WO2018028389A1 - Method for controlling drum washing machine - Google Patents

Method for controlling drum washing machine Download PDF

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Publication number
WO2018028389A1
WO2018028389A1 PCT/CN2017/093274 CN2017093274W WO2018028389A1 WO 2018028389 A1 WO2018028389 A1 WO 2018028389A1 CN 2017093274 W CN2017093274 W CN 2017093274W WO 2018028389 A1 WO2018028389 A1 WO 2018028389A1
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WO
WIPO (PCT)
Prior art keywords
drum
control unit
central control
acceleration
eccentric
Prior art date
Application number
PCT/CN2017/093274
Other languages
French (fr)
Chinese (zh)
Inventor
川口智也
佐藤弘树
北川宏之
Original Assignee
青岛海尔洗衣机有限公司
Aqua株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 青岛海尔洗衣机有限公司, Aqua株式会社 filed Critical 青岛海尔洗衣机有限公司
Priority to CN201780048439.3A priority Critical patent/CN109563666B/en
Publication of WO2018028389A1 publication Critical patent/WO2018028389A1/en

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    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/48—Preventing or reducing imbalance or noise
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/26—Imbalance; Noise level
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers

Definitions

  • the present invention relates to a control method of a washing machine having a dehydrating function.
  • washing machine such as an ordinary household or a laundromat
  • some of them have a washing and dehydrating function, a washing and dehydrating drying function.
  • a washing machine having a dehydrating function generates vibration and noise in the drum due to the bias of the laundry. Further, when the deviation of the laundry is large, the eccentricity of the drum during the rotation becomes large, and a large torque is required for the rotation, so that the dehydration operation cannot be started.
  • the user stops the operation of the washing machine and eliminates the bias of the laundry by manual operation.
  • Patent Document 3 it has been proposed to actively eliminate the unbalanced state of the drum by injecting water to a balancer that is uniformly disposed in the circumferential direction of the drum.
  • Patent Document 1 reduces the centrifugal force by decelerating the rotation of the drum, and drops the laundry overlapping each other by gravity.
  • the laundry which is entangled into agglomerates directly falls, so that the agglomerates cannot be unwound.
  • the imbalance is not eliminated, so that the imbalance is detected again, and the deceleration of the drum is repeated.
  • the technique disclosed in the above Patent Document 2 detects the vibration of the front portion when the drum is rotated.
  • the difference between the vibration value detected by the portion and the vibration value detected by the detection portion at the rear is calculated. Further, when the difference in the vibration value exceeds a predetermined threshold value, the rotation of the drum is decelerated or stopped.
  • Patent Document 3 it is expected to solve the problems that cannot be solved in the above two patent documents. Moreover, it is now desirable to provide a further specific control step, specific solution for actively solving the above problems.
  • Patent Document 1 Japanese Patent Laid-Open No. Hei 9-290089
  • Patent Document 2 Japanese Laid-Open Patent Publication No. 2009-82558
  • Patent Document 3 JP-A-2016-197
  • the present invention is an invention for solving such a conventional problem. According to the present invention, it is possible to provide a control method of a drum washing machine which can reliably reduce the imbalance of the washing tub and rapidly dehydrate it during the dehydration process even in the case where the laundry is biased in the washing tub. Process to shorten the washing time.
  • the present invention relates to a method of controlling a drum washing machine, wherein the drum washing machine has: one or more acceleration sensors for detecting acceleration in a left-right direction or an up-and-down direction of the drum and acceleration in a front-rear direction; and a drum position detecting device, A pulse signal is issued according to the rotation of the drum, and the control method of the drum washing machine is characterized in that, during the dehydration process, any time in the information indicating the time change of the acceleration during the at least one rotation of the drum is calculated a time difference of the pulse signal, and calculating an eccentric position in the drum according to the relationship between the time difference and the rotation speed of the drum, and controlling the eccentricity reduction based on the calculated eccentric position, in the calculation of the eccentric position, Utilizing any one of signals from the acceleration sensor including at least a plurality of directions in the front-rear direction number.
  • the present invention is characterized in that the relationship between the time difference for calculating the eccentric position and the spin-drying speed is changed in accordance with the vibration direction by which the information indicating the temporal change of the acceleration is based.
  • the present invention is characterized in that the calculation of the time difference is calculated based on a maximum value or a minimum value of information indicating a temporal change of the acceleration, and the pulse signal.
  • the present invention is characterized in that the calculation of the time difference is calculated based on an acceleration zero point indicating information of a temporal change of the acceleration, and the pulse signal.
  • the present invention is characterized in that the calculation of the eccentric position causes signals from other directions of the acceleration sensor to be calculated in preference to signals in the front-rear direction.
  • the present invention is characterized in that an eccentric amount is calculated for each direction using signals from a plurality of directions including the front-rear direction of the acceleration sensor, and the calculated eccentric amounts are respectively compared with a predetermined threshold value, based on the representation
  • the eccentricity position is calculated by a signal whose direction of the eccentricity is equal to or greater than the threshold value, and the control for reducing the eccentricity amount is performed based on the calculated eccentricity position.
  • the present invention is characterized in that the eccentric amount is calculated for each direction using signals from the acceleration sensor in a plurality of directions including the front-rear direction, and the eccentric amount calculated based on the signals in the front-rear direction is larger than that according to other directions.
  • the control for reducing the eccentric amount is performed based on the signal in the front-rear direction.
  • information from any one of information indicating a plurality of directions of the front-rear direction from the information indicating the temporal change of the acceleration is used for the calculation of the eccentric position, whereby the calculation of the more accurate eccentric position can be realized.
  • the control method of the washing machine of the present invention can more effectively reduce the error in the calculation of the eccentric position caused by the change in the relationship between the positional relationship of the information indicating the temporal change of the acceleration and the rotational speed of the drum, and can calculate the accurate eccentric position.
  • the control method of the washing machine of the present invention utilizes a maximum value or a minimum value which is easily detected in the information indicating the temporal change of the acceleration, whereby a more accurate eccentric position can be calculated.
  • the control method of the washing machine of the present invention is easy to detect using information indicating a temporal change in acceleration The zero point, from which a more accurate eccentric position can be calculated.
  • the control method of the washing machine of the present invention can effectively avoid the miscalculation of the eccentric position caused by the signal from the front-rear direction of the acceleration sensor, and can accurately and reliably calculate the eccentric position.
  • the control method of the washing machine of the present invention effectively avoids the problem of control based on the erroneous eccentric position, whereby the control can be performed based on the more accurately calculated eccentric position.
  • the control method of the washing machine of the present invention can perform control based on a more accurately calculated eccentric position.
  • Fig. 1 is a view schematically showing a cross section of a washing machine 1 according to an embodiment of the present invention.
  • FIG. 2 is a block diagram of an electrical system of the same washing machine 1.
  • FIG. 3 is a view for explaining a control flow in the dehydration process of the same washing machine 1.
  • FIG. 4 is a parameter table showing the water supply valve 62 that is open.
  • FIG. 5 is a schematic view showing an eccentric position in the drum 2.
  • Fig. 6 is a schematic view showing a state in which the inside of the drum 2 is in a facing load.
  • FIG. 7 is a graph showing an outline of a dehydration process of the washing machine 1 of the present embodiment.
  • Fig. 8 is a flow chart showing a control flow in the dehydration process of the same washing machine 1.
  • Fig. 9 is a flowchart showing an eccentric position adjustment process.
  • Fig. 10 is a schematic flow chart showing the main process of dehydration.
  • Figure 11 is a flow chart showing the main process of dehydration.
  • FIG. 12 is a graph showing the relationship between the acceleration obtained by the acceleration sensor 12 and the pulse signal ps obtained by the proximity switch 14.
  • Fig. 13 is a flowchart showing a process of measuring an eccentric amount/assumed eccentric position.
  • Fig. 14 is a flowchart showing the process of determining the maximum value/minimum value.
  • Fig. 15 is a schematic flow chart showing a process of starting determination.
  • Fig. 16 is a specific flowchart showing a process of starting determination.
  • Fig. 17 is a schematic flow chart showing the processing of the water injection process.
  • Fig. 18 is a specific flow chart showing the processing of the water injection process.
  • Fig. 19 is a flowchart showing a process of officially determining an eccentric position.
  • Fig. 20 is a view for explaining a control flow in the dehydration process of the same washing machine 1.
  • FIG. 21 is a flowchart showing a process of water injection implementation of the same washing machine 1.
  • Fig. 22 is a flow chart showing a specific process of the water supply valve drive.
  • Fig. 23 is a flow chart showing a specific process of determining the amount of water supply.
  • FIG. 24 is a flowchart showing a process of determining an eccentric amount increase.
  • FIG. 25 is a flowchart showing a process of determining the acceleration availability.
  • FIG. 26 is a flowchart showing a process of the acceleration determination change.
  • FIG. 1 is a schematic cross-sectional view showing a configuration of a washing machine 1 of the present embodiment.
  • FIG. 2 is a functional block diagram showing an electrical configuration of the washing machine 1 of the present embodiment.
  • the washing machine 1 of the present embodiment is a washing machine that can be applied to, for example, a laundromat or a household, and includes a washing machine main body 1a, and a washing tub 1b including an outer cylinder 3 and a drum 2 having an axis S1 extending substantially horizontally;
  • the device 1c has a water receiving unit 5 and a nozzle unit 6; a driving device 40; and a control portion 30 only shown in Fig. 2.
  • the washing machine body 1a shown in Fig. 1 has a substantially rectangular parallelepiped shape.
  • an opening 11 for taking in and taking out the laundry to the drum 2 is formed, and an opening and closing cover 11a capable of opening and closing the opening 11 is attached.
  • the front surface 10a of the main body 1a of the washing machine is slightly faced upward, whereby the opening 11 for taking the laundry into and out of the drum 2 is formed obliquely upward, and the user can open and close the opening 11 from obliquely upward.
  • the closing cover 11a is opened and closed. That is, the washing machine 1 of the present embodiment is a washing machine called a so-called inclined drum automatic washing machine in which the washing tub 1b is attached to the oblique direction.
  • the outer cylinder 3 is a bottomed cylindrical member disposed inside the washing machine body 1a, and can store washing water therein.
  • an acceleration sensor 12 capable of detecting accelerations in three directions of the left-right direction, the vertical direction, and the front-rear direction is attached to the outer peripheral surface 3a of the outer cylinder 3.
  • the drum 2 is a bottomed cylindrical member that is disposed coaxially with the outer cylinder 3 and that is rotatably supported in the outer cylinder 3 in the outer cylinder 3 .
  • the drum 2 can accommodate laundry therein, and its wall surface 2a has a plurality of water-passing holes 2b (refer to Fig. 1).
