CN115450004A

CN115450004A - Clothes treatment equipment, control method and device thereof and storage medium

Info

Publication number: CN115450004A
Application number: CN202110636113.0A
Authority: CN
Inventors: 邹杰; 朱灵云; 吴强; 张小文
Original assignee: Wuxi Little Swan Electric Co Ltd
Current assignee: Wuxi Little Swan Electric Co Ltd
Priority date: 2021-06-08
Filing date: 2021-06-08
Publication date: 2022-12-09

Abstract

Disclosed are a laundry treating apparatus, a control method and device thereof, and a storage medium. The control method comprises the following steps: acquiring the running state of a motor for driving the clothes treatment equipment to rotate; determining that the motor is in a rotating state, controlling the motor to operate in a first open-loop mode based on a reversing instruction, and controlling the motor to switch to operate in a closed-loop mode based on a first switching condition; the controlling the motor to operate in a first open loop mode based on the commutation command includes: and responding to the reversing command, controlling the motor to output torque based on the set step excitation signal so as to drive the motor to complete reversing switching. When the motor is in a rotating state, the motor is driven to complete reversing switching based on the set step excitation signal, the reversing switching without stopping the motor can be realized, and based on the reversing switching mode, the traditional braking link can be omitted, the heating of the motor is effectively reduced, the switching duration between the forward rotation and the reverse rotation of the motor is shortened, and further the washing effect of clothes under the same washing beat can be enhanced.

Description

Clothes treatment equipment, control method and device thereof and storage medium

Technical Field

The present application relates to the field of laundry processing, and more particularly, to a laundry processing apparatus, a control method, device, and storage medium thereof.

Background

In the clothes washing process, the clothes treatment equipment often needs to control the inner drum to alternately rotate forwards and backwards at a set washing rhythm. Taking a pulsator washing machine as an example, the inner barrel is driven to alternately rotate forward and backward based on the switching of the forward rotation and the backward rotation of the motor, so that articles in the inner barrel are rubbed and washed back and forth in a large area, and further the washing efficiency is improved.

In the related art, in order to switch the forward rotation and the reverse rotation of the motor, if the motor is currently in a rotating state, the controller needs to control the motor to brake after receiving a reversing instruction, and then starts the rotation in the opposite direction after the motor completely stops rotating, that is, the motor operates according to a stop-forward rotation-stop-reverse rotation washing beat, and the forward and reverse rotation switching consumes time, so that the washing beat setting is greatly influenced. If the washing beat is set too strong (namely the time of single forward rotation or reverse rotation is long), the clothes are wound seriously, so that the eccentricity is serious, and the dehydration displacement is caused, namely the whole machine is displaced because the clothes are deflected to one side of the inner drum during dehydration; if the washing cycle is set too weak (i.e., the duration of a single forward rotation or reverse rotation is short), the laundry washing effect is poor, which is likely to cause complaints of users.

Disclosure of Invention

In view of this, the embodiment of the present application provides a laundry treatment apparatus, a control method and device thereof, and a storage medium, aiming to optimize the washing effect of the laundry treatment apparatus.

The technical scheme of the embodiment of the application is realized as follows:

the embodiment of the application provides a control method of clothes treatment equipment, which comprises the following steps:

acquiring the running state of a motor for driving the clothes treatment equipment to rotate;

determining that the motor is in a rotating state, controlling the motor to operate in a first open-loop mode based on a reversing instruction, and controlling the motor to switch to operate in a closed-loop mode based on a first switching condition;

wherein the controlling the motor to operate in a first open loop mode based on the commutation command comprises:

and responding to the reversing instruction, controlling the motor to output torque based on the set step excitation signal so as to drive the motor to complete reversing switching.

In some embodiments, the controlling the motor to output torque based on the set step excitation signal comprises:

controlling the motor to sequentially operate at least two constant drive currents;

the driving currents are used for driving the motor to output torque opposite to the rotating direction before reversing switching, the constant values of the driving currents are in a trend of increasing in sequence, and the running time lengths of the driving currents are equal or in a trend of decreasing in sequence.

In some embodiments, before the controlling the motor to output the torque based on the set step excitation signal, the method further comprises:

and if the current rotating speed of the motor is determined to be greater than the reversing switching rotating speed, after the inertia speed reduction of the motor is waited to be less than or equal to the reversing switching rotating speed, controlling the motor to output torque based on a set step excitation signal.

