CN109881439B

CN109881439B - Magnetic suspension control device, roller washing machine and magnetic suspension control method thereof

Info

Publication number: CN109881439B
Application number: CN201910238615.0A
Authority: CN
Inventors: 王习文; 张俊雄; 陈鍚鍚; 阳康; 汪随
Original assignee: Gree Electric Appliances Inc of Zhuhai
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2019-03-27
Filing date: 2019-03-27
Publication date: 2020-07-07
Anticipated expiration: 2039-03-27
Also published as: CN109881439A

Abstract

The invention discloses a magnetic suspension control device, a roller washing machine and a magnetic suspension control method thereof, wherein the device comprises: the sensing device is used for acquiring the eccentric amount of the inner drum when the inner drum rotor of the drum washing machine to be controlled is unbalanced in operation in the operation process and acquiring the magnetic field intensity of the drum washing machine in the operation process; the controller is used for dynamically adjusting the magnetic driving force of the magnetic poles in the magnetic suspension module of the drum washing machine according to the eccentric amount; and/or the device is also used for correcting the rotating speed and the position of the inner barrel rotor according to the magnetic field intensity. The scheme of the invention can solve the problem that the inner cylinder is unstable and deviates from the balance position to cause suspension failure of the suspended object when the magnetic suspension drum washing machine is subjected to larger external interference and the eccentricity is different when the clothes are at different positions, thereby achieving the effect of avoiding suspension failure of the suspended object.

Description

Magnetic suspension control device, roller washing machine and magnetic suspension control method thereof

Technical Field

The invention belongs to the technical field of washing machines, and particularly relates to a magnetic suspension control device, a roller washing machine and a magnetic suspension control method thereof, in particular to a flexible magnetic suspension control device of a washing machine, a roller washing machine and a flexible magnetic suspension control method thereof.

Background

Present drum type washing machine has the running noise big, in traditional structure, needs to use the balancing weight to carry out the balanced action to washing machine at the operation in-process, and washing machine is too heavy. Under the condition that a motor of the washing machine runs at a high speed, friction and abrasion of a mechanical bearing are prominent problems, and partial parts can be worn and failed, so that an air gap of the motor is not uniform in a serious case.

Patent document CN106702657A discloses a magnetic suspension drum washing machine, but does not consider the problem that when the magnetic suspension system is subjected to large external interference and the eccentricity of the clothes is different at different positions, the inner cylinder is unstable and deviates from the equilibrium position, thereby causing suspension failure of the suspension object.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The present invention aims to provide a magnetic suspension control device, a drum washing machine and a magnetic suspension control method thereof, so as to solve the problem that the magnetic suspension drum washing machine has instability of an inner drum deviating from a balance position when the magnetic suspension drum washing machine is subjected to a large external interference and the eccentric forces of clothes at different positions are different, thereby causing suspension failure of a suspended object, and achieve the effect of avoiding suspension failure of the suspended object.

The invention provides a magnetic suspension control device, comprising: the sensing device is used for acquiring the eccentric amount of the inner drum when the inner drum rotor of the drum washing machine to be controlled is unbalanced in operation in the operation process and acquiring the magnetic field intensity of the drum washing machine in the operation process; the controller is used for dynamically adjusting the magnetic driving force of the magnetic poles in the magnetic suspension module of the drum washing machine according to the eccentric amount; and/or the device is also used for correcting the rotating speed and the position of the inner barrel rotor according to the magnetic field intensity.

Optionally, wherein the controller dynamically adjusts a magnetic driving force of a magnetic pole in a magnetic levitation module of the drum washing machine according to the eccentricity amount, including: determining the correction value of the magnetic driving force of two adjacent magnetic pole windings in the magnetic suspension module according to the eccentricity; determining the current given current corresponding to the correction value according to the corresponding decoupling relation between the given current and the suspension force of the stator to the rotor; adjusting the magnetic field intensity of two adjacent magnetic pole windings according to the current given current so as to adjust the magnetic driving force corresponding to the magnetic poles; and/or the controller corrects the rotating speed and the position of the inner barrel rotor according to the magnetic field intensity, and the controller comprises: determining the current position of the inner barrel magnetic track according to the magnetic field intensity; determining whether a deviation value between the current position and a set position exceeds a set threshold; and if the deviation value exceeds the set threshold value, correcting the rotating speed of the inner cylinder rotor according to the deviation value.

Optionally, the correcting, by the controller, the rotation speed of the inner cylinder rotor according to the deviation value includes: generating a compensation signal of the control current of the magnetic pole winding in the magnetic suspension module according to the deviation value; after the compensation signal is amplified, determining the current control current of a magnetic pole winding in the magnetic suspension module; and adjusting the magnetic field intensity of the magnetic pole winding in the magnetic suspension module according to the current control current to realize the correction of the inner cylinder rotating speed.

Optionally, the method further comprises: the controller is also used for determining whether the inner drum of the drum washing machine is reset; if the inner cylinder is reset, determining the control parameters of the magnetic suspension module according to the input washing parameters; if the inner cylinder is not reset, the prompt message is initiated first, then the inner cylinder is controlled to operate and reset, and then the control parameters of the magnetic suspension module are determined according to the input washing parameters.

Optionally, the method further comprises: damping devices and/or built-in balancing devices; the vibration damper is arranged on the inner wall of an outer cylinder stator of the roller washing machine, a gap with a set allowance is reserved between the vibration damper and an inner cylinder of the roller washing machine, and the vibration damper is used for compensating the eccentric quantity of the inner cylinder when an inner cylinder rotor is unbalanced in operation in the operation process of the roller washing machine; and/or the built-in balancing device is arranged on the inner wall of the inner barrel of the drum washing machine and is used for balancing when the inner barrel rotor of the drum washing machine is unbalanced in operation in the operation process.

Optionally, wherein the damping device comprises: a damping spring and an arc device; the damping spring is arranged on the inner wall of an outer cylinder stator of the drum washing machine, and the arc-shaped device is arranged at the end part of the damping spring; and/or the number of the built-in balancing devices is even, and the even number of the built-in balancing devices are uniformly distributed.

Optionally, the sensing device includes: a pressure sensor and/or a hall sensor; under the condition that the magnetic suspension control device further comprises a sensing device, the pressure sensor is arranged between the vibration damping device and the inner wall of the outer cylinder stator of the drum washing machine; and/or the Hall sensor is arranged on a magnetic pole of the outer cylinder in a magnetic suspension module of the drum washing machine.