  • the driving device 40 rotates the pulleys 15, 15 and the belt 15b by the motor 10, and rotates the drive shaft 17 that protrudes toward the bottom portion 2c of the drum 2, and applies a driving force to the drum 2 to rotate the drum 2.
  • a proximity switch 14 is provided in the vicinity of one of the pulleys 15, and the proximity switch 14 can detect the passage of the mark 15a formed on the pulley 15. Further, in the present embodiment, the proximity switch 14 corresponds to a drum position detecting device.
  • each of the lifting ribs 7 extends from the base end portion 2c of the drum 2 to the tip end portion in the axial direction of the drum 2, and is formed to protrude from the inner peripheral surface 2a1 of the drum 2 toward the axis S1. Further, each of the lifting ribs 7 is hollow.
  • the water receiving unit 5 is a member in which the water guiding groove 5a is formed by superposing three layers in the radial direction along the axis S1 of the drum 2, for example, and is fixed to the inner circumferential surface 2a1 of the drum 2 as shown in FIG.
  • the water guiding groove 5a is provided in the same number as the lifting rib 7, and a water passing path through which the regulating water W flows to any of the lifting ribs 7 is formed inside. Further, as shown in FIG. 1, the communication member 5a1 is connected to the inside of the lifting rib 7, and the adjustment water W is supplied from the water receiving unit 5.
  • Such a water receiving unit 5 and the lifting ribs 7 are respectively connected by the communicating member 5a1.
  • the nozzle unit 6 is a member that injects the adjustment water W into such a water guide 5a alone.
  • the nozzle unit 6 has three water injection nozzles 6a and water supply valves 62a, 62b, 62c respectively connected to the water injection nozzles 6a.
  • the water injection nozzles 6a are provided in the same number as the water guide tanks 5a, and are disposed at positions where water can be injected into the respective water guides 5a.
  • tap water is used as the adjustment water W.
  • a reversing water supply valve may be employed as the water supply valves 62a, 62b, 62c.
  • the water guiding nozzle of the water receiving unit 5 is injected from any of the water injection nozzles 6a of the nozzle unit 6 in the dehydrating process in which the drain valve 50a is opened and the washing water in the outer cylinder 3 is discharged from the drain port 50.
  • the adjustment water W in the 5a flows into the lifting rib 7 via the communication member 5a1.
  • the adjustment water W flows into the lifting ribs 7 from the water guide 5a via the communication member 5a1 as indicated by an arrow in FIG.
  • the lifting rib 7 has a stagnation portion 71 for retaining the conditioned water W injected from the tip end 1d side of the washing tub 1b by the centrifugal force of the dehydrating process by the water injection device 1c, and the outlet portion 72 for allowing the injected conditioned water W to be injected
  • the base end 1e side of the washing tub 1b is discharged.
  • the lifting rib 7 is a truss type lifting rib structure capable of retaining the adjusting water W by centrifugal force. Further, when the dehydration process is nearing completion and the rotation speed of the drum 2 is lowered, the centrifugal force in the lifting rib 7 is gradually attenuated, and the adjustment water W flows out from the outlet portion 72 by gravity, and is discharged to the outside of the outer cylinder 3. At this time, the adjustment water W flows into the lower outer side of the drum 2 via the outlet portion 72. Therefore, the adjustment water W is discharged so as not to wet the laundry in the drum 2.
  • FIG. 2 is a block diagram showing an electrical configuration of the washing machine 1 of the present embodiment.
  • the operation of the washing machine 1 is controlled by a control unit 30 including a microcomputer.
  • the control unit 30 includes a central control unit (CPU) 31 that controls the entire system, and the control unit 30 is connected to a memory 32 that stores therein a value that is lower than the resonance point CP of the drum 2, respectively.
  • the number of revolutions is the first number of revolutions (N1), the first eccentric amount threshold (ma), the water eccentricity threshold (mb), the speed increase threshold (mc), the eccentricity allowable threshold (md), and the dehydration stable speed.
  • the control unit 30 can execute a predetermined operation operation by executing a program stored in the memory 32 by the microcomputer, and the memory 32 temporarily stores data and the like used when the program is executed.
  • the central control unit 31 outputs a control signal to the rotational speed control unit 33, and further outputs the control signal to the motor control unit (motor control circuit) 34 to perform rotation control of the motor 10.
  • the rotation speed control unit 33 inputs a signal indicating the number of revolutions of the motor 10 from the motor control unit 34 in real time to constitute a control element.
  • the acceleration sensor 12 is connected to the unbalance amount detecting unit 35.
  • the acceleration sensor 12 and the proximity switch 14 are connected to the unbalanced position detecting unit 36.
  • the eccentricity detecting unit 35 and the unbalanced position detecting unit 36 constitute an eccentricity detecting unit.
  • the eccentricity of the drum 2 is calculated in the unbalance amount detecting portion 35 based on the magnitudes of the accelerations in the left-right direction, the up-and-down direction, and the front-rear direction obtained by the acceleration sensor 12.
  • the amount (M) is output to the unbalance amount determining unit 37.
  • the unbalanced position detecting unit 36 calculates an angle of the unbalanced direction based on the signal indicating the position of the mark 15a input from the proximity switch 14, and outputs an unbalanced position signal as the eccentric position (N) to the water injection control unit 38.
  • the angle of the unbalanced direction refers to the relative angle of the axis S1 with respect to the lifting rib 7 in the circumferential direction.
  • three lifting ribs 7 (A), 7 (B), and 7 (C) which are arranged at equal angular intervals around the axis S1 are used as an example.
  • the intermediate position of the lifting ribs 7 (B) and 7 (C) at a relative angle to the eccentric position is set to 0°.
  • the water filling control unit 38 determines that the water supply should be lifted based on the control program stored in advance. The rib 7 and its water supply. Then, the water injection control unit 38 opens the selected water supply valves 62a, 62b, and 62c to start the injection of the adjustment water W.
  • the water injection control unit 38 starts to inject the adjustment water into the water guiding groove 5a of the water receiving unit 5 from the water injection nozzle 6a selected based on the calculation of the eccentric amount (M). W, and when the eccentric amount (M) is below a predetermined reference, the injection of the adjustment water W is stopped.
  • the agglomerate LD (X) of the laundry which constitutes the cause of eccentricity as shown in FIG. 3 is located between the lifting rib 7 (B) of the drum 2 and the lifting rib 7 (C)
  • the water injection control unit 38 controls the supply of the adjustment water W to the lifting rib 7 (A).
  • the agglomerate LD (Y) of the laundry is located in the vicinity of the lifting rib 7 (A)
  • the adjustment water W is supplied to both the lifting rib 7 (B) and the lifting rib 7 (C).
  • the central control unit 31 opens the water supply valve X and the water supply valve Z in accordance with the description of the parameter table of Fig. 4 .
  • the determination of the eccentric position (N) is divided into: an eccentric position (N) for determining that a lifting rib 7 should be filled with water. And determine the eccentric position (N) of the water injection of the two lifting ribs 7.
  • the description of the "eccentric position (N)" in the present embodiment is a concept indicating one or both of the assumed assumed eccentric position ⁇ 1 and the officially defined official eccentric position ⁇ 2.
  • the assumed eccentric position ⁇ 1 and the official eccentric position ⁇ 2 will be described in detail later.
  • the area Y which determines the eccentric position (N) at which the lifting rib 7 should be filled refers to the areas P(A), P(B), and P(C). Further, the region Y of the eccentricity position (N) required for eccentric elimination refers to the regions P(AB), P(BC), and P(CA). Further, the angles centered on the axis S1 of the regions P(A), P(B), and P(C) are set to 20°, and the regions P(AB), P(BC), and P(CA) are used. The angle centered on the axis S1 is set to 100°.
  • the lifting rib 7 corresponding to the character not described in the ABC is the lifting rib 7 closest to the eccentric position (N) in the present embodiment.
  • the acceleration sensor 12 is a three-axis sensor capable of detecting accelerations in the left-right direction, the vertical direction, and the front-rear direction.
  • the control method of the washing machine 1 of the present embodiment has a first eccentricity detecting step of detecting the eccentric amount (M) and the assumed eccentricity at the time when the rotational speed of the drum 2 reaches the first rotational speed (N1) lower than the resonance point CP of the drum 2. a position ⁇ 1; and a washing agitating step, when the eccentric amount (M) detected by the first eccentricity detecting step is greater than the first eccentric amount threshold (ma) set to a different value according to the assumed eccentric position ⁇ 1, The rotation speed of the drum 2 is lowered or the rotation of the drum 2 is stopped to agitate the laundry in the drum 2 up and down in the drum 2, and then the rotation speed of the drum 2 is raised to the first rotation speed (N1).
  • FIG. 7 is a graph showing an outline of a dehydration process of the washing machine 1 of the present embodiment.
  • the vertical axis represents the rotational speed of the drum 2
  • the horizontal axis represents time.
  • 10, and 11 are flowcharts showing the main outline of the dehydration process.
  • Fig. 8 shows the pre-dehydration process in the first half of the dehydration process
  • Fig. 10 and Fig. 11 show the main dehydration process as a process after the pre-dehydration process.
  • the central control unit 31 when the central control unit 31 receives an input signal from a dehydration button (not shown) or receives a signal indicating that the dehydration process should be started in the washing mode operation, the process proceeds to step SP1 to start the pre-dehydration process.
  • step SP1 the central control unit 31 causes the drum 2 to be reversely rotated, and then the rotation of the drum 2 is raised to a lower first speed (N1) than the resonance point CP of the drum 2.
  • the process proceeds to step SP2.
  • the first number of revolutions (N1) is set to be lower than the resonance point CP of the drum 2, that is, 180 rpm of 300 rpm.
  • step SP2 the central control unit 31 executes the eccentric amount/presumed eccentric position measurement of the present embodiment in which the eccentricity detecting unit calculates the eccentric amount (M) and the assumed eccentric position ⁇ 1 based on the acceleration signal given by the acceleration sensor 12. control.
  • the control of step SP2 in FIG. 8 that is, the eccentric amount/assumed eccentric position measurement is equivalent to the first eccentricity detecting step of the present invention.
  • the central control unit 31 calculates the eccentric amount (M) for each direction based on the acceleration signals in the horizontal direction, the vertical direction, and the front-rear direction obtained by, for example, the acceleration sensor 12.
  • the value used in the present control is an eccentric amount (M) calculated based on the eccentric amount (M) in the front-rear direction and the acceleration signal in either the up-down direction or the left-right direction among the calculated values in the three directions.
  • the central control unit 31 compares the calculated eccentricity (M) with the first eccentric amount threshold (ma) stored in the memory 32, and performs a determination of whether or not M ⁇ ma is established.
