acceleration instruction, otherwise, controlling the running rotating speed of the motor to keep the preset rotating speed to stably run, and the preset rotating speed is located within the preset rotating speed range.
In the technical scheme, the specific eccentricity condition of the pulsator washing machine can be identified in the motor acceleration stage of the dehydration stage, and can also be identified in the motor speed stabilization operation stage of the dehydration stage, so that the stage diversification and feasibility of the pulsator washing machine for realizing active eccentricity sensing are ensured.
In any of the above technical solutions, preferably, the preset current includes: a torque current of the motor or a bus current of the motor.
In the technical scheme, the current in the eccentricity of the motor of the pulsator washing machine can be actively sensed through the acquired current information of the motor of the pulsator washing machine, and can be the torque current in each electric cycle of the motor of the pulsator washing machine or the bus current in each electric cycle of the motor; further, the respective torque currents may be obtained by first obtaining phase currents in each electrical cycle of the motor and then coordinate-transforming them. Therefore, the accuracy of actively sensing the specific eccentric condition of the pulsator washing machine can be ensured.
According to a third aspect of the present invention, a pulsator washing machine is further provided, which includes the eccentricity sensing device of the pulsator washing machine as described in any one of the above technical solutions.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart illustrating an eccentricity sensing method of a pulsator washing machine according to an embodiment of the present invention;
fig. 2 shows a schematic block diagram of an eccentricity sensing device of a pulsator washing machine according to an embodiment of the present invention;
FIG. 3 shows a schematic block diagram of the identification module shown in FIG. 2;
fig. 4 shows a schematic structural diagram of a pulsator washing machine according to an embodiment of the present invention;
FIG. 5 is a flow chart illustrating a method of an eccentricity sensing scheme of a pulsator washing machine according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating an eccentric sensed rotation speed curve of a pulsator washing machine according to an embodiment of the present invention;
FIG. 7 shows a box plot of a simulated eccentricity test of an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Fig. 1 shows a flow chart of an eccentricity sensing method of a pulsator washing machine according to an embodiment of the present invention.
As shown in fig. 1, the eccentricity sensing method of a pulsator washing machine according to the embodiment of the present invention specifically includes the following steps:
Further, in this step, after the pulsator washing machine enters a dehydration stage and before the operation speed of the motor of the pulsator washing machine is collected, the eccentricity sensing method may further include the following process steps:
detecting whether an acceleration instruction for a motor of the pulsator washing machine is received;
if so, controlling the running rotating speed of the motor to accelerate within a preset rotating speed range, otherwise controlling the running rotating speed of the motor to keep the preset rotating speed to stably run, wherein the preset rotating speed is within the preset rotating speed range.
In the embodiment, in the process of identifying the specific eccentricity condition of the pulsator washing machine, the eccentricity condition can be realized in a motor acceleration stage of a dehydration stage, and can also be realized in a motor speed stabilization operation stage of the dehydration stage, so that the stage diversification and feasibility of realizing active eccentricity sensing of the pulsator washing machine are ensured.
And 104, acquiring a plurality of preset currents of the motor in each electrical cycle when the running rotating speed is within a preset rotating speed range.
In this step, the preset rotation speed range is preferably 30rpm to 60 rpm; and the predetermined current includes but is not limited to: a torque current of the motor or a bus current of the motor.
That is to say, the motor current used by the pulsator washing machine to actively sense eccentricity may be a torque current in each electrical cycle of the motor of the pulsator washing machine or a bus current in each electrical cycle of the motor; further, the respective torque currents may be obtained by first obtaining phase currents in each electrical cycle of the motor and then coordinate-transforming them. Therefore, the accuracy of actively sensing the specific eccentric condition of the pulsator washing machine can be ensured.
And 106, determining the maximum value of the currents in the preset currents in each electrical cycle.
And 108, identifying the eccentricity of the pulsator washing machine according to the first current maximum value and the second current maximum value in every two adjacent electric cycles.