Optionally, wherein the number of the pressure sensors is even, and even number of the pressure sensors are uniformly arranged; and/or the number of the Hall sensors is even, and the even number of the Hall sensors are uniformly distributed.

Optionally, wherein the number of pressure sensors is 8; and/or the number of the Hall sensors is 8; wherein, on the outer cylinder magnetic pole, according to the magnetic pole mode of arranging, arrange 8 hall sensors according to 45 angle evenly distributed on 8 magnetic poles.

In accordance with the above apparatus, a further aspect of the present invention provides a drum washing machine, comprising: the magnetic levitation control device described above.

In accordance with the above drum washing machine, a magnetic levitation control method of a drum washing machine according to another aspect of the present invention includes: acquiring the eccentric amount of an inner barrel when an inner barrel rotor of a roller washing machine to be controlled is unbalanced in operation in the operation process, and acquiring the magnetic field intensity of the roller washing machine in the operation process; dynamically adjusting the magnetic driving force of the magnetic poles in the magnetic suspension module of the drum washing machine according to the eccentric amount; and/or the device is also used for correcting the rotating speed and the position of the inner barrel rotor according to the magnetic field intensity.

Optionally, wherein the dynamically adjusting the magnetic driving force of the magnetic poles in the magnetic levitation module of the drum washing machine according to the eccentricity amount includes: determining the correction value of the magnetic driving force of two adjacent magnetic pole windings in the magnetic suspension module according to the eccentricity; determining the current given current corresponding to the correction value according to the corresponding decoupling relation between the given current and the suspension force of the stator to the rotor; adjusting the magnetic field intensity of two adjacent magnetic pole windings according to the current given current so as to adjust the magnetic driving force corresponding to the magnetic poles; and/or correcting the rotating speed and the position of the inner barrel rotor according to the magnetic field intensity, and the method comprises the following steps: determining the current position of the inner barrel magnetic track according to the magnetic field intensity; determining whether a deviation value between the current position and a set position exceeds a set threshold; and if the deviation value exceeds the set threshold value, correcting the rotating speed of the inner cylinder rotor according to the deviation value.

Optionally, correcting the rotation speed of the inner cylinder rotor according to the deviation value includes: generating a compensation signal of the control current of the magnetic pole winding in the magnetic suspension module according to the deviation value; after the compensation signal is amplified, determining the current control current of a magnetic pole winding in the magnetic suspension module; and adjusting the magnetic field intensity of the magnetic pole winding in the magnetic suspension module according to the current control current to realize the correction of the inner cylinder rotating speed.

Optionally, the method further comprises: determining whether an inner drum of the drum washing machine is reset; if the inner cylinder is reset, determining the control parameters of the magnetic suspension module according to the input washing parameters; if the inner cylinder is not reset, the prompt message is initiated first, then the inner cylinder is controlled to operate and reset, and then the control parameters of the magnetic suspension module are determined according to the input washing parameters.

According to the scheme of the invention, the dynamic balance of the magnetic suspension system is realized by controlling the magnitude of the magnetic suspension force between the magnetic poles on the surfaces of the inner cylinder and the outer cylinder of the magnetic suspension washing machine, so that the problem of suspension failure of a suspended object caused by instability and deviation of the inner cylinder from a balance position due to different eccentric forces of the magnetic suspension drum washing machine can be avoided, and the suspension reliability and safety are improved.

Furthermore, the scheme of the invention can compensate the instability problem of the magnetic suspension system caused by different eccentric forces due to uneven clothes in the drum under the working condition of the washing machine through the dynamic balance between the inner drum and the outer drum, and provides the stability and the safety of suspension operation.

Furthermore, according to the scheme of the invention, through the dynamic balance between the inner barrel and the outer barrel, the inner barrel can be accurately suspended in the outer barrel, the impact of the inner barrel on the outer barrel during suspension is reduced, the instantaneous response speed of the washing machine during working is improved, and the working efficiency and the service life of the washing machine are increased.

Therefore, according to the scheme of the invention, the inner barrel and the outer barrel can not be in direct contact to keep a certain gap allowance when the washing machine operates, and the dynamic balance of the magnetic suspension system is realized by controlling the magnitude of the magnetic suspension force between the magnetic poles on the surfaces of the inner barrel and the outer barrel, so that the problems that the inner barrel is unstable and deviates from the balance position to cause suspension failure of a suspended object due to different eccentric forces when the magnetic suspension roller washing machine is subjected to larger external interference and clothes are in different positions are solved, and the defects of easy suspension failure, low working efficiency and short service life in the prior art are overcome, and the beneficial effects of difficult suspension failure, high working efficiency and long service life are realized.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of a magnetic levitation control apparatus of the present invention;

FIG. 2 is a schematic cross-sectional view of a flexible magnetic levitation washing machine according to an embodiment of the present invention;

FIG. 3 is a schematic view of the operation principle of a magnetic levitation washing machine according to an embodiment of the present invention;

FIG. 4 is a block diagram of a flexible magnetic levitation control system of an embodiment of the washing machine of the present invention;

FIG. 5 is a schematic diagram of the system operation of an embodiment of the washing machine of the present invention;

FIG. 6 is a flow chart illustrating an embodiment of a magnetic levitation control method of the present invention;

FIG. 7 is a schematic flow chart illustrating an embodiment of the method of the present invention for dynamically adjusting the magnetic driving force of the magnetic poles in the magnetic levitation module of the drum washing machine according to the eccentricity;

FIG. 8 is a schematic flow chart illustrating one embodiment of the method of the present invention for correcting the rotational speed and position of the inner drum rotor based on the magnetic field strength;

FIG. 9 is a schematic flow chart illustrating an embodiment of correcting the rotation speed of the inner cylinder rotor according to the deviation value in the method of the present invention;

fig. 10 is a flowchart illustrating an embodiment of controlling the activation of the magnetic levitation module of the drum washing machine according to the method of the present invention.

The reference numbers in the embodiments of the present invention are as follows, in combination with the accompanying drawings:

1-spring damping; 2-a pressure sensor; 3-inner cylinder rotor; 4-an outer cylinder stator; 5-clothes; 6-air gap; 7-built-in balancing device; 8-track (Hall sensor).