  • the process proceeds to step SP4, and when it is determined that M ⁇ ma is not established, the process proceeds to step SP5.
  • the first eccentric amount threshold (ma) is assumed to be such that the deviation of the laundry is so large that it is difficult to reduce the eccentric amount (M) to increase the rotation speed of the drum 2 to the dehydration stable rotation speed even if the adjustment water W is supplied to the lifting rib 7.
  • the threshold of the degree of situation that is, in the case of proceeding to step SP5, it means that the eccentric amount (M) is so large that it is difficult to complete the dehydration process even if the adjustment water W is supplied to the lifting rib 7.
  • the first eccentric amount threshold (ma) will be further described.
  • the acceleration sensor 12 employs an acceleration sensor that can detect accelerations in the left-right direction, the vertical direction, and the front-rear direction, respectively. And, according to each acceleration signal in the left and right direction, the up and down direction, and the front and rear direction, the setting is not The same first eccentricity threshold (ma_x, ma_z, ma_y).
  • step SP4 when the eccentric amount (M) calculated in step SP2 is smaller than the first eccentric amount threshold (ma) set for each eccentric position, the central control unit 31 increases the number of revolutions of the drum 2. Further, the central control unit 31 continues to execute the control of the eccentric amount/assumed eccentric position measurement of the present embodiment while increasing the number of revolutions of the drum 2.
  • “continuation” is not necessarily limited to a scheme that is continuously performed without interruption. Needless to say, when the number of revolutions of the drum 2 rises to an arbitrary number of revolutions at which the dehydration stable rotational speed is reached, a scheme of intermittently performing the control of the eccentric amount/assumed eccentric position measurement of the present embodiment can be employed.
  • This step SP4 corresponds to the second eccentricity detecting step of the present invention.
  • step SP5 the central control unit 31 performs the eccentric position adjustment processing of the laundry in the agitating drum 2 in the vertical direction by stopping the rotation of the drum 2 or reducing the number of revolutions of the drum 2 to a rotational speed greater than the centrifugal force. control. Then, it returns to step SP1.
  • Step SP5 corresponds to the washing agitation step of the present invention.
  • the evolution of the rotational speed when the rotational speed of the drum 2 reaches the dehydration stable rotational speed so as not to inject water into the lifting rib 7 is shown by a solid line.
  • the virtual line on the upper side shows the evolution of the rotational speed when the rotational speed reaches the dehydration stable rotational speed after the water is fed to the lifting rib 7, and the virtual line on the lower side shows the drum 2 in step SP5. The evolution of speed.
  • step SP3 when it is judged by the above-described step SP3 that the eccentric amount (M) is too large to be lowered, the rotation of the drum 2 is stopped (step SP51). Then, the drum 2 is rotated at a rotation speed lower than the centrifugal force, and the laundry in the drum 2 is stirred to change the eccentric amount (M) (step SP52).
  • step SP4 the control of the main dehydration process after step SP4 will be schematically illustrated by FIG. 10 and specifically shown in FIG.
  • step SP6 the central control unit 31 determines whether or not the eccentric amount (M) calculated in step SP2 shown in FIG. 8 is larger than the water injection eccentricity threshold value (mb) set in advance for each rotation speed of the drum 2.
  • the central control unit 31 does not feed the lifting rib 7 to step SP7.
  • the central control unit 31 injects water into the lifting rib 7 during the water injection, and then moves to SP7.
  • step SP7 the central control unit 31 increases the number of revolutions of the drum 2 at a predetermined acceleration.
  • step SP8 when the rotational speed of the drum 2 reaches the dehydration stable rotational speed, the central control portion 31 maintains the rotational speed of the drum 2 unchanged until the dehydration process ends.
  • the dehydration stable rotation speed is set to 800 rpm.
  • Fig. 11 is a flow chart showing a specific process of the main dehydration process of the present embodiment.
  • step SP71 the central control unit 31 gradually increases the number of revolutions at 20 rpm per second until the number of revolutions of the drum 2 reaches 400 rpm.
  • the central control unit 31 executes step SP6 in parallel while performing step SP71.
  • step SP72 the central control unit 31 determines whether or not the rotational speed of the drum 2 has reached 400 rpm. If the number of revolutions does not reach 400 rpm, the central control unit 31 moves to step SP71. When the number of revolutions reaches 400 rpm, the central control unit 31 moves to step SP73.
  • step SP73 the central control unit 31 gradually increases the number of revolutions at 5 rpm per second until the number of revolutions of the drum 2 reaches 600 rpm.
  • the central control unit 31 executes step SP6 in parallel while performing step SP73.
  • step SP74 the central control unit 31 determines whether or not the rotational speed of the drum 2 has reached 600 rpm. When the number of revolutions does not reach 600 rpm, the central control unit 31 moves to step SP73. When the rotation speed reaches 600 rpm, the central control unit 31 moves to step SP75.
  • the acceleration when the rotation speed of the drum 2 is raised to 400 to 600 rpm is lower than the other rotation regions in order to make the amount of water dehydrated from the laundry more than the other rotation regions in the rotation region, thereby making it unnecessary for the dehydrated water. The noise is reduced.
  • step SP75 the central control unit 31 gradually increases the rotational speed at 20 rpm per second until the rotational speed of the drum 2 reaches 800 rpm.
  • the central control unit 31 executes step SP6 in parallel while performing step SP75.
  • step SP76 the central control unit 31 determines whether or not the rotational speed of the drum 2 has reached 800 rpm. If the number of revolutions does not reach 800 rpm, the central control unit 31 moves to step SP75. When the number of revolutions reaches 800 rpm, the central control unit 31 moves to step SP8.
  • step SP8 when the rotation speed of the drum 2 reaches the dehydration stable rotation speed, that is, 800 rpm, the central control unit 31 continues the dehydration process while maintaining the rotation speed, and ends the washing after confirming that the predetermined time has elapsed.
  • the central control unit 31 rotates the drum 2 at a dehydration stable rotation speed for a predetermined time and performs a dehydration process, similarly to the dehydration process in the normal washing. Then, the dehydration process ends. Further, when the dehydration is completed and the drum 2 starts to decelerate and the centrifugal force is lower than the gravitational acceleration, the adjustment water W in the lifting rib 7 flows out and is discharged.
  • step SP3 After the second eccentricity detecting step, that is, step SP3, the water filling step, step SP6, and the speed increasing step, step SP7, are repeated until the rotation speed of the drum 2 reaches the dehydration stable rotation speed.
  • the present embodiment is characterized in that, in the dehydration process, any one of the signals indicating the acceleration of one cycle t2 in the process of rotating the drum 2 from the acceleration sensor 12 at least one rotation, and the pulse signal ps from the proximity switch 14 are calculated.
  • the time difference t1 of the timing is calculated, and the assumed eccentric position ⁇ 1 in the circumferential direction in the drum 2 is calculated based on the relationship between the time difference t1 and the rotational speed of the drum 2, and the control for reducing the eccentric amount (M) is performed based on the calculated assumed eccentric position ⁇ 1, and Any of the signals from the plurality of directions including the front-rear direction of the acceleration sensor 12 is used for the calculation of the assumed eccentric position ⁇ 1.
  • a specific algorithm for the assumed eccentric position ⁇ 1 of the present embodiment will be described with reference to FIGS. 12 to 14 .
  • FIG. 12 is a graph showing the relationship between the information indicating the temporal change of the acceleration calculated based on the acceleration and the pulse signal ps obtained by the proximity switch 14.
  • the assumed eccentric position ⁇ 1 is calculated by the time difference t1 between the maximum value (Ymax) of the acceleration in the front-rear direction obtained by the speed sensor 12 and the pulse signal ps.
  • Ymax maximum value
  • the assumed eccentric position ⁇ 1 may be calculated from any one or more of the acceleration zero point, the maximum value (Ymax) of the acceleration, and the minimum value (Ymin).
  • Fig. 13 is a flowchart showing a process of measuring an eccentric amount/assumed eccentric position.
  • step SP21 the central control unit 31 detects accelerations (X, Y, Z) in the horizontal direction, the front-rear direction, and the vertical direction by the acceleration sensor 12.
  • step SP22 the central control unit 31 performs the determination of the maximum acceleration (X, Y, Z) based on the acceleration (X, Y, Z) obtained by the acceleration sensor 12 and the pulse signal ps, which is an interruption signal from the proximity switch 14. Calculation processing of values (Xmax, Ymax, Zmax)/minimum values (Xmin, Ymin, Zmin). The specific scheme will be explained later.
  • step SP23 the central control unit 31 calculates and determines the value of one cycle t2, which is the time when the drum 2 makes one rotation, based on the interval between the plurality of pulse signals ps as the interruption signals from the proximity switch 14.
  • step SP24 the central control unit 31 is based on the plurality of pulse signals ps as the interrupt signals from the proximity switch 14 and the maximum values (Xmax, Ymax, Zmax) of the accelerations (X, Y, Z) obtained in step SP22. Calculate and determine the time difference t1.
  • the central control unit 31 calculates the time difference t1_X and t1_Z in the horizontal direction and the vertical direction in addition to the time difference t1 in the front-rear direction shown in FIG. 12, that is, the time difference t1_Y.
  • step SP25 the central control unit 31 calculates and determines based on the maximum values (Xmax, Ymax, max)/minimum values (Xmin, Ymin, Zmin) of the accelerations (X, Y, Z) obtained in step SP22.
  • the eccentric amounts Mx, My, and Mz are obtained from the difference between the maximum value (Xmax, Ymax, Zmax) and the minimum value (Xmin, Ymin, Zmin).
  • the central control unit 31 calculates and determines the assumed eccentric position ⁇ 1-X of the left and right direction, the front-rear direction, and the up-and-down direction by the following equation based on the period t2 obtained in step SP23 and the time difference t1 obtained in step SP24. ⁇ 1-Y, ⁇ 1-Z.
  • FIG. 14 is a flowchart specifically showing a calculation process of determining maximum values (Xmax, Ymax, Zmax)/minimum values (Xmin, Ymin, Zmin) of the accelerations (X, Y, Z).
  • the values of the accelerations (X, Y, and Z) actually input from the acceleration sensor are input every one millisecond, but there is a tendency to exhibit a large fluctuation from the maximum to the minimum while repeating the input value. Further repeated subtle fluctuations. Therefore, in the present embodiment, the central control unit 31 performs the calculation processing by using the moving average of the plurality of input values as the acceleration (X1, Y1, Z1) for the calculation processing. Thereby, the above-described fine fluctuations reduce the influence on the calculation processing of the central control unit 31.