In some embodiments, after the controlling the motor to output the torque based on the set step excitation signal, the method further comprises:

and controlling the motor to output torque based on the set first linear excitation signal until the first switching condition is met.

In some embodiments, the controlling the motor to output a torque based on the set first linear excitation signal includes:

and controlling the motor to output torque by first linear driving current, wherein the first linear driving current is used for driving the motor to output the torque in the rotating direction after reversing switching.

In some embodiments, said controlling said electric machine to switch to closed loop mode operation based on a first switching condition comprises:

and if the rotating speed of the motor is determined to be greater than or equal to the first switching rotating speed, controlling the motor to switch to a closed-loop mode for operation.

In some embodiments, the method further comprises:

setting the step excitation signal based on a load amount of the laundry treating apparatus.

In some embodiments, the method further comprises:

the first linear driving signal is set based on a load amount of the laundry treating apparatus.

In some embodiments, the method further comprises:

determining that the motor is in a stalling state, controlling the motor to operate in a second open-loop mode based on a reversing instruction, and controlling the motor to be switched to operate in a closed-loop mode based on a second switching condition;

wherein the controlling the motor to operate in a second open loop mode based on the commutation command comprises:

and controlling the motor to output torque based on the set second linear excitation signal in response to the commutation command so as to drive the motor to complete starting.

In some embodiments, the motor is implemented to operate in a closed loop mode based on field oriented control.

An embodiment of the present application also provides a control device of a laundry treatment apparatus, including:

the clothes treating device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the running state of a motor for driving the clothes treating device to rotate;

the control module is used for determining that the motor is in a rotating state, controlling the motor to operate in a first open-loop mode based on a reversing instruction, and controlling the motor to be switched to operate in a closed-loop mode based on a first switching condition;

wherein the control module controls the motor to operate in a first open loop mode based on a commutation command, comprising:

and responding to the reversing command, controlling the motor to output torque based on the set step excitation signal so as to drive the motor to complete reversing switching.

An embodiment of the present application further provides a laundry treating apparatus, including: a processor and a memory for storing a computer program capable of running on the processor, wherein the processor, when running the computer program, is configured to perform the steps of the method according to the embodiments of the present application.

The embodiment of the present application further provides a storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the method in the embodiment of the present application are implemented.

According to the technical scheme provided by the embodiment of the application, the running state of a motor for driving the clothes treatment equipment to rotate is obtained; determining that the motor is in a rotating state, controlling the motor to operate in a first open-loop mode based on a reversing instruction, and controlling the motor to switch to operate in a closed-loop mode based on a first switching condition; wherein controlling the motor to operate in a first open loop mode based on the commutation command comprises: and responding to the reversing command, controlling the motor to output torque based on the set step excitation signal so as to drive the motor to complete reversing switching. When the motor is in a rotating state, the motor is driven to complete reversing switching based on the set step excitation signal, the reversing switching without stopping the motor can be realized, and based on the reversing switching mode, the traditional braking link can be omitted, the heating of the motor is effectively reduced, the switching duration between the forward rotation and the reverse rotation of the motor is shortened, and further the washing effect of clothes under the same washing beat can be enhanced.

Drawings

Fig. 1 is a schematic flowchart of a control method of a laundry treatment apparatus according to an embodiment of the present application;

fig. 2 is a schematic control diagram of a commutation switching corresponding to a commutation command when a motor is in a rotating state according to an application example of the present application;

fig. 3 is a schematic view of a starting control corresponding to a commutation command when a motor is in a stall state according to an application example of the present application;

FIG. 4 is a schematic structural diagram of a control device of a clothes treating apparatus according to an embodiment of the present application;

fig. 5 is a schematic structural view of a laundry treating apparatus according to an embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

The embodiment of the application provides a control method of a clothes treatment device, and the clothes treatment device can be a washing machine or a washing and drying all-in-one machine with a drying function. Exemplarily, the laundry treating apparatus is a pulsator type washing machine, the laundry treating apparatus comprising: an inner cylinder and a motor for driving the inner cylinder to rotate. The clothes to be washed can be placed in the inner drum, and the clothes treatment equipment also comprises a motor controller and a driving circuit, wherein the motor controller drives the motor through the driving circuit so as to drive the inner drum to wash the clothes in the inner drum. It is understood that the motor controller and the driving circuit may be separately provided, or may be integrated on the main control board of the laundry treating apparatus, which is not limited in this application.