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

According to an embodiment of the present invention, a magnetic levitation control apparatus is provided. Referring to fig. 1, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The magnetic levitation control apparatus may include: a sensing device and a controller.

Specifically, the sensing device may be configured to obtain an eccentric amount of the inner drum when an inner drum rotor of the drum washing machine to be controlled is unbalanced in operation during operation, and obtain a magnetic field strength of the drum washing machine during operation.

In an alternative example, the sensing device may include: pressure sensors and/or hall sensors.

In particular, in the case that the magnetic levitation control device may further include a sensing device, the pressure sensor is disposed between the vibration damping device and an inner wall of an outer drum stator of the drum washing machine.

For example: the suspension washing machine enables the rotor of the inner barrel to be kept in a relatively stable state all the time in the operation process, and ensures that the inner barrel cannot impact the outer barrel to cause damage to the sensor and the magnetic track. Wherein, unbalance in the operation process can be compensated by the damping vibration damper who evenly arranges on outer cylinder stator, and pressure sensor is installed to damping vibration damper pressing close to the outer cylinder wall, can detect the eccentric force of inner tube to adjust the magnetic field intensity on the electro-magnet and then realize the adjustment of developments electromagnetic drive power in real time, hall sensor then can feed back the speed and the position of rotor, realizes magnetic suspension washing machine's flexible control through the double-circuit feedback.

More optionally, the number of the pressure sensors is even, and the even number of the pressure sensors are uniformly arranged. Preferably, the number of the pressure sensors is 8.

Therefore, the accuracy and the reliability of acquiring the eccentric amount of the inner cylinder can be improved by uniformly arranging the even number of pressure sensors such as 8 pressure sensors.

Specifically, the hall sensor is arranged on a magnetic pole of an outer cylinder in a magnetic suspension module of the drum washing machine.

Therefore, the required information is acquired through the pressure sensor, the Hall sensor and the like, the acquisition mode is simple and convenient, and the acquisition result is accurate and reliable.

More optionally, the number of the hall sensors is an even number, and the even number of the hall sensors are uniformly arranged. Preferably, the number of the hall sensors is 8. Wherein, on the outer cylinder magnetic pole, according to the magnetic pole mode of arranging, arrange 8 hall sensors according to 45 angle evenly distributed on 8 magnetic poles.

For example: on the outer cylinder magnetic pole, 8 Hall elements which are uniformly distributed according to an angle of 45 degrees are arranged on 8 magnetic poles according to the arrangement mode of the magnetic poles, and the names of the Hall elements are H1, H2, H3, H4, H5, H6, H7 and H8. With the rotation of the inner cylinder rotor, 16 Hall level outputs in different states in each period can be realized, each state has 22.5-degree electrical angle accuracy, and the magnetic poles in the inner cylinder face the middle of the two magnetic poles of the outer cylinder stator. When the rotor rotates by 22.5 degrees of mechanical angle, the output states of 8 Hall sensors (such as the Hall sensor 8) are overturned.

Therefore, the accuracy and the reliability of obtaining the magnetic field intensity can be improved through even number of Hall sensors such as 8 Hall sensors which are uniformly arranged.

Specifically, the controller may be configured to dynamically adjust a magnetic driving force of a magnetic pole in a magnetic levitation module of the drum washing machine according to the eccentricity amount, so as to achieve flexible control of the drum washing machine during operation; and/or the device can be used for correcting the rotating speed and the position of the inner barrel rotor according to the magnetic field intensity.

For example: through the dynamic balance between the inner barrel and the outer barrel, the instability problem of a magnetic suspension system caused by different eccentric force due to uneven clothes in the barrel under the working condition of the washing machine can be compensated; the washing machine can also realize the accurate suspension of the inner barrel in the outer barrel on the basis of the prior art, reduce the impact of the inner barrel on the outer barrel during the suspension, improve the instantaneous response speed of the washing machine during the work, and increase the work efficiency and the service life of the washing machine.

Therefore, the magnetic drive force of the magnetic poles in the magnetic suspension module is adjusted according to the eccentricity of the inner cylinder of the drum washing machine in the operation process, and/or the rotating speed and the position of the inner cylinder rotor are corrected according to the magnetic field intensity of the drum washing machine in the operation process, so that the flexible control of the magnetic suspension process of the drum washing machine can be realized, the suspension failure of a suspended object is avoided, and the working efficiency and the reliability of the drum washing machine are ensured.

In an optional example, the controller dynamically adjusts the magnetic driving force of the magnetic poles in the magnetic suspension module of the drum washing machine according to the eccentricity amount, and may include: determining the correction value of the magnetic driving force of two adjacent magnetic pole windings in the magnetic suspension module according to the eccentricity; determining the current given current corresponding to the correction value according to the corresponding decoupling relation between the given current and the suspension force of the stator to the rotor; and adjusting the magnetic field intensity of the two adjacent magnetic pole windings according to the current given current so as to adjust the magnetic driving force corresponding to the magnetic poles. Therefore, the magnitude of the magnetic levitation force is controlled by the magnitude of the current, wherein the magnetic levitation force can be determined by the magnetic field strength.

For example: the Hall element is used for detecting the element, and the detection mode is combined with current sampling feedback, so that the position and angular speed precision of the rotor can be greatly improved; and the angular speed of the inner cylinder rotor is changed by calculating the deviation between the feedback value and the measured value and amplifying the deviation value. The Hall element is used as a position sensor, the magnetic track current value is determined by calculating position deviation, the electromagnetic force is changed, and the rotating speed of the inner cylinder is determined by the electromagnetic force.

For example: as shown in fig. 4, the whole flexible magnetic suspension control system includes two feedback units, one of which is a hall sensor unit for feeding back and correcting the speed and position of the inner cylinder rotor, and the other of which is a pressure sensing unit for detecting the eccentricity and compensating the eccentricity by using the spring damping to realize the flexible control in the system operation process. In a magnetic field coordinate system, the currents and the suspension force of the stator to the rotor have a one-to-one correspondence decoupling relationship, and the electromagnetic driving force corresponding to the magnetic poles can be controlled by controlling the given currents.