  • step SP221 the central control unit 31 performs the calculation of the 16 moving averages of the input accelerations (X, Y, Z) twice in parallel, and recognizes these moving average values obtained every 16 milliseconds as acceleration (X1, Y1). , Z1), continue to enter. Specifically, as an example, the central control unit 31 calculates and inputs a moving average value based on the first to theteenteenth and seventeenth to thirty-eightth input values, and in parallel with the second to theteenth and eighteenth to eighteenth Enter the value to calculate the moving average as the second value. Thereby, in the calculation process, any moving average of the first time and the second time can be used. Specifically, for example, even if the moving average value obtained from the first to the 16th input values cannot be calculated for any reason, the moving average value can be calculated from the second to 17th input values and supplied to the calculation. deal with.
  • step SP222 the central control unit 31 accepts the input of the pulse signal ps obtained by the proximity switch 14.
  • step SP223 the central control unit 31 updates the acceleration (X1, Y1, Z1) continuously input in step SP221 to a temporary maximum value/minimum value at any time.
  • step SP224 the central control section 31 accepts the next pulse signal ps of the pulse signal ps obtained by the step SP222 obtained by the proximity switch 14.
  • step SP225 the central control unit 31 sets the maximum/minimum value of the acceleration (X1, Y1, Z1) obtained between the pulse signals ps of step SP222 and step SP224 to the determined acceleration (X, Y). , Z) maximum value (Xmax, Ymax, Zmax) / minimum value (Xmin, Ymin, Zmin).
  • Fig. 15 is a flowchart showing an embodiment of the activation determination
  • Fig. 16 is a flowchart showing another embodiment of the activation determination. The start determination will be described below.
  • the central control unit 31 selects the eccentric amount Mx in the left-right direction determined by the step SP25 and the eccentric amount (M) which exhibits a large value in the eccentricity amount Mz in the vertical direction.
  • the selected eccentric amount (M) is referred to as the eccentric amount Mxz.
  • step SP32 the central control unit 31 determines whether or not the eccentric amount Mxz is higher than the threshold M_xz which is the first eccentric amount threshold (ma). When the eccentric amount Mxz is lower than the threshold value M_xz, the central control unit 31 proceeds to step SP33. When the eccentricity amount Mxz is higher than the threshold value M_xz, the central control unit 31 determines that the eccentricity amount Mxz is not operative, and proceeds to step SP5 to perform the eccentricity amount adjustment processing.
  • step SP33 the central control unit 31 determines whether or not the eccentric amount My in the front-rear direction is higher than the threshold M_y which is the first eccentric amount threshold (ma).
  • M_y which is the first eccentric amount threshold (ma).
  • the central control unit 31 determines that activation is possible. In this case, the number of revolutions of the drum 2 is increased. If the eccentricity My is higher than the threshold When the value M_y is reached, the central control unit 31 determines that the activation is impossible, and the process proceeds to step SP5 to perform the eccentricity adjustment processing.
  • the central control unit 31 appropriately changes the threshold value M_xz and the threshold value M_y for the start determination based on the eccentric state of the drum 2, and performs the start determination.
  • the first eccentric amount threshold (ma) is set to be smaller than the non-opposing load when in the state of the opposite load as shown in FIG. The value of the state. Further, in the present embodiment, when the load is not in the opposite state, the first eccentric amount threshold (ma) is set differently according to the assumed eccentric position ⁇ 1.
  • the central control unit 31 selectively reads out the threshold value M_xz1, the threshold value M_y1, the threshold value M_xz2, the threshold value M_y2, the threshold value M_xz3, and the threshold value M_y3 respectively stored in the memory 32 as the first eccentricity amount threshold value (ma) used in the present embodiment.
  • the threshold M_xz1 and the threshold M_y1 are the largest values
  • the threshold M_xz3 and the threshold M_y3 are the lowest values.
  • the startup determination shown in Fig. 16 will be described.
  • the central control unit 31 performs the processing of the above-described step SP31. Then, the process moves to step SP34.
  • step SP34 the central control unit 31 determines whether or not the value of the eccentric amount Mxz selected in step SP31 is smaller than the eccentric amount My in the front-rear direction. When the value of the eccentricity amount Mxz is small, the central control unit 31 proceeds to step SP35. When the value of the eccentric amount Mxz is large, the central control unit 31 proceeds to step SP36.
  • step SP35 the central control unit 31 reads out the threshold value M_xz3 and the threshold value M_y3 from the memory 32 as the first eccentricity amount threshold value (ma) used in the subsequent steps SP32 and SP33.
  • the central control unit 31 sets the first eccentric amount threshold (ma) as compared with when the setting is performed when the load is not opposed. Set to a lower value. Therefore, when the drum 2 is in the state of the opposing load, it is most easy to move to the eccentric position adjustment processing also called tumbling.
  • step SP36 the central control unit 31 reads out the assumed eccentric position ⁇ 1 stored in the memory 32. It is the region Y in the region Y shown in the parameter table of Fig. 5 .
  • the central control unit 31 proceeds to step SP38.
  • the assumed eccentric position ⁇ 1 is the region Y in which the water supply valve Z is set, that is, the region P(AB), P(BC) or P(CA)
  • the central control unit 31 proceeds to step SP37.
  • step SP37 the central control unit 31 reads out the threshold value M_xz2 and the threshold value M_y2 from the memory 32 as the first eccentricity amount threshold value (ma) used in the subsequent steps SP32 and SP33.
  • step SP38 the central control unit 31 reads out the threshold value M_xz1 and the threshold value M_y1 from the memory 32 as the first eccentricity amount threshold value (ma) used in the subsequent steps SP32 and SP33.
  • a different first eccentric amount threshold (ma) is set based on the assumed eccentric position ⁇ 1 in step SP3 as the first eccentricity detecting step. Specifically, when the eccentric position ⁇ 1 is assumed to be located in the region P(A), P(B), or P(C), the eccentric amount threshold (ma) is set to be small, and when the eccentric position ⁇ 1 is assumed to be located in the region P (AB) When P(BC) or P(CA), the eccentricity threshold (ma) is set to be large.
  • the central control unit 31 performs steps SP32 and SP33 in the same manner as in FIG. 15 using the threshold values used in steps SP35, SP37, and SP38.
  • step SP6 the processing of the main dehydration process after the above step SP6 will be described.
  • step SP7 and step SP8 the specific processing of step SP6, that is, the water filling process will be mainly described.
  • Fig. 17 is a flow chart showing an outline of a water injection process.
  • step SP2 which is the eccentric amount/assumed eccentric position measurement, which is continued after the rotation speed of the drum 2 reaches 180 rpm as described above
  • the eccentric position determination is mainly performed in step SP61.
  • Process and step SP62 are the treatments performed by the water injection.
  • step SP61 the central control unit 31 determines the formal eccentric position ⁇ 2 based on the assumed eccentric position ⁇ 1. The processing of the eccentric position determination will be described later.
  • step SP62 the central control unit 31 performs water injection into the lifting rib 7 based on the eccentric amount (M) and the formal eccentric position ⁇ 2 obtained in step SP61.
  • the processing of the water injection implementation will be described later.
  • Fig. 18 is a flow chart showing a specific processing procedure of the water flooding process of the present embodiment. An example of the flow from the process of measuring the eccentric amount/assumed eccentric position in step SP2, which is continued from the rotation speed of the drum 2 to 180 rpm, to the above-described step 61 is described.
  • step 63 the central control unit 31 selects a larger value of the eccentricity amount Mx in the left-right direction and the eccentricity amount Mz in the vertical direction determined in step SP2 as the eccentric amount (M).
  • the selected eccentric amount (M) is referred to as the eccentric amount Mxz.
  • step SP64 the central control unit 31 determines whether or not the eccentricity amount Mxz is higher than the threshold value M_xz4 which is the eccentricity amount threshold (mb) for water injection. If the eccentric amount Mxz is lower than the threshold value M_xz4, the process proceeds to step SP65. If the selected eccentricity Mxz is higher than the threshold M_xz4, the process proceeds to step SP66.
  • step SP65 the central control unit 31 determines whether or not the eccentric amount My in the front-rear direction is higher than the threshold value M_y4 which is the eccentricity threshold value (mb) for water injection.
  • M_y4 the threshold value for water injection.
  • the central control unit 31 determines that the eccentric amount (M) in this case is a value that does not require water to be poured into the lifting rib 7 .
  • the central control unit 31 increases the number of revolutions of the drum 2.
  • the central control unit 31 moves to step SP66.
  • step SP66 the central control unit 31 maintains the number of revolutions of the drum 2 without rising. Then, the central control unit 31 performs the above-described step SP61, that is, the process of determining the eccentric position, and the step SP62, that is, the process of water injection.
  • step SP67 the central control unit 31 maintains the number of revolutions of the drum 2 without rising. Then, the central control unit 31 performs a process of determining the eccentric position in step SP61 and a process of performing water injection in step SP62.
  • the control method of the present embodiment is characterized in that it is based on
  • the speed sensor 12 includes signals in a plurality of directions in the front-rear direction to calculate an eccentric amount (M), and performs a water injection process based on the official eccentric position ⁇ 2 based on the calculated eccentric amount (M).
  • the water injection is determined by a signal having an eccentricity threshold (mb) or more.
  • Fig. 19 is a flow chart showing the processing procedure for the eccentric position to be formally determined.
  • Fig. 20 is a view showing the relationship between the eccentric amount (M) shown in Fig. 19 and the first threshold and the second threshold.
  • the memory 32 stores the data of Fig. 20 and appropriately reads out the required data according to the situation.
  • the unit of the number of the eccentric amount Mx, My, and Mz which are the eccentric load amount in FIG. 20 is gram (g).
  • the unit of the numbers of the first thresholds a1, b1, c1 and the second thresholds a2, b2, c2 in the same figure is rpm.
  • the eccentric position ⁇ 1 corresponds to the formal eccentric position ⁇ 2, but the relationship between the eccentric position ⁇ 1 and the formal eccentric position ⁇ 2 is assumed to be different depending on the number of revolutions of the drum 2.
  • the flow for calculating the formal eccentric position ⁇ 2 is changed in accordance with the eccentric amount (M) and the rotational speed of the drum 2.
  • the rotation speed of the drum 2 is at a rotation speed lower than the first threshold values a1, b1, c1; the rotation speed of the drum 2 is above the first threshold values a1, b1, c1 and lower than the second threshold values a2, b2, c2 At the time of the rotational speed; and when the rotational speed of the drum 2 is at the rotational speeds of the second threshold values a2, b2, c2 or more, the equation for calculating the formal eccentric position ⁇ 2 is changed.