As shown in fig. 1, the control method of a laundry treatment apparatus according to an embodiment of the present application includes:

step 101, acquiring the running state of a motor for driving the clothes treatment equipment to rotate.

For example, a rotation speed sensor for acquiring the rotation speed of the motor may be provided on the laundry treating apparatus, and the motor controller may determine the current operation state of the motor based on the rotation speed signal acquired by the rotation speed sensor. Here, the operation state of the motor includes: the method comprises a rotating state and a stalling state, wherein the rotating state refers to the condition that the rotating speed of the motor is larger than a rotating speed threshold value, the stalling state refers to the condition that the rotating speed of the motor is smaller than or equal to the rotating speed threshold value, and the rotating speed threshold value can be 0 or a rotating speed value close to 0.

Step 102, determining that the motor is in a rotating state, controlling the motor to operate in a first open-loop mode based on a reversing instruction, and controlling the motor to switch to operate in a closed-loop mode based on a first switching condition; wherein controlling the motor to operate in a first open loop mode based on the commutation command comprises: and responding to the reversing command, controlling the motor to output torque based on the set step excitation signal so as to drive the motor to complete reversing switching.

Illustratively, the reversing instruction may be generated based on a washing beat, for example, during the soaking, washing, rinsing and other stages (drum processes except for dewatering) of the laundry processing apparatus, the laundry processing apparatus may determine an appropriate washing beat based on the load amount, so as to meet the washing and cleaning requirements and reasonably avoid the defects of laundry winding, serious eccentricity and the like. The washing cycle may include: a forward rotation time period and a reverse rotation time period within a single cycle. By way of example and not limitation, the wash cycle may be 30 seconds for the motor to rotate forward and 30 seconds for the motor to rotate backward in one minute, i.e., the motor controller obtains a commutation command every 30 seconds.

It can be understood that the motor controller may determine the current operation state of the motor based on the rotation speed signal collected by the rotation speed sensor, and if the motor controller determines that the current operation state of the motor is a rotation state, in response to the commutation command, control the motor to output a torque based on the set step excitation signal to drive the motor to complete the commutation switching.

Here, in the first open-loop mode, the motor is controlled to output torque based on a set step excitation signal, the direction of the torque (namely, the rotation torque) is opposite to the rotation direction before the motor is switched in a reversing way, namely, the torque can realize the effect that the motor is dragged in a reverse direction, and through a step excitation way, the shake caused by the reverse torque in the motor reversing switching process can be effectively reduced, so that the motor can be switched in a reversing way without stopping.

Here, the first switching condition is a condition for switching the ring in an open loop without switching the direction of the motor during the rotation.

In some embodiments, controlling the electric machine to output torque based on the set step excitation signal comprises:

controlling the motor to sequentially run at least two constant drive currents;

the driving currents are all used for driving the motor to output torque opposite to the rotating direction before reversing switching, the constant values of the driving currents tend to increase in sequence, and the running time lengths of the driving currents are equal or tend to decrease in sequence.

It can be understood that the set step excitation signal includes a plurality of driving currents which rise in steps, and since the driving currents are in direct proportion to the torque output by the motor, that is, the torque dragged by the motor is in a gradually increasing trend in the commutation switching process, the jitter caused by the reverse torque in the motor commutation switching process can be effectively reduced, and further the motor can be commutated without shutdown.

For example, the running time of each driving current in the set step excitation signal tends to decrease sequentially, that is, the maintaining time of the torque tends to decrease gradually as the torque increases, so that the jitter in the commutation switching process of the motor can be further reduced, and smooth commutation switching is facilitated.

In practical application, if the current rotating speed of the motor is too high, the reversing switching needs to be executed after the motor is decelerated, so that the failure of the reversing switching is avoided.

Based on this, in some embodiments, before controlling the electric machine to output the torque based on the set step excitation signal, the method further comprises:

and if the current rotating speed of the motor is determined to be greater than the reversing switching rotating speed, executing control on the motor to output torque based on the set step excitation signal after the inertia speed reduction of the motor is determined to be less than or equal to the reversing switching rotating speed.

Illustratively, the motor controller determines that the current rotating speed of the motor is greater than the set commutation switching rotating speed based on a rotating speed signal acquired by the rotating speed sensor, and then the motor controller controls the driving circuit to stop driving the motor, at this time, the motor operates in an inertia speed reduction (free run) mode, and after the current rotating speed of the motor is less than or equal to the commutation switching rotating speed, the motor controller controls the motor to output torque based on the set step excitation signal, so that commutation switching is realized.