Therefore, the correction value of the magnetic driving force of the magnetic pole is determined according to the eccentricity of the inner cylinder, and then the current given current corresponding to the correction value is determined according to the corresponding decoupling relation between the given current and the suspension force, so that the magnetic field intensity of the magnetic pole winding is adjusted according to the current given current, the adjustment of the magnetic pole driving force is realized, and the method is accurate and reliable.

In an alternative example, the controller corrects the rotation speed and the position of the inner drum rotor according to the magnetic field intensity, and may include: determining the current position of the inner barrel magnetic track according to the magnetic field intensity; determining whether a deviation value between the current position and a set position exceeds a set threshold; and if the deviation value exceeds the set threshold value, correcting the rotating speed of the inner cylinder rotor according to the deviation value.

For example: the washing machine is provided with a sensor detection unit, the magnetic field intensity of the magnetic pole is detected by a Hall sensor, converted into binary codes through an A/D module and directly output to a DSP module of the driving controller, and the decoding and the identification are carried out by special software preset by the DSP module, so that the rotating speed and the position information of the rotor can be accurately calculated. The current sampler feeds back the load current of the rotating rotor to realize variable frequency operation control, the drive controller generates an excitation signal while the inner cylinder rotates, and the working principle of the drive controller is as shown in figure 3.

Therefore, the position of the magnetic track of the inner cylinder is determined according to the magnetic field intensity of the drum washing machine in the operation process, and the rotating speed of the inner cylinder rotor is corrected according to the deviation value under the condition that the deviation value between the position and the set position exceeds the set threshold value, so that the rotating speed and the position of the inner cylinder rotor during rotation are corrected, the suspension failure of the suspended object is avoided, and the method is reliable and safe.

Optionally, the correcting, by the controller, the rotation speed of the inner drum rotor according to the deviation value may include: generating a compensation signal of the control current of the magnetic pole winding in the magnetic suspension module according to the deviation value; after the compensation signal is amplified, determining the current control current of a magnetic pole winding in the magnetic suspension module; and adjusting the magnetic field intensity of the magnetic pole winding in the magnetic suspension module according to the current control current to realize the correction of the inner cylinder rotating speed. Wherein the generation of the compensation signal is implemented within the DSP controller.

For example: FIG. 3 is a closed-loop control diagram for achieving precise control of the speed during operation of the drum. And judging the deviation value of the position of the inner cylinder magnetic track and the theoretical calculation position according to the strength of the magnetic field of the magnetic track by using Hall sensors arranged on the magnetic track of the outer cylinder. The detected analog signal is converted from an analog signal to a digital signal and then processed in the DSP to generate a compensation signal, the digital signal is converted from the analog signal, the signal is amplified, and then the current value of the electromagnet is controlled to change the electromagnetic force, so that the speed compensation of the inner cylinder is realized. In fig. 3, an input module, a central processing module, and an output module are provided. The input module realizes the input of the deviation signal; the central processing module processes the deviation signal and adjusts a compensation value; the output module corresponds to the electromagnetic device and changes the current value to adjust the electromagnetic force.

Therefore, the compensation signal of the control current of the magnetic pole winding is generated according to the deviation value between the position of the magnetic track of the inner cylinder and the set position, the current control current of the magnetic pole winding is determined after the compensation signal is amplified, the magnetic field intensity of the magnetic pole winding is adjusted according to the current control current, the calibration of the rotating speed of the inner cylinder is realized, the inner cylinder can be prevented from being eccentric in the rotating process, and the method is reliable and safe.

In an alternative embodiment, the method may further include: and controlling the starting process of the magnetic suspension module of the drum washing machine.

Specifically, the controller may be further configured to determine whether the inner drum of the drum washing machine is reset or not in a case of receiving an operation instruction for controlling the magnetic levitation module of the drum washing machine to start; if the inner cylinder is reset, determining the control parameters of the magnetic suspension module according to the input washing parameters; if the inner cylinder is not reset, the prompt message is initiated first, then the inner cylinder is controlled to operate and reset, and then the control parameters of the magnetic suspension module are determined according to the input washing parameters.

The washing parameters may include: time, type of laundry, amount of water, etc. The control parameters may include: pole winding parameters, motor speed, direction of rotation, etc.

For example: as shown in figure 5, the suspension system of the washing machine is that the magnetic poles of the inner cylinder and the outer cylinder are in one-to-one correspondence at the initial positions, and if the magnetic poles are not reset after the last washing is finished, the system alarms that the inner cylinder starts to operate and realizes the reset. After the resetting is completed, the user inputs washing parameters on the display panel, and the system automatically determines the working time, the rotating speed and the rotating direction of the roller. When the washing machine is in a normal operation state, the pressure sensor can monitor the eccentricity of the inner barrel in real time and compensate the eccentricity, the Hall sensor can realize the accurate control of the rotating speed and the position of the roller, and the whole feedback system forms a flexible magnetic suspension control system.

Therefore, the suspension control can be started under the condition of resetting of the inner barrel by controlling the magnetic suspension module of the drum washing machine to be started, and the controllable reliability and safety of the suspension can be improved.

In an alternative embodiment, the method may further include: damping devices and/or built-in balancing devices.

Specifically, the vibration damper is arranged on the inner wall of an outer cylinder stator of the drum washing machine, and a gap with a set allowance is reserved between the vibration damper and an inner cylinder of the drum washing machine, so that the vibration damper can be used for compensating the eccentric amount of the inner cylinder when an inner cylinder rotor of the drum washing machine is unbalanced in operation.

For example: the flexible magnetic suspension device is adopted to prevent the inner cylinder and the outer cylinder from directly contacting each other when the washing machine operates, a certain gap allowance is reserved, the dynamic balance of a magnetic suspension system is realized by controlling the magnitude of magnetic suspension force between the magnetic poles on the surfaces of the inner cylinder and the outer cylinder, and the normal work of the washing machine is completed. If the washing machine works normally, the unbalance of the inner drum rotor generates a certain eccentric amount, and the certain eccentric amount can be compensated by the spring damping devices which are uniformly distributed according to the circumference.

For example: the spring damping devices can be uniformly distributed according to the circumference and are used for compensating the eccentricity caused by unbalance when the inner cylinder runs, and intuitively speaking, the spring damping devices buffer and damp the eccentric force in order to realize the stable running of the inner cylinder. For example: uneven clothes can cause uneven force in all directions when the inner drum runs, which is a main problem of unstable running.