  • step SP611 the central control unit 31 determines the first threshold values a1, b1, c1 and the second threshold values a2, b2, c2 for the eccentricities Mx, My, Mz as shown in Fig. 20, respectively.
  • the central control unit 31 reads out the first threshold values a1, b1, c1 and the second threshold values a2, b2, and c2 corresponding to the eccentricities Mx, My, and Mz from the memory 32.
  • step SP612 the central control unit 31 determines whether or not the number of revolutions of the drum 2 is lower than the first threshold values a1, b1, and c1.
  • the routine proceeds to step 613.
  • the routine proceeds to step 614.
  • step SP613 the central control unit 31 directly determines the value of the assumed eccentric position ⁇ 1 as the value of the formal eccentric position ⁇ 2.
  • step SP614 the central control unit 31 determines whether or not the rotational speed of the drum 2 is lower than the second threshold values a2, b2, and c2. When the rotation speed of the drum 2 is lower than the first threshold values a2, b2, and c2, the central control unit 31 moves to step 615. When the number of rotations of the drum 2 is equal to or greater than the first threshold values a2, b2, and c2, the central control unit 31 proceeds to step 616.
  • step SP615 the central control unit 31 determines a value obtained by subtracting 90° from the assumed eccentric position ⁇ 1 as the value of the formal eccentric position ⁇ 2. In this case, when the value of the official eccentric position ⁇ 2 becomes lower than 0, the central control unit 31 sets the value added by 360° as the formal eccentric position ⁇ 2.
  • step SP616 the central control unit 31 determines a value obtained by subtracting 180° from the assumed eccentric position ⁇ 1 as a value of the formal eccentric position ⁇ 2. In this case, when the value of the official eccentric position ⁇ 2 becomes lower than 0, the central control unit 31 sets the value added by 360° as the formal eccentric position ⁇ 2.
  • Fig. 21 is a flow chart showing the processing procedure of the water injection implementation.
  • step SP621 the central control unit 31 sets the larger value of the eccentricity amount Mx in the left-right direction and the eccentricity amount Mz in the vertical direction determined by the above-described step SP25 as the eccentric amount Mxz. In addition to this, the central control unit 31 determines whether or not the value of the eccentric amount Mxz is larger than the eccentric amount My. When the eccentric amount Mxz is large, the central control unit 31 proceeds to step SP622. When the eccentric amount Mxz is small, the central control unit 31 moves to step SP623.
  • step SP622 the central control unit 31 determines that the determined eccentric position ⁇ 2 based on the eccentric amount (M) indicating a larger value of the eccentric amount Mx and the eccentric amount Mz is used for water injection.
  • step SP623 the central control unit 31 determines that the determined eccentric position ⁇ 2 based on the eccentric amount My is used for water injection.
  • step SP624 the central control unit 31 performs processing of the water supply valve drive.
  • the specific process of the treatment of the water supply valve drive will be described later.
  • step SP625 the central control unit 31 performs a process of determining whether or not the water supply amount to the lifting rib 7 is appropriate. The specific process for this processing will be described later.
  • step SP626 the central control unit 31 determines that any of the lifting ribs 7 is not full of water in the process of determining the water supply amount in step SP625, and proceeds to step SP627. Further, when the central control unit 31 determines that any of the lifting ribs 7 is full of water in the process of determining the water supply amount in step SP625, the central control unit 31 shifts to SP632.
  • step SP627 the central control unit 31 performs a determination as to whether or not the eccentric amount (M) is increased, that is, the eccentric amount increase determination, when water injection is performed to reduce the eccentric amount (M).
  • the eccentric amount increase determination when water injection is performed to reduce the eccentric amount (M).
  • step SP628 the central control unit 31 determines whether or not there is M increase information (NG) as the eccentricity increase information in the eccentricity increase determination in step SP627. When there is no M addition information (NG), the central control unit 31 moves to step SP631. When there is M addition information (NG), the central control unit 31 moves to step SP629.
  • M increase information M addition information
  • step SP629 the central control unit 31 determines whether the M addition information (NG) is three or less in step SP628. When the M increase information (NG) is three or less, the central control unit 31 proceeds to step SP631. If the M increase information (NG) is not three or less, the central control unit 31 proceeds to step SP632.
  • step SP630 the central control unit 31 changes the data of the determined eccentric position ⁇ 2 calculated based on any of the eccentric amounts Mx, My, and Mz used in steps SP622 and SP623 to other data.
  • step SP631 the central control unit 31 performs an acceleration determination of whether or not to accelerate the rotational speed of the drum 2. The specific process for determining the feasibility of acceleration will be described later.
  • step SP632 the central control unit 31 performs a process of changing whether or not the acceleration determination of the determination criterion for accelerating the drum 2 is changed. The specific process for this processing will be described later.
  • the data for determining the eccentric position ⁇ 2 is changed to other data in step SP630.
  • the eccentric amount (M) is lowered, the arrangement of the laundry in the drum 2 is changed by the control of the eccentric position adjustment processing in the above-described step SP5, and the re-dehydration process is started.
  • the central control unit 31 acquires the official eccentric position ⁇ _fix for driving the water supply valves 62a, 62b, 62c.
  • the formal eccentric position ⁇ _fix is any value of the formal eccentric position ⁇ 2 obtained from the eccentric amounts Mx, My, and Mz.
  • the normal eccentric position ⁇ _fix is expressed as a relative angle of any imaginary line extending in the circumferential direction from the axis S1 as shown in FIG. 5, and is expressed as 0° to 359°. Any value of 0 to 359 is shown in FIG.
  • step SP634 the central control unit 31 determines whether or not the condition that the formal eccentric position ⁇ _fix is less than 10 or greater than 350 is satisfied. When the above conditions are met, the central control unit 31 moves to step SP635. If the above conditions are not met, the central control unit 31 moves to step SP636.
  • step SP635 the central control unit 31 determines that the official eccentric position ⁇ _fix is in the region P(A) shown in Fig. 5, and simultaneously drives the water supply valve 62a to supply water to the lifting rib 7 (A).
  • step SP636 the central control unit 31 determines whether or not the condition that the formal eccentricity position ⁇ _fix is 10 or more and 110 or less is satisfied. When the above conditions are met, the central control unit 31 moves to step SP637. When the above conditions are not satisfied, the central control unit 31 moves to step SP638.
  • step SP636 the central control unit 31 determines that the official eccentric position ⁇ _fix is in the region P(AB) shown in FIG. 5, and simultaneously drives the water supply valves 62a and 62b to supply water to the lifting ribs 7 (A) and 7 (B).
  • step SP638 the central control unit 31 determines whether or not the condition that the formal eccentric position ⁇ _fix is a value of 110 or more and 130 or less is satisfied. When the above conditions are met, the central control unit 31 moves to step SP639. When the above conditions are not satisfied, the central control unit 31 moves to step SP640.
  • step SP639 the central control unit 31 determines that the official eccentric position ⁇ _fix is in the region P(B) shown in Fig. 5, and simultaneously drives the water supply valve 62b to supply water to the lifting rib 7 (B).
  • step SP640 the central control unit 31 determines whether or not the condition that the formal eccentric position ⁇ _fix is a value of 130 or more and 230 or less is satisfied. When the above conditions are met, the central control unit 31 moves to step SP641. When the above conditions are not satisfied, the central control unit 31 moves to step SP642.
  • step SP641 the central control unit 31 determines that the official eccentric position ⁇ _fix is in the region P(BC) shown in Fig. 5, and simultaneously drives the water supply valves 62b and 62c to supply water to the lifting ribs 7 (B) and 7 (C).
  • step SP642 the central control unit 31 determines whether or not the condition that the formal eccentric position ⁇ _fix is 230 or more and 250 or less is satisfied. When the above conditions are met, the central control unit 31 moves to step SP643. If the above conditions are not met, the central control unit 31 moves to step SP644.
  • step SP643 the central control unit 31 determines that the formal eccentric position ⁇ _fix is as shown in FIG. In the region P (C), the water supply valve 62c is simultaneously driven to supply water to the lifting rib 7 (C).
  • step SP644 the central control unit 31 determines that the value of the formal eccentricity position ⁇ _fix is 250 or more and 350 or less, and the process proceeds to step SP645.
  • step SP645 the central control unit 31 determines that the official eccentric position ⁇ _fix is in the region P (CA) shown in Fig. 5, and simultaneously drives the water supply valves 62c and 62a to supply water to the lifting ribs 7 (C) and 7 (A).
  • the calculation of the driving of the water supply valve shown in FIG. 22 is performed, and the calculation and determination of the assumed eccentric position ⁇ 1 and the formal eccentric position ⁇ 2 are always performed. Therefore, it goes without saying that the steps SP637, SP641, and SP645 corresponding to the simultaneous water injection step of the present invention are moved to the switching ribs 7 corresponding to the water injection into the single lifting rib 7 (A), (B) or (C). Steps SP635, SP639 or SP643 of the water injection switching step of the present invention.
  • step SP646 the central control unit 31 accumulates the respective driving times of the water supply valves 62a, 62b, and 62c.
  • step SP647 the central control unit 31 converts the water supply amount of each of the water supply valves 62a, 62b, and 62c based on the integration of the driving time.
  • step SP648 the central control unit 31 determines whether or not the accumulated water supply amount of the water supply valve 62a has reached 1000 g. When it is determined that the cumulative water supply amount has reached 1000 g, the central control unit 31 proceeds to step SP649. When it is determined that the cumulative water supply amount has not reached 1000 g, the central control unit 31 proceeds to step SP650.
  • step SP649 the central control unit 31 determines that the lifting rib 7 (A) supplied with water by the water supply valve 62a is full of water, and transmits information indicating "YES" at the processing of step SP626 shown in Fig. 21 .
  • step SP650 the central control unit 31 determines whether or not the accumulated water supply amount of the water supply valve 62b has reached 1000 g. When it is determined that the cumulative water supply amount has reached 1000 g, the central control unit 31 proceeds to step SP651. When it is determined that the cumulative water supply amount has not reached 1000 g, the central control unit 31 proceeds to step SP652.
  • step SP651 the central control unit 31 determines that the lifting rib 7 (B) supplied through the water supply valve 62b is full of water, and transmits information indicating "YES" at the processing of step SP626 shown in FIG.
  • step SP652 the central control unit 31 determines whether or not the accumulated water supply amount of the water supply valve 62c has reached 1000 g. When it is determined that the cumulative water supply amount has reached 1000 g, the central control unit 31 proceeds to step SP653. When it is determined that the cumulative water supply amount has not reached 1000 g, the central control unit 31 proceeds to step SP654.
  • step SP653 the central control unit 31 determines that the lifting rib 7 (C) supplied with water by the water supply valve 62c is full of water, and transmits information indicating "YES" at the processing of step SP626 shown in Fig. 21 .