In the embodiment, when the pulsator washing machine enters a dehydration stage, a plurality of preset currents of the motor in each electrical cycle are collected when the running rotating speed of the motor of the pulsator washing machine is in a preset rotating speed range, the maximum value of the current in each electrical cycle is determined by comparing the magnitudes of the preset currents in each electrical cycle, then the eccentricity condition of the pulsator washing machine is actively identified and sensed according to the two maximum values of the current in each two adjacent electrical cycles, so that the working state of the next stage of the pulsator washing machine is further intelligently and diversely controlled according to the judgment result of the specific eccentricity condition of the pulsator washing machine, and the user experience is improved while the eccentricity intelligent sensing is realized.
Further, step 108 in the above embodiment may be specifically executed as the following flow steps:
and judging whether the absolute value of the difference between the first current maximum value and the second current maximum value is larger than a preset current value or not.
And when the absolute value of the difference between the first current maximum value and the second current maximum value is judged to be larger than the preset current value, increasing 1 to the current accumulated times as a new accumulated times, and identifying the eccentricity of the pulsator washing machine according to the new accumulated times, wherein the accumulated times are counted times that the absolute value of the difference between the two current maximum values in two adjacent electric periods is continuously larger than the preset current value.
Further, the identifying the eccentricity of the pulsator washing machine according to the new accumulated times in the above steps specifically includes:
judging whether the new accumulated times reach preset times within preset time;
if so, controlling the pulsator washing machine to carry out shaking and scattering work, wherein the eccentricity of the pulsator washing machine is abnormal;
if not, the eccentricity of the pulsator washing machine is normal, and the pulsator washing machine is controlled to continue to perform dehydration.
In this embodiment, in the process of identifying the specific eccentricity condition of the pulsator washing machine according to the accumulated times that the absolute value of the difference between the maximum values of the currents in the two adjacent electrical cycles is greater than the preset current value, if the updated accumulated times each time reaches the preset times within the preset time, that is, the accumulated times that the absolute value of the difference between the maximum values of the currents in the two adjacent electrical cycles within the preset time is greater than the preset current value reaches the preset times, the eccentricity of the pulsator washing machine is abnormal, and a phenomenon that the pulsator washing machine vibrates or shifts due to excessive eccentricity during dehydration occurs easily, and at this time, the pulsator washing machine needs to be controlled to perform a shaking operation to continue normal dehydration; and if the accumulated times after each updating is within the safety range of the preset times, the rotary drum washing machine can be controlled to carry out dehydration work, so that the intelligent and diversified control of the working state of the next stage of the rotary drum washing machine is realized, and the user experience is improved.
The preset time can be two revolutions of a washing machine barrel of the pulsator washing machine, and the preset times can be preferably 3 times.
And when the absolute value of the difference between the first current maximum value and the second current maximum value is judged to be smaller than or equal to the preset current value, acquiring the current maximum value in the next electric cycle to continuously judge whether the absolute value of the difference between the two current maximum values in every two adjacent electric cycles is larger than the preset current value, and identifying the eccentricity of the pulsator washing machine according to the judgment result.
In the embodiment, in the process of identifying the eccentricity of the pulsator washing machine according to two current maximum values (a first current maximum value and a second current maximum value) in every two adjacent electric periods, specifically, firstly, calculating a difference value between the first current maximum value and the second current maximum value, then, when the absolute value of the difference value is judged to be greater than a preset current value, increasing the number of times that the statistical absolute value of the difference value between the two current maximum values is greater than the preset current value by 1 time, and further identifying the eccentricity condition of the pulsator washing machine according to a new number of times obtained after adding 1; and if the absolute value of the difference value of the current two current maximum values is not greater than the preset current value, continuously obtaining the current maximum value in the next electrical cycle, so that the new two adjacent current maximum values are continuously subjected to difference calculation and the operation of calculating the absolute value of the difference value, and the eccentricity condition of the pulsator washing machine is further identified according to the magnitude relation with the preset current value, so that the accuracy of actively sensing the specific eccentricity condition of the pulsator washing machine can be ensured, and the vibration and displacement phenomena caused by overlarge eccentricity during dehydration are effectively avoided.