Optionally, the vibration damping device may include: a damping spring and an arc device.

The damping spring is arranged on the inner wall of an outer cylinder stator of the drum washing machine, and the arc-shaped device is arranged at the end part of the damping spring.

For example: 8 spring damping devices which are uniformly distributed according to the circumference are added on the inner wall of the outer cylinder stator, a certain gap is reserved between the top end of the spring damping (such as a damping spring 1) and the inner cylinder, and a pressure sensor array (such as a pressure sensor 2) is arranged at the bottom of the spring. The spring damping can compensate the offset of the central shaft caused by the unbalance phenomenon generated when the inner barrel runs; the pressure sensor monitors the eccentric force of the inner cylinder to form feedback to compensate the electromagnetic force of the magnetic track.

For example: the pressure sensor arranged at the bottom of the spring can accurately calculate the current of the magnetic pole winding in real time according to the eccentricity of the inner cylinder, and the magnetic driving force is adjusted according to the current. The top end of the spring is provided with an arc-shaped device, and when the washing machine is in a non-working state, a proper gap is reserved between the arc-shaped device and the inner cylinder rotor; the influence of the material on the magnetic field is very small, and the arc-shaped device increases the stress area when the inner cylinder wall is contacted with the spring and can reduce the impact of the inner cylinder on the outer cylinder. The pressure sensor on the outer cylinder can detect the surface pressure when impact occurs, and the current values of two adjacent magnetic poles of the pressure sensor are adjusted according to the pressure value fed back by the point.

Therefore, the damping device is formed by matching the damping spring and the arc-shaped device, the structure is simple, and the damping reliability is high.

Specifically, the built-in balancing device is arranged on the inner wall of the inner drum of the drum washing machine and can be used for balancing when the inner drum rotor is unbalanced in operation in the operation process of the drum washing machine.

Wherein, built-in balancing unit's main effect can have two places: one is to compensate the unbalance of the inner cylinder; and the second is that the pressure sensor at the bottom of the balancing device can detect the eccentric force.

For example: a built-in balancing device, namely a spring-pressure sensing device. The spring can compensate the eccentricity of the rotation of the inner cylinder, and the pressure sensor can detect the eccentric force.

Therefore, the vibration damper, the built-in balancing device and the like are used for performing auxiliary processing such as compensation and balance on the eccentric amount of the inner cylinder when the inner cylinder rotor is unbalanced in operation in the operation process of the drum washing machine, and the reliability and the safety of dynamic balance are improved.

Optionally, the number of the built-in balancing devices is even, and even numbers of the built-in balancing devices are uniformly arranged.

Therefore, the even number of built-in balancing devices are uniformly distributed, and the stability and the reliability of auxiliary balance are favorably improved.

Through a large number of tests, the technical scheme of the invention is adopted, the dynamic balance of the magnetic suspension system is realized by controlling the magnitude of the magnetic suspension force between the magnetic poles on the surfaces of the inner cylinder and the outer cylinder of the magnetic suspension washing machine, the problem of suspension failure of a suspended object caused by instability of the inner cylinder and deviation from a balance position due to different eccentric forces of the magnetic suspension drum washing machine can be avoided, and the suspension reliability and safety are improved.

According to an embodiment of the invention, a drum washing machine corresponding to the magnetic suspension control device is also provided. The drum washing machine may include: the magnetic levitation control device described above.

In an optional implementation mode, the scheme of the invention adopts a flexible magnetic suspension device to ensure that the inner cylinder and the outer cylinder do not directly contact with each other when the washing machine operates, a certain gap allowance is reserved, and the dynamic balance of a magnetic suspension system is realized by controlling the magnitude of magnetic suspension force between the magnetic poles on the surfaces of the inner cylinder and the outer cylinder, so that the normal work of the washing machine is completed.

In an alternative example, the washing machine rotates around the Z axis in a space rectangular coordinate system, and the washing machine is a device with a single-degree-of-freedom self-balancing flexible control system; the problem of instability of a magnetic suspension system caused by different eccentric force due to nonuniform clothes in the drum under the working condition of the washing machine can be compensated through dynamic balance between the inner drum and the outer drum; the washing machine can also realize the accurate suspension of the inner barrel in the outer barrel on the basis of the prior art, reduce the impact of the inner barrel on the outer barrel during the suspension, improve the instantaneous response speed of the washing machine during the work, and increase the work efficiency and the service life of the washing machine.

In an alternative example, the magnetic suspension spherical washing machine device in the scheme of the invention is consistent with the operation mode of a conventional motor and is also an energy conversion device, and the working principle of the magnetic suspension spherical washing machine device is based on the law of conservation of energy, the law of Faraday electromagnetic induction, the law of ampere and the law of Newton's mechanics. In the scheme of the invention, the magnetic suspension washing machine realizes three-dimensional rotary motion, and the rotor is allowed to rotate in any direction in space on the mechanical structure; in order to effectively control three inherent angular speed vectors of the magnetic suspension spherical rotor, three axial independently controllable electromagnetic torques can be generated between the spherical rotor and the stator and follow a vector synthesis rule, the magnetic suspension washing machine enables the rotor to stably suspend in a fixed position in space all the time in the operation process, and the air gap between the stator and the rotor can be dynamically ensured to be unchanged.

That is to say, in the scheme of the invention, the flexible magnetic suspension washing machine device is consistent with the operation mode of a motor of a conventional washing machine and is also an energy conversion device. In order to effectively control the speed synthesis rule of the magnetic suspension rotor, the electromagnetic torque generated between the rotor and the stator of the washing machine follows the vector synthesis rule. The suspension washing machine enables the rotor of the inner barrel to be kept in a relatively stable state all the time in the operation process, and ensures that the inner barrel cannot impact the outer barrel to cause damage to the sensor and the magnetic track. Wherein, unbalance in the operation process can be compensated by the damping vibration damper who evenly arranges on outer cylinder stator, and pressure sensor is installed to damping vibration damper pressing close to the outer cylinder wall, can detect the eccentric force of inner tube to adjust the magnetic field intensity on the electro-magnet and then realize the adjustment of developments electromagnetic drive power in real time, hall sensor then can feed back the speed and the position of rotor, realizes magnetic suspension washing machine's flexible control through the double-circuit feedback.