Here, the commutation switching rotational speed may be set in advance. For example, the reversing switching rotation speed may be set based on the load amount of the laundry treating apparatus, for example, the reversing switching rotation speed may be decreased as the load amount increases, and thus, the chattering caused by the reverse torque during the reversing switching of the motor may be further reduced.

In some embodiments, after controlling the motor to output the torque based on the set step excitation signal, the method further comprises:

and controlling the motor to output torque based on the set first linear excitation signal until a first switching condition is met.

It is understood that the motor controller may further control the motor to output the torque based on the set first linear excitation signal until the first switching condition is satisfied after controlling the motor to operate based on the set step excitation signal.

Illustratively, controlling the motor to output a torque based on the set first linear excitation signal includes:

and controlling the motor to output torque by first linear driving current, wherein the first linear driving current is used for driving the motor to output torque in the rotating direction after reversing switching.

It will be appreciated that the aforementioned set step excitation signal has driven the motor to switch from the direction of rotation prior to the commutation switch to the new direction of rotation (e.g., the motor switches from the forward direction to the reverse direction or from the reverse direction to the forward direction), the motor controller continues to drive the motor with the first linear drive current to accelerate in the new direction of rotation until the first set condition is met, and then controls the motor to operate in the closed-loop mode.

In some embodiments, controlling the electric machine to switch to a closed loop mode of operation based on a first switching condition comprises:

Here, the first setting condition may be a first switching rotation speed, which may be reasonably determined based on experiments. Therefore, the motor controller determines whether the current rotating speed of the motor is greater than or equal to a first switching rotating speed or not based on the rotating speed signal acquired by the rotating speed sensor, and if so, the motor is controlled to be switched to a closed-loop mode to operate.

In an application example, if the motor is in a rotating state, a control schematic diagram of the commutation switching based on the commutation command is shown in fig. 2. In the first open-loop mode, the set step excitation signal comprises: the driving current I1, the driving current I2, and the rest of the excitation signal are the first linear driving current I3, wherein the initial value of I3 may be I2 and shows a linear increasing trend. If the motor controller determines that the current rotating speed before the motor is rotated and commutated is less than or equal to the commutation switching rotating speed n0, the motor controller controls the driving circuit to drive the motor with a driving current I1, for example, the driving current I1 may be 30% of the rated driving current, and the driving time is 100 milliseconds; then the motor controller controls the driving circuit to drive the motor with a driving current I2, for example, the driving current I1 may be 60% of the rated driving current, and the driving time is 100 milliseconds; then the motor controller controls the drive circuit to drive the motor with a first linear drive current I3 in the remaining open loop mode; and the motor controller determines that the current rotating speed after the motor is rotated and commutated is greater than or equal to a first switching rotating speed n1, and controls the motor to be switched to a closed-loop mode to operate. Here, the rated driving current may be a maximum driving current determined based on an experiment.

It should be noted that, based on the commutation switching control shown in fig. 2, the motor can be rapidly braked and rapidly switched to the opposite direction to operate, so that commutation switching without stopping the motor can be realized, and based on the commutation switching manner, the traditional braking link can be omitted, the heat generation of the motor is effectively reduced, the switching duration between the forward rotation and the reverse rotation of the motor is shortened, and further, the washing effect of clothes under the same washing beat can be enhanced.

It can be understood that, if the motor controller determines that the current rotation speed of the motor is greater than the commutation switching rotation speed, the motor controller controls the motor to stop rotating, and after waiting for the inertia speed reduction of the motor to be less than or equal to the commutation switching rotation speed, the motor controller controls the motor to output torque based on the set step excitation signal, that is, the motor is controlled to operate in the first open-loop mode.

For example, the motor may be a Permanent Magnet Synchronous Motor (PMSM), and the motor controller may implement the motor to operate in a closed-loop mode based on Field Oriented Control (FOC). Here, the field-oriented control is also called vector control, and the method is to convert the control of three-phase alternating current into the control of q-axis current for generating torque and d-axis current for generating a magnetic field by coordinate transformation, thereby realizing independent control of torque and excitation. The motor is operated in a closed loop mode based on the magnetic field orientation control, the motor can be operated at a specified rotating speed, the specific control process can be realized by referring to a related FOC technology, and details are not repeated herein.