The preset current value is preferably a current value corresponding to the per unit value 600 after calculation and conversion, and may be different according to different models of the pulsator washing machine.
Fig. 2 shows a schematic block diagram of an eccentricity sensing device of a pulsator washing machine according to an embodiment of the present invention.
As shown in fig. 2, the eccentricity sensing apparatus 20 of the pulsator washing machine according to the embodiment of the present invention includes: an acquisition module 202, an acquisition module 204, a determination module 206, and an identification module 208.
The acquisition module 202 is configured to acquire an operating speed of a motor of the pulsator washing machine when the pulsator washing machine enters a dehydration stage; the obtaining module 204 is configured to obtain a plurality of preset currents of the motor in each electrical cycle when the operating rotational speed is within a preset rotational speed range; the determining module 206 is configured to determine a current maximum value of the plurality of preset currents in each electrical cycle; the identification module 208 is configured to identify eccentricity of the pulsator washing machine according to a first current maximum value and a second current maximum value in every two adjacent electrical cycles.
In the embodiment, when the pulsator washing machine enters a dehydration stage, a plurality of preset currents of the motor in each electrical cycle are collected when the running rotating speed of the motor of the pulsator washing machine is in a preset rotating speed range, the maximum value of the current in each electrical cycle is determined by comparing the magnitudes of the preset currents in each electrical cycle, then the eccentricity condition of the pulsator washing machine is actively identified and sensed according to the two maximum values of the current in each two adjacent electrical cycles, so that the working state of the next stage of the pulsator washing machine is further intelligently and diversely controlled according to the judgment result of the specific eccentricity condition of the pulsator washing machine, and the user experience is improved while the eccentricity intelligent sensing is realized.
Wherein the preset rotating speed range is preferably 30rpm to 60 rpm.
Further, as shown in fig. 3, the identification module 208 in the above embodiment includes: a judgment sub-module 2082, a processing sub-module 2084, and a control sub-module 2086.
The judgment sub-module 2082 is configured to judge whether an absolute value of a difference between the first current maximum value and the second current maximum value is greater than a preset current value; the processing submodule 2084 is configured to, when the determining submodule 2082 determines that the absolute value is greater than the preset current value, increase 1 by the current accumulated number of times as a new accumulated number of times, and identify eccentricity of the pulsator washing machine according to the new accumulated number of times, where the accumulated number of times is a number of times that an absolute value of a difference between two maximum values of currents in two adjacent statistical electrical cycles is continuously greater than the preset current value; the control sub-module 2086 is configured to, when the determining sub-module 2082 determines that the absolute value is smaller than or equal to the preset current value, control to obtain a current maximum value in a next electrical cycle, to continuously determine whether an absolute value of a difference between two current maximum values in each two adjacent electrical cycles is greater than the preset current value, and identify eccentricity of the pulsator washing machine according to a determination result.
In the embodiment, in the process of identifying the eccentricity of the pulsator washing machine according to two current maximum values (a first current maximum value and a second current maximum value) in every two adjacent electric periods, specifically, firstly, calculating a difference value between the first current maximum value and the second current maximum value, then, when the absolute value of the difference value is judged to be greater than a preset current value, increasing the number of times that the statistical absolute value of the difference value between the two current maximum values is greater than the preset current value by 1 time, and further identifying the eccentricity condition of the pulsator washing machine according to a new number of times obtained after adding 1; and if the absolute value of the difference value of the current two current maximum values is not greater than the preset current value, continuously obtaining the current maximum value in the next electrical cycle, so that the new two adjacent current maximum values are continuously subjected to difference calculation and the operation of calculating the absolute value of the difference value, and the eccentricity condition of the pulsator washing machine is further identified according to the magnitude relation with the preset current value, so that the accuracy of actively sensing the specific eccentricity condition of the pulsator washing machine can be ensured, and the vibration and displacement phenomena caused by overlarge eccentricity during dehydration are effectively avoided.