In an alternative embodiment, a specific implementation process of the scheme of the present invention can be exemplarily described with reference to the examples shown in fig. 2 to 5.

In an alternative specific example, in the scheme of the invention, a 220V alternating current power supply is used as the working voltage of the whole flexible magnetic suspension washing machine system, a built-in rectification filter circuit and a switching power supply module are used for rectifying and filtering the alternating current power supply, and then a direct current power supply with low voltage is output in a voltage reduction mode to be used for the signal of the system.

The generation of the suspension force of the flexible magnetic suspension washing machine is the result of the interaction of the outer cylinder magnetic pole and the inner cylinder magnetic pole. As shown in figure 2, the magnetic suspension washing machine is arranged in a vertical plane, magnetic poles are arranged on the inner surface of an outer cylinder stator (such as an outer cylinder stator 4) and the outer surface of an inner cylinder rotor (such as an inner cylinder rotor 3), equidistant air gaps (such as air gaps 6) exist between the magnetic poles of the inner cylinder and the outer cylinder, clothes (5) are positioned in the inner cylinder, and a built-in balancing device is further arranged on the inner wall of the inner cylinder. After being magnetized, N, S poles of each magnetic track are periodically arranged and uniformly distributed along the radial direction of the disk. By giving each pole current and generating a corresponding electromagnetic driving force. On the outer cylinder magnetic pole, 8 Hall elements which are uniformly distributed according to an angle of 45 degrees are arranged on 8 magnetic poles according to the arrangement mode of the magnetic poles, and the names of the Hall elements are H1, H2, H3, H4, H5, H6, H7 and H8. With the rotation of the inner cylinder rotor, 16 Hall level outputs in different states in each period can be realized, each state has 22.5-degree electrical angle accuracy, and the magnetic poles in the inner cylinder face the middle of the two magnetic poles of the outer cylinder stator. When the rotor rotates by 22.5 degrees of mechanical angle, the output states of 8 Hall sensors (such as the Hall sensor 8) are overturned. Through the Hall element detection element, the detection mode can greatly improve the position and angular speed precision of the rotor by combining with current sampling feedback. And the angular speed of the inner cylinder rotor is changed by calculating the deviation between the feedback value and the measured value and amplifying the deviation value.

Alternatively, a Hall element is used as a position sensor, and the magnetic track current value is determined by calculating the position deviation, so that the electromagnetic force is changed, and the electromagnetic force determines the rotating speed of the inner cylinder.

Optionally, the feedback value refers to a two-way feedback of current sampling and hall position detection. The Hall detection element realizes position detection, current sampling feedback detects track current, and a current sampling circuit can be added to monitor current change in real time.

As shown in figure 2, in the scheme of the invention, 8 spring damping devices which are uniformly distributed according to the circumference are added on the inner wall of the outer cylinder stator on hardware, a certain gap is reserved between the top end of the spring damping (such as a damping spring 1) and the inner cylinder, and a pressure sensor array (such as a pressure sensor 2) is arranged at the bottom of the spring. The spring damping can compensate the offset of the central shaft caused by the unbalance phenomenon generated when the inner barrel runs; the pressure sensor monitors the eccentric force of the inner cylinder to form feedback to compensate the electromagnetic force of the magnetic track.

In an alternative embodiment, the imbalance of the inner drum rotor during normal operation of the washing machine produces a certain eccentricity, which can be compensated by the spring damping devices distributed uniformly along the circumference. The pressure sensor arranged at the bottom of the spring can accurately calculate the current of the magnetic pole winding in real time according to the eccentricity of the inner cylinder, and the magnetic driving force is adjusted according to the current. The top end of the spring is provided with an arc-shaped device, and when the washing machine is in a non-working state, a proper gap is reserved between the arc-shaped device and the inner cylinder rotor; the influence of the material on the magnetic field is very small, and the arc-shaped device increases the stress area when the inner cylinder wall is contacted with the spring and can reduce the impact of the inner cylinder on the outer cylinder. The pressure sensor on the outer cylinder can detect the surface pressure when impact occurs, and the current values of two adjacent magnetic poles of the pressure sensor are adjusted according to the pressure value fed back by the point.

Wherein, spring damping device can be according to circumference and evenly distributed for compensate the eccentric center that causes because of unbalance when moving the inner tube, say directly perceivedly, in order to realize the steady of inner tube operation, cushion, the damping to the eccentric power. For example: uneven clothes can cause uneven force in all directions when the inner drum runs, which is a main problem of unstable running.

Optionally, the washing machine is provided with a sensor detection unit, the Hall sensor is used for detecting the magnetic field intensity of the magnetic poles, the magnetic field intensity is converted into binary codes through an A/D module and directly output to a DSP module of the driving controller, and the DSP module is used for decoding and identifying through special software preset by the DSP module, so that the rotating speed and the position information of the rotor can be accurately calculated. The current sampler feeds back the load current of the rotating rotor to realize variable frequency operation control, the drive controller generates an excitation signal while the inner cylinder rotates, and the working principle of the drive controller is as shown in figure 3.

FIG. 3 is a closed-loop control diagram for achieving precise control of the speed during operation of the drum. And judging the deviation value of the position of the inner cylinder magnetic track and the theoretical calculation position according to the strength of the magnetic field of the magnetic track by using Hall sensors arranged on the magnetic track of the outer cylinder. The detected analog signal is converted from an analog signal to a digital signal and then processed in the DSP to generate a compensation signal, the digital signal is converted from the analog signal, the signal is amplified, and then the current value of the electromagnet is controlled to change the electromagnetic force, so that the speed compensation of the inner cylinder is realized. In fig. 3, an input module, a central processing module, and an output module are provided. The input module realizes the input of the deviation signal; the central processing module processes the deviation signal and adjusts a compensation value; the output module corresponds to the electromagnetic device and changes the current value to adjust the electromagnetic force.

In an alternative specific example, as shown in fig. 4, the whole flexible magnetic suspension control system includes two feedback units, one of which is a hall sensor unit for feeding back and correcting the speed and position of the inner cylinder rotor, and the other of which is a pressure sensing unit for detecting the eccentricity and compensating the eccentricity by using the spring damping to realize the flexible control during the operation of the system. In a magnetic field coordinate system, the currents and the suspension force of the stator to the rotor have a one-to-one correspondence decoupling relationship, and the electromagnetic driving force corresponding to the magnetic poles can be controlled by controlling the given currents.