  • step SP654 the central control unit 31 determines that any one of the lifting ribs 7 (A), 7 (B), and 7 (C) supplied through the water supply valves 62a, 62b, and 62c is not full of water, and is in the procedure shown in FIG.
  • information indicating "No" is transmitted.
  • Fig. 24 is a flowchart showing a processing procedure of the eccentric amount increase determination.
  • step SP655 the central control unit 31 determines whether or not the eccentricities Mx, My, and Mz have decreased when the time period of water supply by the water supply valves 62a, 62b, and 62c has elapsed for 5 seconds.
  • the central control unit 31 proceeds to step SP656.
  • the central control unit 31 proceeds to step SP657.
  • the criterion for determining whether or not the eccentricities Mx, My, and Mz have decreased is not necessarily limited to the eccentric amount (M) used in the calculation of the formal eccentric position ⁇ _fix. For example, it may be determined based on the sum (difference) of the eccentric amount Mx and the eccentric amount My, or may be determined based on the sum (difference) of the eccentric amount Mz and the eccentric amount My.
  • step SP656 the central control unit 31 determines that the eccentric amount (M) has not increased.
  • the central control unit 31 transmits a signal indicating "NO” or does not transmit any signal in step SP629 in Fig.21.
  • step SP657 the central control unit 31 determines that the amount of eccentricity (M) has increased, and proceeds to step SP658.
  • the central control unit 31 transmits the M increase information (NG) which is the eccentric amount increase information as the predetermined signal, and performs the determination of "YES" in the step SP628 in Fig. 21 .
  • NG M increase information
  • Fig. 25 is a flowchart showing a processing procedure of the acceleration possibility determination.
  • step SP659 the central control unit 31 determines whether or not the eccentric amount Mxz is smaller than the threshold m_xz5 which is the threshold for increasing the rotational speed (mc). When it is determined that the eccentric amount Mxz is smaller than the threshold value m_xz5, the central control unit 31 proceeds to step 660. When it is determined that the eccentric amount Mxz is not smaller than the threshold value m_xz5, the central control unit 31 determines that the acceleration cannot be accelerated, and proceeds to step SP625 to continue supplying water to the lifting rib 7.
  • step SP660 the central control unit 31 determines whether or not the eccentric amount My is smaller than the threshold m_y5 which is the threshold for increasing the rotational speed (mc). When it is determined that the eccentric amount My is smaller than the threshold value m_y5, the central control unit 31 determines that the acceleration of the drum 2 can be accelerated and resumed. When it is determined that the eccentric amount My is not smaller than the threshold value m_y5, the central control unit 31 determines that the acceleration cannot be accelerated and proceeds to step SP625 to continue supplying water to the lifting rib 7.
  • the threshold m_y5 is the threshold for increasing the rotational speed (mc).
  • the acceleration sensor 12 employs a triaxial acceleration sensor 12 that can detect accelerations in the horizontal direction, the vertical direction, and the front-rear direction, respectively. Further, in the present embodiment, different water injection eccentricity threshold values (mb) and rotational speed increase threshold values (mc) are set for each of the three acceleration directions. Further, in the present embodiment, the difference between the eccentricity threshold value (mb) for water injection and the threshold value (mc) for increasing the rotational speed is set to gradually or gradually decrease as the number of revolutions increases. In addition, in the present embodiment, the difference between the eccentric amount threshold (m) of the water injection and the threshold (mc) for increasing the rotational speed is gradually or stepwise as the eccentric amount (M) of the drum 2 increases. The land becomes bigger.
  • FIG. 26 is a flowchart showing a processing procedure of the acceleration determination change.
  • the central control unit 31 changes the threshold value m_xz5 and the threshold value m_y5 which are the rotational speed increase thresholds (mc) used in the acceleration determination of the step SP631 to the eccentricity allowable threshold (md) which is a larger value.
  • the threshold m_xz6 and the threshold m_y6 are shifted to step SP631.
  • the central control unit 31 performs the acceleration availability determination of step SP631 using the threshold value m_xz6 and the threshold value m_y6.
  • step SP662 the central control unit 31 determines whether or not acceleration is possible by determining the acceleration availability of step SP631 by using the eccentric amount allowable threshold value (md), which is changed in step SP661, that is, the threshold value m_xz6 and the threshold value m_y6.
  • the central control unit 31 accelerates the drum 2.
  • the central control unit 31 determines that the dehydration process is difficult to continue, and performs the eccentric position adjustment processing of the above-described step SP5.
  • step SP5 the central control unit 31 agitates the laundry in the drum 2 in the vertical direction by stopping the rotation of the drum 2 or reducing the number of revolutions of the drum 2 to a rotation speed higher than the centrifugal force. Then, the dehydration process is started again from step SP1.
  • the control method of the drum washing machine 1 of the present embodiment is characterized in that in the dehydration process, the period t2 indicating the time change of the acceleration in the process of rotating the drum 2 from the acceleration sensor 12 at least one rotation is calculated. Any time, with a pulse signal from proximity sensor 14 The time difference t1 of the timing at which the ps is emitted, and the determined eccentric position ⁇ 2 in the drum 2 is calculated based on the relationship between the time difference t1 and the rotational speed of the drum 2, and the control for reducing the eccentric amount (M) is performed based on the calculated determined eccentric position ⁇ 2. And any of the signals (Mx, My, Mz) from at least the front-rear direction and the left-right direction or the up-and-down direction of the acceleration sensor 12 is used to determine the calculation of the eccentric position ⁇ 2.
  • any of the information indicating the temporal change of the acceleration including at least the plurality of directions in the front-rear direction is used for determining the calculation of the eccentric position ⁇ 2, whereby the more accurate determination of the eccentric position can be realized. Calculation of ⁇ 2.
  • the relationship between the time difference t1 for calculating the determined eccentric position ⁇ 2 and the rotational speed of the drum 2 is changed according to the vibration direction on which the information indicating the temporal change of the acceleration is based, and therefore, the error in determining the calculation of the eccentric position ⁇ 2 is more effectively reduced. Accurately determine the calculation of the eccentric position ⁇ 2.
  • the maximum value (Xmax, Ymax, Zmax) and the minimum value (Xmin, Ymin, Zmin) which are easily detected in the information indicating the temporal change of the acceleration are utilized, thereby achieving more accurate determination of the eccentricity. Calculation of position ⁇ 2.
  • the signal from the other direction of the acceleration sensor 12 is prioritized over the signal in the front-rear direction to calculate the determined eccentric position ⁇ 2, thereby effectively avoiding the miscalculation of determining the eccentric position ⁇ 2.
  • the eccentric amount (M) is calculated based on the signals from the plurality of directions including the front-rear direction of the acceleration sensor 12, and based on the calculated eccentric amount (M), the threshold value M_xz4 and the threshold value M_y4 or more.
  • the calculated eccentric position ⁇ 2 is calculated to reduce the eccentricity (M). Thereby, control based on the more accurately calculated eccentric position ⁇ 2 is achieved.
  • the eccentric amount (M) is calculated based on the signals from the plurality of directions including the front-rear direction of the acceleration sensor 12, and the eccentric amount (M) calculated based on the signals in the front-rear direction is larger than
  • the control for reducing the eccentric amount (M) is performed based on the signal in the front-rear direction, and therefore, based on the more accurate calculation, particularly when the drum 2 is in the state of the opposite load
  • the control for determining the eccentric position ⁇ 2 is determined.
  • the configuration in which the lifting ribs 7 are provided in three is disclosed, but it is needless to say that a configuration having four or more lifting ribs 7 may be employed. Further, it is needless to say that the lifting ribs 7 do not necessarily need to be arranged at equal angular intervals along the circumferential direction of the drum 2, and it is not necessary to have the same shape.
  • the acceleration sensor 12 is provided with a three-axis acceleration sensor capable of detecting accelerations in the left-right direction, the vertical direction, and the front-rear direction, but it is also possible to detect only the up-and-down direction, the left-right direction, and the front-rear direction by mounting a plurality of them.
  • An acceleration sensor of acceleration in either direction constitutes the acceleration sensor 12.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Control Of Washing Machine And Dryer (AREA)
  • Accessory Of Washing/Drying Machine, Commercial Washing/Drying Machine, Other Washing/Drying Machine (AREA)

Abstract

Provided is a method for controlling a drum washing machine (1), which is capable of suppressing vibration and noise caused by the eccentricity of washing drum (1b) and effectively preventing the retardation of operating time. The method for controlling the washing machine (1) comprises: during the water-extraction process, calculating any moment in the information of the time change of the acceleration represented when the drum (2) rotates at least once, and the time difference (t1) of the pulse signal (ps) from the proximity switch (14), and according to the relationship between the time difference (t1) and the rotational speed of the drum (2), calculating the eccentric position (N) inside the drum (2); on the basis of the calculated eccentric position (N), controlling to reduce eccentricity (M); in calculating the eccentric position (N), using any one of the signals of at least the front and rear directions and left and right directions or up and down directions; in the control method, control is performed on the basis of a more accurately calculated eccentric position (N).

Description

滚筒洗衣机的控制方法Control method of drum washing machine 技术领域Technical field
本发明涉及一种具有脱水功能的洗衣机的控制方法。The present invention relates to a control method of a washing machine having a dehydrating function.
背景技术Background technique
设置于普通家庭或自助洗衣店等的洗衣机中，有些会具备洗涤脱水功能、洗涤脱水烘干功能。It is installed in a washing machine such as an ordinary household or a laundromat, and some of them have a washing and dehydrating function, a washing and dehydrating drying function.
具有脱水功能的洗衣机会在滚筒内因洗涤物的偏倚而产生振动、噪音。此外，若洗涤物的偏倚大，则旋转时的滚筒的偏心变大，旋转需要较大的转矩，因此，无法开始脱水运转。A washing machine having a dehydrating function generates vibration and noise in the drum due to the bias of the laundry. Further, when the deviation of the laundry is large, the eccentricity of the drum during the rotation becomes large, and a large torque is required for the rotation, so that the dehydration operation cannot be started.
为了消除这种偏倚，使用者停止洗衣机的运转并通过手动操作来消除洗涤物的偏倚。In order to eliminate this bias, the user stops the operation of the washing machine and eliminates the bias of the laundry by manual operation.
为了消除这样的烦琐作业，提出了如下方案：在判定洗涤物的偏倚即不平衡的大小大于规定值的情况下，根据位置检测部的输出定时，使滚筒减速来消除洗涤物的偏置，直至变成离心力小于重力的转速(参照专利文献1)。In order to eliminate such troublesome work, when it is determined that the deviation of the laundry, that is, the magnitude of the imbalance, is larger than a predetermined value, the drum is decelerated according to the output timing of the position detecting unit to eliminate the offset of the laundry until The number of revolutions in which the centrifugal force is less than the gravity is referred to (see Patent Document 1).