The preset current value is preferably a current value corresponding to the per unit value 600 after calculation and conversion, and may be different according to different models of the pulsator washing machine.
Further, in the above embodiment, the processing sub-module 2084 is specifically configured to: judging whether the new accumulated times reach preset times within preset time; if so, controlling the pulsator washing machine to carry out shaking and scattering work, wherein the eccentricity of the pulsator washing machine is abnormal; if not, the eccentricity of the pulsator washing machine is normal, and the pulsator washing machine is controlled to continue to perform dehydration.
In this embodiment, in the process of identifying the specific eccentricity condition of the pulsator washing machine according to the accumulated times that the absolute value of the difference between the maximum values of the currents in the two adjacent electrical cycles is greater than the preset current value, if the updated accumulated times each time reaches the preset times within the preset time, that is, the accumulated times that the absolute value of the difference between the maximum values of the currents in the two adjacent electrical cycles within the preset time is greater than the preset current value reaches the preset times, the eccentricity of the pulsator washing machine is abnormal, and a phenomenon that the pulsator washing machine vibrates or shifts due to excessive eccentricity during dehydration occurs easily, and at this time, the pulsator washing machine needs to be controlled to perform a shaking operation to continue normal dehydration; and if the accumulated times after each updating is within the safety range of the preset times, the rotary drum washing machine can be controlled to carry out dehydration work, so that the intelligent and diversified control of the working state of the next stage of the rotary drum washing machine is realized, and the user experience is improved.
The preset time can be two revolutions of a washing machine barrel of the pulsator washing machine, and the preset times can be preferably 3 times.
Further, in any of the above embodiments, as shown in fig. 2, the eccentricity sensing device 20 of the pulsator washing machine further includes: a detection module 210 and a control module 212.
The detection module 210 is configured to detect whether an acceleration instruction for the motor of the pulsator washing machine is received after the pulsator washing machine enters a dehydration stage and before the acquisition module 202 acquires the operating speed of the motor of the pulsator washing machine; the control module 212 is configured to control the operation rotation speed of the motor to accelerate within a preset rotation speed range when the detection module 210 detects the acceleration instruction, and otherwise, control the operation rotation speed of the motor to keep a preset rotation speed to stably operate, where the preset rotation speed is within the preset rotation speed range.
In the embodiment, in the process of identifying the specific eccentricity condition of the pulsator washing machine, the eccentricity condition can be realized in a motor acceleration stage of a dehydration stage, and can also be realized in a motor speed stabilization operation stage of the dehydration stage, so that the stage diversification and feasibility of realizing active eccentricity sensing of the pulsator washing machine are ensured.
Further, in any of the above embodiments, the preset current comprises: a torque current of the motor or a bus current of the motor.
In the embodiment, the current in eccentricity of the pulsator washing machine can be actively sensed through the acquired current information of the motor of the pulsator washing machine, wherein the current can be the torque current in each electric cycle of the motor of the pulsator washing machine or the bus current in each electric cycle of the motor; further, the respective torque currents may be obtained by first obtaining phase currents in each electrical cycle of the motor and then coordinate-transforming them. Therefore, the accuracy of actively sensing the specific eccentric condition of the pulsator washing machine can be ensured.
As an embodiment of the present invention, a pulsator washing machine is further provided, including the eccentricity sensing device 20 of the pulsator washing machine described in any one of the above embodiments.
As another embodiment of the present invention, as shown in fig. 4, the pulsator washing machine in this embodiment includes a body (not shown), a washing tub 402 disposed in the body, a motor 404, and a controller 406.