In some embodiments, the step excitation signal may be set based on a load amount of the laundry treating apparatus. In the embodiment of the present application, the step excitation signal may include: at least two constant drive currents, each drive current increasing gradually in a step-like fashion, i.e. from one drive current suddenly jumping up to the other.

It can be understood that the load amount can be divided into intervals, and the corresponding step excitation signal is set for each interval. For example, the load amount is divided into a light load and a heavy load, and the driving current corresponding to the light load is smaller than the driving current corresponding to the heavy load. For example, in a light load situation, the driving current I1 may be 20% of the rated driving current, and the driving time period is 200 milliseconds; the driving current I2 can be 40% of the rated driving current, and the driving time is 200 milliseconds; under the heavy load condition, the driving current I1 can be 30% of the rated driving current, and the driving time is 300 milliseconds; the drive current I2 may be 50% of the rated drive current for a drive time period of 100 milliseconds.

In some embodiments, the first linear excitation signal may be set based on a load amount of the laundry treating apparatus.

It is understood that the load amount may be divided into sections, and the corresponding first linear driving signal may be set for each section. For example, the load amount is divided into a light load and a heavy load, and the slope of the first linear driving current I3 corresponding to the light load is smaller than the slope of the first linear driving current I3 corresponding to the heavy load.

For example, before entering the washing mode, the laundry processing device may obtain a load amount of the inner drum based on the fuzzy weighing, determine an interval corresponding to the load based on the load amount, thereby determining that the load amount is a light load or a heavy load, and select a corresponding step excitation signal and a first linear excitation signal, so as to facilitate subsequent commutation switching control.

The laundry processing apparatus may further acquire a load amount of the inner tub based on the fuzzy weighing, automatically determine a washing tempo of the laundry, and perform washing control based on the washing tempo. In the washing process, the motor controller realizes reversing switching control based on the reversing instruction and the control method. So, can realize the switching-over of motor not shutting down, and based on this switching-over mode, can save traditional brake link, effectively reduce generating heat of motor, shorten the corotation of motor and the length of switching between the reversal, and then can strengthen the washing effect of clothing under the same washing beat.

In some embodiments, the control method further comprises:

determining that the motor is in a stalling state, controlling the motor to operate in a second open-loop mode based on the reversing instruction, and controlling the motor to be switched to operate in the closed-loop mode based on a second switching condition; wherein controlling the motor to operate in a second open loop mode based on the commutation command comprises: and in response to the commutation command, controlling the motor to output torque based on the set second linear excitation signal so as to drive the motor to complete starting.

Here, the second switching condition refers to a condition for switching the motor to the motor off state in an open loop.

It can be understood that if the motor is currently in a stall state, the motor controller directly starts the motor based on the commutation command, that is, commutation switching of the motor in an operating state is not involved at this time, and accordingly, the motor controller controls the motor to operate in the second open-loop mode first, and determines that the rotation speed of the motor is greater than or equal to the second switching rotation speed, and controls the motor to operate in the closed-loop mode based on the magnetic field orientation control.

For example, as shown in fig. 3, in the second open-loop mode, the motor controller controls the driving circuit to drive the motor at the second linear driving current I4, and controls the motor to switch to the closed-loop mode operation when it is determined that the present rotation speed of the motor is greater than or equal to the second switching rotation speed n2.

It is understood that the slope of the second linear driving current I4 can be reasonably determined based on the load amount of the inner barrel, for example, as the load amount increases, the slope of the second linear driving current I4 can correspondingly increase, and the application is not particularly limited herein.

It is understood that the second switching rotation speed n2 may be the same as or different from the first switching rotation speed n1, and the present application is not limited thereto.

It is understood that the slope of the second linear driving current I4 may be the same as or different from the slope of the first linear driving current I3, and the present application is not limited thereto.

Exemplarily, the second driving current I4 has a positive correlation with the rotation speed of the motor, i.e. the second driving current I4 increases with increasing rotation speed of the motor.