As shown in fig. 4, two closed-loop control strategies are adopted for the whole flexible magnetic levitation control system, which mainly include: the rotating speed and the position of the inner cylinder are adjusted by detecting the magnetic field intensity by using the Hall sensor; the spring damping and the pressure sensor are used for damping unbalance in the operation process of the inner cylinder, the pressure sensor changes the current intensity of the magnetic tracks by detecting eccentric force to change the electromagnetic force of the magnetic track array, and the dynamic balance control of the inner cylinder in the operation process is realized. Firstly, 220V alternating current input is converted into smooth direct current through a rectifying and filtering module, each magnetic track is powered, and a switching power supply is used for performing DC/DC conversion to provide a stable voltage source for a system control circuit; the sensor carries out A/D conversion through signal detection and inputs the signal to the DSP for decoupling control.

In an alternative embodiment, as shown in fig. 5, the suspension system of the washing machine is that the magnetic poles of the inner drum and the outer drum are in one-to-one correspondence at the initial positions, and if the magnetic poles are not reset after the last washing is finished, the system alarms that the inner drum starts to operate and realizes the reset. After the resetting is completed, the user inputs washing parameters on the display panel, and the system automatically determines the working time, the rotating speed and the rotating direction of the roller. When the washing machine is in a normal operation state, the pressure sensor can monitor the eccentricity of the inner barrel in real time and compensate the eccentricity, the Hall sensor can realize the accurate control of the rotating speed and the position of the roller, and the whole feedback system forms a flexible magnetic suspension control system.

Since the processes and functions of the drum washing machine of this embodiment are basically corresponding to the embodiments, principles and examples of the apparatus shown in fig. 1, the description of this embodiment is not given in detail, and reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.

A large number of tests prove that by adopting the technical scheme of the invention and through the dynamic balance between the inner cylinder and the outer cylinder, the instability problem of a magnetic suspension system caused by different eccentric forces due to uneven clothes in the cylinder under the working condition of the washing machine can be compensated, and the stability and the safety of suspension operation are provided.

According to the embodiment of the invention, a magnetic levitation control method of a drum washing machine corresponding to the drum washing machine is also provided, as shown in fig. 6, which is a schematic flow chart of an embodiment of the method of the invention. The magnetic suspension control method of the drum washing machine may include: step S110 and step S120.

In step S110, the eccentricity of the inner drum when the inner drum rotor is unbalanced during the operation of the drum washing machine to be controlled is obtained, and the magnetic field strength of the drum washing machine during the operation is obtained.

At step S120, dynamically adjusting a magnetic driving force of a magnetic pole in a magnetic levitation module of the drum washing machine according to the eccentricity amount to achieve flexible control of the drum washing machine during operation; and/or the device can be used for correcting the rotating speed and the position of the inner barrel rotor according to the magnetic field intensity.

Optionally, in conjunction with an embodiment of a flowchart of the method shown in fig. 7, in which the magnetic driving force of the magnetic poles in the magnetic levitation module of the drum washing machine is dynamically adjusted according to the eccentricity, the specific process of step S120, in which the magnetic driving force of the magnetic poles in the magnetic levitation module of the drum washing machine is dynamically adjusted according to the eccentricity, may include: step S210 to step S230.

And step S210, determining a correction quantity of the magnetic driving force of the adjacent two magnetic pole windings in the magnetic suspension module according to the eccentricity.

And S220, determining the current given current corresponding to the correction value according to the corresponding decoupling relation between the given current and the suspension force of the stator to the rotor.

And step S230, adjusting the magnetic field intensity of the windings of the two adjacent magnetic poles according to the current given current, and further adjusting the magnetic driving force corresponding to the magnetic poles.

Optionally, referring to a flowchart of an embodiment of the method shown in fig. 8, in which the rotational speed and the position of the inner drum rotor are corrected according to the magnetic field strength, further describing a specific process of correcting the rotational speed and the position of the inner drum rotor according to the magnetic field strength in step S120, the specific process may include: step S310 to step S330.

And step S310, determining the current position of the inner barrel magnetic track according to the magnetic field intensity.

Step S320, determining whether the deviation value between the current position and the set position exceeds a set threshold.

And step S330, if the deviation value exceeds the set threshold value, correcting the rotating speed of the inner cylinder rotor according to the deviation value.

More optionally, referring to a schematic flow chart of an embodiment of the method of the present invention shown in fig. 9, where the rotation speed of the inner cylinder rotor is corrected according to the deviation value, further describing a specific process of correcting the rotation speed of the inner cylinder rotor according to the deviation value in step S330, the specific process may include: step S410 to step S430.

And S410, generating a compensation signal of the control current of the magnetic pole winding in the magnetic suspension module according to the deviation value.

Step S420, after the compensation signal is amplified, determining the current control current of the magnetic pole winding in the magnetic suspension module.

And step S430, adjusting the magnetic field intensity of the magnetic pole winding in the magnetic suspension module according to the current control current, and realizing the correction of the inner cylinder rotating speed.

Referring to fig. 10, a flowchart of an embodiment of the method for controlling the start of the magnetic suspension module of the drum washing machine according to the present invention will be further described, wherein the specific process for controlling the start of the magnetic suspension module of the drum washing machine may include: step S510 to step S530.

Step S510, determining whether the inner drum of the drum washing machine is reset or not, when receiving an operation instruction for controlling the magnetic levitation module of the drum washing machine to start.

And step S520, if the inner cylinder is reset, determining the control parameters of the magnetic suspension module according to the input washing parameters.

Step S530, if the inner cylinder is not reset, the prompt message is initiated first, then the inner cylinder is controlled to operate and reset, and then the control parameters of the magnetic suspension module are determined according to the input washing parameters.

Therefore, the suspension control can be started under the condition of resetting of the inner barrel by controlling the magnetic suspension module of the drum washing machine to be started, and the improvement on the reliability and the safety of the suspension control can be facilitated

Since the processes and functions implemented by the method of the present embodiment substantially correspond to the embodiments, principles and examples of the drum washing machine shown in fig. 2 to 5, the description of the present embodiment is not detailed, and reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.