The motor 404 is configured to drive the washing machine tub 402 to rotate, the controller 406 collects phase currents of the motor 404 when the pulsator washing machine enters a dehydration stage and a rotation speed of the motor 404 is in an acceleration stage from 30rpm to 60rpm, obtains a torque current of the motor 404 through coordinate transformation, and obtains a maximum value of the torque current in each electrical cycle of the motor 404 through comparison. The controller 406 determines whether the eccentricity of the load in the washing machine tub 402 is excessive by comparing the magnitude relationship of the difference between the maximum values of the torque currents of two adjacent electrical cycles with a set threshold value. If the size is too large, the controller 406 controls the motor 404 to stop rotating and informs the master controller to perform re-shaking; if the difference value does not exceed the set threshold value, the pulsator washing machine is controlled to perform the next stage state, and the eccentricity is sensed through the motor 404, so that the intelligent sensing of the eccentricity is realized.
The specific eccentricity sensing process is shown in fig. 5, and includes the following steps:
at step 502, dewatering begins.
And step 504, sending an acceleration instruction to enable the rotating speed of the motor to continuously rise.
Multiple phase currents are sampled for each electrical cycle of the motor, step 510.
And step 512, performing coordinate transformation on the phase currents to obtain a plurality of corresponding torque currents.
At step 514, a maximum value of torque current in each electrical cycle is determined.
And step 518, adding 1 to the accumulated times m of which the judgment result is more than 600.
And step 524, sending a shaking and scattering instruction to control the pulsator washing machine to shake and scatter.
Further, as shown in fig. 7, a data box diagram of the difference of the maximum torque current values in two adjacent electric cycles under different loads of each eccentricity of the pulsator washing machine is shown, wherein the horizontal line is the set threshold, namely-600. The eccentricity is 0kg to 2.6kg, the load is 8kg and 16kg respectively, data acquisition is carried out, and the active perception of eccentricity can be realized by setting a threshold value.
In conclusion, the eccentricity of the pulsator washing machine is actively sensed through the change of the difference value of the maximum values of the torque currents of two adjacent electric periods. In the dewatering stage, the washing machine firstly operates at a low speed stage, the eccentric magnitude of the washing machine is sensed by collecting the variable magnitude of the torque current of two adjacent electric periods when the acceleration process of 30-60 rpm is finished, and then the working state of the washing machine at the next stage is determined according to the eccentric magnitude, so that the intelligent sensing of the eccentricity of the washing machine is realized.
The technical scheme of the invention is described in detail in combination with the attached drawings, and through the technical scheme of the invention, the specific eccentric condition of the pulsator washing machine can be actively identified, so that the working state of the next stage of the pulsator washing machine is intelligently and variously controlled according to the identified eccentric condition, the intelligent perception of eccentricity is realized, and the user experience is improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. An eccentricity sensing method of a pulsator washing machine is characterized by comprising the following steps:
when the pulsator washing machine enters a dehydration stage, collecting the running speed of a motor of the pulsator washing machine;
when the running rotating speed is within a preset rotating speed range, acquiring a plurality of preset currents of the motor in each electrical cycle;
determining a current maximum value of the plurality of preset currents in each electrical cycle;
identifying eccentricity of the pulsator washing machine according to a first current maximum value and a second current maximum value in every two adjacent electric cycles;
the step of identifying the eccentricity of the pulsator washing machine according to the first current maximum value and the second current maximum value in every two adjacent electric cycles comprises the following steps of:
judging whether the absolute value of the difference between the first current maximum value and the second current maximum value is larger than a preset current value or not;
and if so, increasing the current accumulated times by 1 to serve as new accumulated times, and identifying the eccentricity of the pulsator washing machine according to the new accumulated times, wherein the accumulated times are times that the absolute value of the difference between the two maximum current values in two adjacent electric periods is continuously larger than the preset current value.
2. The eccentricity sensing method of a pulsator washing machine according to claim 1, wherein the step of identifying the eccentricity of the pulsator washing machine according to a first current maximum value and a second current maximum value in every two adjacent electrical cycles further comprises:
if not, acquiring the current maximum value in the next electrical cycle to continuously judge whether the absolute value of the difference between the two current maximum values in each two adjacent electrical cycles is larger than the preset current value, and identifying the eccentricity of the pulsator washing machine according to the judgment result.