As can be seen from the above description, the control method according to the embodiment of the present application can distinguish the spin-down state and the spin state according to the operation state of the motor during the washing process of the laundry treatment apparatus, and set the open-loop mode and the open-loop switching closed-loop rotation speed for the spin state and the spin-down state, respectively, for example, the open-loop mode of the spin state corresponds to the first open-loop mode, and the corresponding open-loop switching closed-loop rotation speed is the first switching rotation speed n1; the open-loop mode of the stall state corresponds to the second open-loop mode, and the corresponding open-loop switching ring rotation speed is the second switching rotation speed n2. The switching and reversing of the positive and negative rotation and the reverse rotation of the motor without stopping can be realized, and the stopping and braking links in the switching and reversing process can be saved; in addition, the strong washing effect can be realized based on the weak washing beat, the washing ratio is increased, the eccentricity caused by the washing beat is reduced, the dehydration displacement is reduced, and the like; and thirdly, as the braking link is reduced, the heating of the motor can be effectively reduced, and the service life of the motor is further prolonged.

In order to implement the method of the embodiment of the present application, the embodiment of the present application further provides a control device of a laundry treatment apparatus, the control device of the laundry treatment apparatus corresponds to the control method of the laundry treatment apparatus, and the steps in the control method embodiment of the laundry treatment apparatus are also fully applicable to the control device embodiment of the laundry treatment apparatus.

As shown in fig. 4, the control device of the laundry treating apparatus includes: an acquisition module 401 and a control module 402. The obtaining module 401 is used for obtaining the running state of a motor driving the clothes treatment equipment to rotate; the control module 402 is configured to determine that the motor is in a rotating state, control the motor to operate in a first open-loop mode based on a commutation instruction, and control the motor to switch to operate in a closed-loop mode based on a first switching condition; wherein, control module controls the motor to operate in a first open-loop mode based on the commutation command, includes: and responding to the reversing command, controlling the motor to output torque based on the set step excitation signal so as to drive the motor to complete reversing switching.

In some embodiments, the control module 402 controls the motor to output torque based on the set step excitation signal, including:

controlling the motor to sequentially run at least two constant drive currents;

In some embodiments, before the control module 402 controls the motor to output the torque based on the set step excitation signal, the control module is further configured to:

In some embodiments, after the control module 402 controls the motor to output the torque based on the set step excitation signal, the control module is further configured to:

In some embodiments, the control module 402 controls the electric machine to output a torque based on the set first linear excitation signal, including:

In some embodiments, the control module 402 controls the electric machine to switch to the closed-loop mode of operation based on a first switching condition, including:

In some embodiments, the control module 402 is further configured to: the step excitation signal is set based on a load amount of the laundry treating apparatus.

In some embodiments, the control module 402 is further configured to: the first linear excitation signal is set based on a load amount of the laundry treating apparatus.

In some embodiments, the control module 402 is further configured to: determining that the motor is in a stalling state, controlling the motor to operate in a second open-loop mode based on the reversing instruction, and controlling the motor to be switched to operate in the closed-loop mode based on a second switching condition; wherein controlling the motor to operate in a second open loop mode based on the commutation command comprises: and in response to the commutation command, controlling the motor to output torque based on the set second linear excitation signal so as to drive the motor to complete starting.

In some embodiments, the control module 402 enables the motor to operate in a closed loop mode based on field orientation control.

In practice, the obtaining module 401 and the control module 402 can be implemented by a processor in a control device of the clothes treating apparatus. Of course, the processor needs to run a computer program in memory to implement its functions.

It should be noted that: the control device of the laundry processing apparatus provided in the above embodiment is only exemplified by the division of the program modules when controlling the laundry processing apparatus, and in practical applications, the processing distribution may be completed by different program modules according to needs, that is, the internal structure of the device is divided into different program modules to complete all or part of the processing described above. In addition, the control device of the clothes treatment apparatus provided by the above embodiment and the control method embodiment of the clothes treatment apparatus belong to the same concept, and the specific implementation process thereof is described in the method embodiment, which is not described herein again.

Based on the hardware implementation of the program module, in order to implement the method of the embodiment of the present application, the embodiment of the present application further provides a clothes processing apparatus. Fig. 5 shows only an exemplary structure of the laundry treating apparatus, not the entire structure, and a part of or the entire structure shown in fig. 5 may be implemented as necessary.

As shown in fig. 5, a laundry treating apparatus 500 provided in an embodiment of the present application includes: at least one processor 501, memory 502, and a user interface 503. The various components in the laundry treating apparatus 500 are coupled together by a bus system 504. It will be appreciated that the bus system 504 is used to enable communications among the components of the connection. The bus system 504 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 504 in fig. 5.