A large number of tests prove that by adopting the technical scheme of the embodiment, the inner cylinder can be accurately suspended in the outer cylinder through the dynamic balance between the inner cylinder and the outer cylinder, the impact of the inner cylinder on the outer cylinder during suspension is reduced, the instantaneous response speed of the washing machine during working is improved, the working efficiency of the washing machine is improved, and the service life of the washing machine is prolonged.

In summary, it is readily understood by those skilled in the art that the advantageous modes described above can be freely combined and superimposed without conflict.

The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A magnetic levitation control apparatus, comprising: a sensing device and a controller; wherein,

the sensing device is used for acquiring the eccentric amount of the inner drum when the inner drum rotor of the drum washing machine to be controlled is unbalanced in operation in the operation process and acquiring the magnetic field intensity of the drum washing machine in the operation process;

the controller is used for dynamically adjusting the magnetic driving force of the magnetic poles in the magnetic suspension module of the drum washing machine according to the eccentric amount; the device is also used for correcting the rotating speed and the position of the inner cylinder rotor according to the magnetic field intensity;

the magnetic suspension control device further comprises: a vibration damping device;

the vibration damper is arranged on the inner wall of an outer cylinder stator of the roller washing machine, a gap with a set allowance is reserved between the vibration damper and an inner cylinder of the roller washing machine, and the vibration damper is used for compensating the eccentric quantity of the inner cylinder when an inner cylinder rotor is unbalanced in operation in the operation process of the roller washing machine;

and a sensing device for detecting the eccentric amount is arranged at one end of the vibration damping device close to the inner wall of the outer cylinder stator.

2. The apparatus of claim 1, wherein the magnetic levitation control apparatus further comprises a built-in balancing device; the built-in balancing device is arranged on the inner wall of the inner barrel of the roller washing machine and is used for balancing when the inner barrel rotor of the roller washing machine is unbalanced in operation.

3. The apparatus of claim 1, wherein,

the controller dynamically adjusts the magnetic driving force of the magnetic poles in the magnetic suspension module of the drum washing machine according to the eccentricity, and the controller comprises:

determining the correction value of the magnetic driving force of two adjacent magnetic pole windings in the magnetic suspension module according to the eccentricity;

determining the current given current corresponding to the correction value according to the corresponding decoupling relation between the given current and the suspension force of the stator to the rotor;

adjusting the magnetic field intensity of two adjacent magnetic pole windings according to the current given current so as to adjust the magnetic driving force corresponding to the magnetic poles;

and/or the presence of a gas in the gas,

the controller corrects the rotating speed and the position of the inner barrel rotor according to the magnetic field intensity, and the method comprises the following steps:

determining the current position of the inner barrel magnetic track according to the magnetic field intensity;

determining whether a deviation value between the current position and a set position exceeds a set threshold;

and if the deviation value exceeds the set threshold value, correcting the rotating speed of the inner cylinder rotor according to the deviation value.

4. The apparatus of claim 3, wherein the controller corrects the rotation speed of the inner drum rotor according to the deviation value, comprising:

generating a compensation signal of the control current of the magnetic pole winding in the magnetic suspension module according to the deviation value;

after the compensation signal is amplified, determining the current control current of a magnetic pole winding in the magnetic suspension module;

and adjusting the magnetic field intensity of the magnetic pole winding in the magnetic suspension module according to the current control current to realize the correction of the inner cylinder rotating speed.

5. The apparatus of any of claims 1-4, further comprising:

the controller is also used for determining whether the inner drum of the drum washing machine is reset;

if the inner cylinder is reset, determining the control parameters of the magnetic suspension module according to the input washing parameters;

if the inner cylinder is not reset, the prompt message is initiated first, then the inner cylinder is controlled to operate and reset, and then the control parameters of the magnetic suspension module are determined according to the input washing parameters.

6. The apparatus of claim 2, wherein,

the vibration damping device includes: a damping spring and an arc device;

the damping spring is arranged on the inner wall of an outer cylinder stator of the drum washing machine, and the arc-shaped device is arranged at the end part of the damping spring;

and/or the presence of a gas in the gas,

the number of the built-in balancing devices is even, and the even number of the built-in balancing devices are uniformly distributed.

7. The apparatus of claim 1, wherein the sensing device comprises: a pressure sensor and/or a hall sensor; wherein,

under the condition that the magnetic suspension control device further comprises a sensing device, the pressure sensor is arranged between the vibration damper and the inner wall of the outer cylinder stator of the drum washing machine;

and/or the presence of a gas in the gas,

the Hall sensor is arranged in a magnetic suspension module of the drum washing machine and positioned on a magnetic pole of the outer drum.

8. The apparatus of claim 7, wherein,

the number of the pressure sensors is even, and the even number of the pressure sensors are uniformly distributed; and/or the presence of a gas in the gas,

the number of the Hall sensors is even, and the even Hall sensors are uniformly distributed.

9. The apparatus of claim 8, wherein,

the number of the pressure sensors is 8;

and/or the presence of a gas in the gas,

the number of the Hall sensors is 8; wherein, on the outer cylinder magnetic pole, according to the magnetic pole mode of arranging, arrange 8 hall sensors according to 45 angle evenly distributed on 8 magnetic poles.

10. A drum washing machine characterized by comprising: magnetic levitation control apparatus as claimed in any one of claims 1 to 9.

11. A magnetic levitation control method of a drum washing machine according to claim 10, comprising:

acquiring the eccentric amount of an inner barrel when an inner barrel rotor of a roller washing machine to be controlled is unbalanced in operation in the operation process, and acquiring the magnetic field intensity of the roller washing machine in the operation process;

dynamically adjusting the magnetic driving force of the magnetic poles in the magnetic suspension module of the drum washing machine according to the eccentric amount; and the device is also used for correcting the rotating speed and the position of the inner barrel rotor according to the magnetic field intensity.

12. The method of claim 11, wherein,

the method for dynamically adjusting the magnetic driving force of the magnetic poles in the magnetic suspension module of the drum washing machine according to the eccentricity comprises the following steps:

and/or the presence of a gas in the gas,

correcting the rotating speed and the position of the inner barrel rotor according to the magnetic field intensity, and the correcting method comprises the following steps:

13. The method of claim 12, wherein correcting the rotational speed at which the inner tube rotor rotates based on the deviation value comprises:

14. The method according to one of claims 11-13, further comprising:

determining whether an inner drum of the drum washing machine is reset;