3. The eccentricity sensing method of the pulsator washing machine according to claim 2, wherein the step of identifying the eccentricity of the pulsator washing machine according to the new accumulated times comprises:
judging whether the new accumulated times reach preset times within preset time;
if so, controlling the pulsator washing machine to carry out shaking and scattering work, wherein the eccentricity of the pulsator washing machine is abnormal;
if not, the eccentricity of the pulsator washing machine is normal, and the pulsator washing machine is controlled to continue to perform dehydration.
4. The eccentricity sensing method of the pulsator washing machine according to claim 1, wherein before collecting the operation speed of the motor of the pulsator washing machine after the pulsator washing machine enters a dehydration stage, the eccentricity sensing method further comprises:
detecting whether an acceleration instruction for a motor of the pulsator washing machine is received;
if so, controlling the running rotating speed of the motor to accelerate within a preset rotating speed range, otherwise controlling the running rotating speed of the motor to keep the preset rotating speed to stably run, wherein the preset rotating speed is within the preset rotating speed range.
5. The eccentricity sensing method of the pulsator washing machine according to any one of claims 1 to 4, wherein the preset current comprises: a torque current of the motor or a bus current of the motor.
6. An eccentric sensing device of a pulsator washing machine, comprising:
the acquisition module is used for acquiring the running speed of a motor of the pulsator washing machine when the pulsator washing machine enters a dehydration stage;
the acquisition module is used for acquiring a plurality of preset currents of the motor in each electrical cycle when the running rotating speed is within a preset rotating speed range;
a determination module for determining a current maximum value of the plurality of preset currents in each electrical cycle;
the identification module is used for identifying the eccentricity of the pulsator washing machine according to a first current maximum value and a second current maximum value in every two adjacent electric cycles;
the identification module comprises:
the judgment submodule is used for judging whether the absolute value of the difference between the first current maximum value and the second current maximum value is larger than a preset current value or not;
and the processing submodule is used for increasing the current accumulated times by 1 to be used as new accumulated times when the judgment submodule judges that the absolute value is greater than the preset current value, and identifying the eccentricity of the pulsator washing machine according to the new accumulated times, wherein the accumulated times are counted times that the absolute value of the difference between the maximum values of the two currents in the two adjacent electric periods is continuously greater than the preset current value.
7. The eccentricity sensing device of a pulsator washing machine according to claim 6, wherein the recognition module further comprises:
and the control submodule is used for controlling to obtain the current maximum value in the next electric cycle when the judgment submodule judges that the absolute value is smaller than or equal to the preset current value so as to continuously judge whether the absolute value of the difference between the two current maximum values in every two adjacent electric cycles is larger than the preset current value or not and identifying the eccentricity of the pulsator washing machine according to the judgment result.
8. The eccentricity sensing device of the pulsator washing machine according to claim 7, wherein the processing submodule is specifically configured to:
judging whether the new accumulated times reach preset times within preset time;
if so, controlling the pulsator washing machine to carry out shaking and scattering work, wherein the eccentricity of the pulsator washing machine is abnormal;
if not, the eccentricity of the pulsator washing machine is normal, and the pulsator washing machine is controlled to continue to perform dehydration.
9. The eccentricity sensing device of the pulsator washing machine according to claim 6, further comprising:
the detection module is used for detecting whether an acceleration instruction for the motor of the pulsator washing machine is received or not after the pulsator washing machine enters a dehydration stage and before the acquisition module acquires the running rotating speed of the motor of the pulsator washing machine;
and the control module is used for controlling the running rotating speed of the motor to accelerate within a preset rotating speed range when the detection module detects the acceleration instruction, otherwise, controlling the running rotating speed of the motor to keep the preset rotating speed to stably run, and the preset rotating speed is located within the preset rotating speed range.
10. The eccentricity sensing device of a pulsator washing machine according to any one of claims 6 to 9, wherein the preset current comprises: a torque current of the motor or a bus current of the motor.
11. Pulsator washing machine, characterized in that it comprises an eccentricity sensing device of a pulsator washing machine according to any one of claims 6 to 10.
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