此外，为了防止脱水时产生洗涤物偏向滚筒的前部的不平衡，通过配设于滚筒的前部以及后部的加速度传感器，计算检测到的振动量的差，检测洗涤物偏向滚筒的前部的不平衡状态(参照专利文献2)。Further, in order to prevent the imbalance of the laundry from deviating toward the front portion of the drum during dehydration, the difference between the detected vibration amounts is calculated by the acceleration sensors disposed at the front and the rear of the drum, and the laundry is deflected toward the front of the drum. Unbalanced state (refer to Patent Document 2).
此外，最近，如专利文献3所记载，还提出了意图通过向沿滚筒的周向均匀设置多个的平衡器进行注水来主动地消除滚筒的不平衡状态的技术方案。Further, recently, as described in Patent Document 3, it has been proposed to actively eliminate the unbalanced state of the drum by injecting water to a balancer that is uniformly disposed in the circumferential direction of the drum.
上述专利文献1所公开的技术通过对滚筒的旋转进行减速来降低离心力，并通过重力使彼此重叠的洗涤物落下。然而，在该现有技术中，相互缠绕成团块的洗涤物会直接落下，因此无法解开团块。当在这样的状态下旋转滚筒时，不平衡未被消除，因此会再次检测到不平衡，滚筒的减速被重复。The technique disclosed in the above Patent Document 1 reduces the centrifugal force by decelerating the rotation of the drum, and drops the laundry overlapping each other by gravity. However, in this prior art, the laundry which is entangled into agglomerates directly falls, so that the agglomerates cannot be unwound. When the drum is rotated in such a state, the imbalance is not eliminated, so that the imbalance is detected again, and the deceleration of the drum is repeated.
另一方面，上述专利文献2所公开的技术对滚筒旋转时由前部的振动检测 部检测到的振动值与由后部的检测部检测到的振动值的差进行计算。并且，在该振动值的差超过预先设定的阈值的情况下，减速或停止滚筒的旋转。On the other hand, the technique disclosed in the above Patent Document 2 detects the vibration of the front portion when the drum is rotated. The difference between the vibration value detected by the portion and the vibration value detected by the detection portion at the rear is calculated. Further, when the difference in the vibration value exceeds a predetermined threshold value, the rotation of the drum is decelerated or stopped.
然而，即使利用该现有技术，相互缠绕成团块的洗涤物依然以没被解开的状态存留于滚筒内，不是消除不平衡的根本性解决方案。However, even with this prior art, the laundry which is entangled into agglomerates remains in the drum in a state of being unwound, and is not a fundamental solution for eliminating the imbalance.
因此，如果是上述专利文献3所记载的技术，则期待解决上述两个专利文献中无法解决的问题。并且，现在期待提供一种用于主动地解决上述问题的更进一步的具体控制步骤、具体方案。Therefore, according to the technique described in Patent Document 3, it is expected to solve the problems that cannot be solved in the above two patent documents. Moreover, it is now desirable to provide a further specific control step, specific solution for actively solving the above problems.
现有技术文献Prior art literature
专利文献Patent literature
专利文献1：日本特开平9-290089号公报Patent Document 1: Japanese Patent Laid-Open No. Hei 9-290089
专利文献2：日本特开2009-82558号公报Patent Document 2: Japanese Laid-Open Patent Publication No. 2009-82558
专利文献3：日本特开2016-197号公报Patent Document 3: JP-A-2016-197
发明内容Summary of the invention
发明所要解决的问题Problems to be solved by the invention
本发明是解决这种现有问题的发明。通过本发明，能提供一种滚筒洗衣机的控制方法，其即使在洗涤筒内存在洗涤物的偏置的情况下，也能通过在脱水过程时可靠地降低洗涤筒的不平衡并快速地进行脱水过程来缩短洗涤时间。The present invention is an invention for solving such a conventional problem. According to the present invention, it is possible to provide a control method of a drum washing machine which can reliably reduce the imbalance of the washing tub and rapidly dehydrate it during the dehydration process even in the case where the laundry is biased in the washing tub. Process to shorten the washing time.
用于解决问题的方案Solution to solve the problem
本发明是一种滚筒洗衣机的控制方法，其中，所述滚筒洗衣机具有：一个或多个加速度传感器，用于检测滚筒的左右方向或上下方向的加速度以及前后方向的加速度；以及滚筒位置检测装置，根据所述滚筒的旋转而发出脉冲信号，所述滚筒洗衣机的控制方法的特征在于，在脱水过程中，计算所述滚筒至少旋转一圈的过程中表示加速度的时间变化的信息中的任意时刻与所述脉冲信号的时间差，并根据该时间差与所述滚筒的转速的关系来计算所述滚筒内的偏心位置，基于计算出的偏心位置来进行降低偏心量的控制，在偏心位置的计算中，利用来自所述加速度传感器的至少包括前后方向的多个方向的信号中的任一信 号。The present invention relates to a method of controlling a drum washing machine, wherein the drum washing machine has: one or more acceleration sensors for detecting acceleration in a left-right direction or an up-and-down direction of the drum and acceleration in a front-rear direction; and a drum position detecting device, A pulse signal is issued according to the rotation of the drum, and the control method of the drum washing machine is characterized in that, during the dehydration process, any time in the information indicating the time change of the acceleration during the at least one rotation of the drum is calculated a time difference of the pulse signal, and calculating an eccentric position in the drum according to the relationship between the time difference and the rotation speed of the drum, and controlling the eccentricity reduction based on the calculated eccentric position, in the calculation of the eccentric position, Utilizing any one of signals from the acceleration sensor including at least a plurality of directions in the front-rear direction number.
此外，本发明的特征在于，根据表示所述加速度的时间变化的信息所依据的振动方向，改变用于计算偏心位置的所述时间差与脱水转速的关系。Further, the present invention is characterized in that the relationship between the time difference for calculating the eccentric position and the spin-drying speed is changed in accordance with the vibration direction by which the information indicating the temporal change of the acceleration is based.
此外，本发明的特征在于，所述时间差的计算基于表示所述加速度的时间变化的信息的极大值或极小值、和所述脉冲信号来计算。Further, the present invention is characterized in that the calculation of the time difference is calculated based on a maximum value or a minimum value of information indicating a temporal change of the acceleration, and the pulse signal.
此外，本发明的特征在于，所述时间差的计算基于表示所述加速度的时间变化的信息的加速度零点、和所述脉冲信号来计算。Further, the present invention is characterized in that the calculation of the time difference is calculated based on an acceleration zero point indicating information of a temporal change of the acceleration, and the pulse signal.
此外，本发明的特征在于，所述偏心位置的计算使来自所述加速度传感器的其它方向的信号优先于前后方向的信号来计算。Further, the present invention is characterized in that the calculation of the eccentric position causes signals from other directions of the acceleration sensor to be calculated in preference to signals in the front-rear direction.
此外，本发明的特征在于，使用来自所述加速度传感器的包括前后方向的多个方向的信号，对各方向分别计算偏心量，并将计算出的各偏心量分别与预定的阈值对比，基于表示偏心量为阈值以上的方向的信号来计算偏心位置，并基于计算出的偏心位置来进行降低所述偏心量的控制。Further, the present invention is characterized in that an eccentric amount is calculated for each direction using signals from a plurality of directions including the front-rear direction of the acceleration sensor, and the calculated eccentric amounts are respectively compared with a predetermined threshold value, based on the representation The eccentricity position is calculated by a signal whose direction of the eccentricity is equal to or greater than the threshold value, and the control for reducing the eccentricity amount is performed based on the calculated eccentricity position.
此外，本发明的特征在于，使用来自所述加速度传感器的包括前后方向的多个方向的信号，对各方向分别计算偏心量，并在根据前后方向的信号计算出的偏心量大于根据其它方向的信号计算出的偏心量时，基于前后方向的信号来进行降低所述偏心量的控制。Further, the present invention is characterized in that the eccentric amount is calculated for each direction using signals from the acceleration sensor in a plurality of directions including the front-rear direction, and the eccentric amount calculated based on the signals in the front-rear direction is larger than that according to other directions. When the eccentric amount is calculated by the signal, the control for reducing the eccentric amount is performed based on the signal in the front-rear direction.
发明效果Effect of the invention
根据本发明，将来自表示所述加速度的时间变化的信息的至少包括前后方向的多个方向的信息中任一方向的信息用于偏心位置的计算，由此能实现更准确的偏心位置的计算。According to the present invention, information from any one of information indicating a plurality of directions of the front-rear direction from the information indicating the temporal change of the acceleration is used for the calculation of the eccentric position, whereby the calculation of the more accurate eccentric position can be realized. .
本发明的洗衣机的控制方法能更有效地降低因表示加速度的时间变化的信息的位置关系与滚筒的转速的关系发生变化而引起的偏心位置计算的误差，能计算出准确的偏心位置。The control method of the washing machine of the present invention can more effectively reduce the error in the calculation of the eccentric position caused by the change in the relationship between the positional relationship of the information indicating the temporal change of the acceleration and the rotational speed of the drum, and can calculate the accurate eccentric position.
本发明的洗衣机的控制方法利用表示加速度的时间变化的信息中容易检测的极大值或极小值，由此能计算出更准确的偏心位置。The control method of the washing machine of the present invention utilizes a maximum value or a minimum value which is easily detected in the information indicating the temporal change of the acceleration, whereby a more accurate eccentric position can be calculated.
本发明的洗衣机的控制方法利用表示加速度的时间变化的信息中容易检测 的零点，由此能计算出更准确的偏心位置。The control method of the washing machine of the present invention is easy to detect using information indicating a temporal change in acceleration The zero point, from which a more accurate eccentric position can be calculated.
本发明的洗衣机的控制方法能有效地避免由来自所述加速度传感器的前后方向的信号引起的偏心位置的误算，能准确且可靠地计算出偏心位置。The control method of the washing machine of the present invention can effectively avoid the miscalculation of the eccentric position caused by the signal from the front-rear direction of the acceleration sensor, and can accurately and reliably calculate the eccentric position.
本发明的洗衣机的控制方法有效地避免基于错误的偏心位置来进行控制的不良情况，由此能基于更准确地计算出的偏心位置来进行控制。The control method of the washing machine of the present invention effectively avoids the problem of control based on the erroneous eccentric position, whereby the control can be performed based on the more accurately calculated eccentric position.
本发明的洗衣机的控制方法能基于更准确地计算出的偏心位置来进行控制。The control method of the washing machine of the present invention can perform control based on a more accurately calculated eccentric position.