The clothes treatment device of the embodiment of the application further comprises: an inner cylinder and a motor for driving the inner cylinder to rotate. The clothes to be washed can be placed in the inner drum, and the clothes treatment equipment further comprises a motor controller and a driving circuit, wherein the motor controller drives the motor to drive the inner drum to wash the clothes in the inner drum through the driving circuit. The at least one processor 501 comprises: and the motor controller drives the motor through the driving circuit.

Exemplarily, the laundry treating apparatus further includes: the processor 501 determines the current operation state of the motor based on the rotation speed signal collected by the rotation speed sensor.

Exemplarily, the laundry treating apparatus may be a pulsator type washing machine.

The user interface 503 in the embodiment of the present application may include a display, a keyboard, a mouse, a trackball, a click wheel, a key, a button, a touch pad, a touch screen, or the like.

The memory 502 in the embodiment of the present application is used to store various types of data to support the operation of the laundry treating apparatus. Examples of such data include: any computer program for operating on a laundry treatment apparatus.

The control method of the laundry treating apparatus disclosed in the embodiment of the present application may be applied to the processor 501, or may be implemented by the processor 501. The processor 501 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the control method of the laundry treatment apparatus may be accomplished by instructions in the form of hardware integrated logic circuits or software in the processor 501. The Processor 501 may be a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc. The processor 501 may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium located in the memory 502, and the processor 501 reads the information in the memory 502, and completes the steps of the control method of the clothes treatment apparatus provided in the embodiment of the present application in combination with the hardware thereof.

In an exemplary embodiment, the laundry treating apparatus may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, programmable Logic Devices (PLDs), complex Programmable Logic Devices (CPLDs), field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the aforementioned methods.

It will be appreciated that the memory 502 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a magnetic random access Memory (Flash Memory), a magnetic surface Memory, an optical Disc, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), synchronous Static Random Access Memory (SSRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic Random Access Memory (SDRAM), double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (ESDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), synchronous Dynamic Random Access Memory (SLDRAM), direct Memory (DRmb Access), and Random Access Memory (DRAM). The memories described in the embodiments of the present application are intended to comprise, without being limited to, these and any other suitable types of memory.

In an exemplary embodiment, the present application also provides a storage medium, i.e., a computer storage medium, which may be a computer readable storage medium, for example, including a memory 502 storing a computer program, which is executable by a processor 501 of a laundry processing apparatus to complete the steps of the method of the present application. The computer readable storage medium may be a ROM, PROM, EPROM, EEPROM, flash Memory, magnetic surface Memory, optical disk, or CD-ROM, among others.

It should be noted that: "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

The technical means described in the embodiments of the present application may be arbitrarily combined without conflict.

The above description is only a specific embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall cover the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A control method of a laundry treating apparatus, comprising:

2. The method of claim 1, wherein the controlling the motor to output torque based on the set step excitation signal comprises:

controlling the motor to sequentially run at least two constant drive currents;

the driving currents are used for driving the motor to output torque opposite to the rotating direction before reversing switching, the constant values of the driving currents are in a trend of increasing in sequence, and the operation time lengths of the driving currents are equal or in a trend of decreasing in sequence.

3. The method of claim 1, wherein prior to controlling the motor to output torque based on the set step excitation signal, the method further comprises:

4. The method of claim 1, wherein after controlling the motor to output torque based on the set step excitation signal, the method further comprises:

5. The method of claim 4, wherein the controlling the motor to output a torque based on the set first linear excitation signal comprises:

6. The method of claim 1, wherein said controlling the electric machine to switch to a closed loop mode of operation based on a first switching condition comprises:

7. The method of claim 1, further comprising:

8. The method of claim 4, further comprising:

9. The method of claim 1, further comprising:

10. Method according to claim 1 or 9, characterized in that the motor is operated in closed loop mode based on field oriented control.

11. A control device of a laundry treating apparatus, comprising:

the control module is used for determining that the motor is in a rotating state, controlling the motor to operate in a first open-loop mode based on a reversing instruction, and controlling the motor to be switched to operate in the closed-loop mode based on a first switching condition;

12. A laundry treating apparatus, characterized in that the laundry treating apparatus comprises: a processor and a memory for storing a computer program capable of running on the processor, wherein,

the processor, when executing the computer program, is adapted to perform the steps of the method of any of claims 1 to 10.

13. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the method of any one of claims 1 to 10.