附图说明DRAWINGS
图1是示意性地表示本发明的一实施方式的洗衣机1的剖面的图。Fig. 1 is a view schematically showing a cross section of a washing machine 1 according to an embodiment of the present invention.
图2是同一洗衣机1的电气***框图。2 is a block diagram of an electrical system of the same washing machine 1.
图3是用于说明同一洗衣机1的脱水过程中的控制流程的图。FIG. 3 is a view for explaining a control flow in the dehydration process of the same washing machine 1.
图4是表示开口的供水阀62的参数表。4 is a parameter table showing the water supply valve 62 that is open.
图5是表示滚筒2内的偏心位置的示意图。FIG. 5 is a schematic view showing an eccentric position in the drum 2.
图6是表示滚筒2内处于对置负荷的状态的示意图。Fig. 6 is a schematic view showing a state in which the inside of the drum 2 is in a facing load.
图7是表示本实施方式的洗衣机1的脱水过程的概要的曲线图。FIG. 7 is a graph showing an outline of a dehydration process of the washing machine 1 of the present embodiment.
图8是表示同一洗衣机1的脱水过程中的控制流程的流程图。Fig. 8 is a flow chart showing a control flow in the dehydration process of the same washing machine 1.
图9是表示偏心位置调整处理的流程图。Fig. 9 is a flowchart showing an eccentric position adjustment process.
图10是表示脱水主过程的示意流程图。Fig. 10 is a schematic flow chart showing the main process of dehydration.
图11是表示脱水主过程的流程图。Figure 11 is a flow chart showing the main process of dehydration.
图12是表示由加速度传感器12获得的加速度与由接近开关14获得的脉冲信号ps的关系的曲线图。FIG. 12 is a graph showing the relationship between the acceleration obtained by the acceleration sensor 12 and the pulse signal ps obtained by the proximity switch 14.
图13是表示偏心量/假定偏心位置测定的处理的流程图。Fig. 13 is a flowchart showing a process of measuring an eccentric amount/assumed eccentric position.
图14是表示极大值/极小值确定的处理的流程图。Fig. 14 is a flowchart showing the process of determining the maximum value/minimum value.
图15是表示启动判定的处理的示意流程图。 Fig. 15 is a schematic flow chart showing a process of starting determination.
图16是表示启动判定的处理的具体流程图。Fig. 16 is a specific flowchart showing a process of starting determination.
图17是表示注水过程的处理的示意流程图。Fig. 17 is a schematic flow chart showing the processing of the water injection process.
图18是表示注水过程的处理的具体流程图。Fig. 18 is a specific flow chart showing the processing of the water injection process.
图19是表示偏心位置正式确定的处理的流程图。Fig. 19 is a flowchart showing a process of officially determining an eccentric position.
图20是用于说明同一洗衣机1的脱水过程中的控制流程的图。Fig. 20 is a view for explaining a control flow in the dehydration process of the same washing machine 1.
图21是表示同一洗衣机1的注水实施的处理的流程图。FIG. 21 is a flowchart showing a process of water injection implementation of the same washing machine 1.
图22是表示供水阀驱动的具体处理的流程图。Fig. 22 is a flow chart showing a specific process of the water supply valve drive.
图23是表示供水量判定的具体处理的流程图。Fig. 23 is a flow chart showing a specific process of determining the amount of water supply.
图24是表示偏心量增加判定的处理的流程图。FIG. 24 is a flowchart showing a process of determining an eccentric amount increase.
图25是表示加速可否判定的处理的流程图。FIG. 25 is a flowchart showing a process of determining the acceleration availability.
图26是表示加速判定变更的处理的流程图。FIG. 26 is a flowchart showing a process of the acceleration determination change.
附图标记说明Description of the reference numerals
1：洗衣机；2：滚筒；7：提升筋；12：加速度传感器；14：滚筒位置检测装置(接近传感器)；ps：脉冲信号；t1：时间差；t2：一周期；N：偏心位置；M：偏心量。1: washing machine; 2: roller; 7: lifting rib; 12: acceleration sensor; 14: roller position detecting device (proximity sensor); ps: pulse signal; t1: time difference; t2: one cycle; N: eccentric position; M: Eccentricity.
具体实施方式detailed description
以下，基于附图对本发明的一实施方式进行详细说明。Hereinafter, an embodiment of the present invention will be described in detail based on the drawings.
图1是表示本实施方式的洗衣机1的结构的示意剖视图。图2是表示本实施方式的洗衣机1的电气结构的功能框图。FIG. 1 is a schematic cross-sectional view showing a configuration of a washing machine 1 of the present embodiment. FIG. 2 is a functional block diagram showing an electrical configuration of the washing machine 1 of the present embodiment.
本实施方式的洗衣机1是能适用于例如自助洗衣店、家庭的洗衣机，其具备：洗衣机主体1a；洗涤筒1b，包括具有大致水平伸出而成的轴线S1的外筒3和滚筒2；注水装置1c，具有接水单元5和喷嘴单元6；驱动装置40；以及仅在图2中示出的控制部30。The washing machine 1 of the present embodiment is a washing machine that can be applied to, for example, a laundromat or a household, and includes a washing machine main body 1a, and a washing tub 1b including an outer cylinder 3 and a drum 2 having an axis S1 extending substantially horizontally; The device 1c has a water receiving unit 5 and a nozzle unit 6; a driving device 40; and a control portion 30 only shown in Fig. 2.
图1所示的洗衣机主体1a是大致长方体形状。在洗衣机主体1a的前表面 10a，形成有用于对滚筒2投入取出洗涤物的开口11，并且安装有能开闭该开口11的开闭盖11a。如同一图所示，洗衣机主体1a的前表面10a稍微面向上方，由此用于对滚筒2投入取出洗涤物的开口11朝向斜上方形成，使用者从斜上方对能开闭该开口11的开闭盖11a进行开闭。即，本实施方式的洗衣机1是洗涤筒1b安装于倾斜方向的、被称为所谓斜滚筒全自动洗衣机的洗衣机。The washing machine body 1a shown in Fig. 1 has a substantially rectangular parallelepiped shape. On the front surface of the main body 1a of the washing machine 10a, an opening 11 for taking in and taking out the laundry to the drum 2 is formed, and an opening and closing cover 11a capable of opening and closing the opening 11 is attached. As shown in the same figure, the front surface 10a of the main body 1a of the washing machine is slightly faced upward, whereby the opening 11 for taking the laundry into and out of the drum 2 is formed obliquely upward, and the user can open and close the opening 11 from obliquely upward. The closing cover 11a is opened and closed. That is, the washing machine 1 of the present embodiment is a washing machine called a so-called inclined drum automatic washing machine in which the washing tub 1b is attached to the oblique direction.
外筒3是配置于洗衣机主体1a的内部的有底筒状的构件，能在内部储存洗涤水。如图1所示，在外筒3的外周面3a，安装有能检测左右方向、上下方向以及前后方向这三个方向的加速度的加速度传感器12。The outer cylinder 3 is a bottomed cylindrical member disposed inside the washing machine body 1a, and can store washing water therein. As shown in FIG. 1, an acceleration sensor 12 capable of detecting accelerations in three directions of the left-right direction, the vertical direction, and the front-rear direction is attached to the outer peripheral surface 3a of the outer cylinder 3.
滚筒2是与外筒3同轴地配置于外筒3内并且自由旋转地支承于外筒3内的有底筒状的构件。滚筒2能在内部收容洗涤物，其壁面2a具有许多通水孔2b(参照图1)。The drum 2 is a bottomed cylindrical member that is disposed coaxially with the outer cylinder 3 and that is rotatably supported in the outer cylinder 3 in the outer cylinder 3 . The drum 2 can accommodate laundry therein, and its wall surface 2a has a plurality of water-passing holes 2b (refer to Fig. 1).
如图1所示，驱动装置40通过电机10使滑轮15、15以及传动带15b旋转，并且使朝向滚筒2的底部2c伸出的驱动轴17旋转，对滚筒2赋予驱动力，使滚筒2旋转。此外，在一方的滑轮15的附近设置有接近开关14，该接近开关14能检测形成于该滑轮15的标记15a的通过。并且，在本实施方式中，该接近开关14相当于滚筒位置检测装置。As shown in FIG. 1, the driving device 40 rotates the pulleys 15, 15 and the belt 15b by the motor 10, and rotates the drive shaft 17 that protrudes toward the bottom portion 2c of the drum 2, and applies a driving force to the drum 2 to rotate the drum 2. Further, a proximity switch 14 is provided in the vicinity of one of the pulleys 15, and the proximity switch 14 can detect the passage of the mark 15a formed on the pulley 15. Further, in the present embodiment, the proximity switch 14 corresponds to a drum position detecting device.
如图1所示，在滚筒2的内周面2a1，沿周向等间隔(等角度)地设置有三个作为中空平衡器的提升筋(注水管)7。各提升筋7从滚筒2的基端部2c到顶端部沿滚筒2的轴线方向延伸，并从滚筒2的内周面2a1朝向轴线S1突出地形成。此外，各提升筋7是中空状。As shown in Fig. 1, on the inner peripheral surface 2a1 of the drum 2, three lifting ribs (water injection pipes) 7 as hollow balancers are provided at equal intervals (equal angles) in the circumferential direction. Each of the lifting ribs 7 extends from the base end portion 2c of the drum 2 to the tip end portion in the axial direction of the drum 2, and is formed to protrude from the inner peripheral surface 2a1 of the drum 2 toward the axis S1. Further, each of the lifting ribs 7 is hollow.
接水单元5是由导水槽5a例如沿着滚筒2的轴线S1在径向上重叠三层而构成的构件，如图3所示，固定于滚筒2的内周面2a1。导水槽5a设置为与提升筋7数量相同，其内部形成有使调整水W单独流向任一提升筋7的通水路径。并且，如图1所示，在提升筋7的内部连接有连通构件5a1，被从接水单元5供给调整水W。The water receiving unit 5 is a member in which the water guiding groove 5a is formed by superposing three layers in the radial direction along the axis S1 of the drum 2, for example, and is fixed to the inner circumferential surface 2a1 of the drum 2 as shown in FIG. The water guiding groove 5a is provided in the same number as the lifting rib 7, and a water passing path through which the regulating water W flows to any of the lifting ribs 7 is formed inside. Further, as shown in FIG. 1, the communication member 5a1 is connected to the inside of the lifting rib 7, and the adjustment water W is supplied from the water receiving unit 5.
这样的接水单元5与提升筋7分别通过连通构件5a1连接。Such a water receiving unit 5 and the lifting ribs 7 are respectively connected by the communicating member 5a1.
喷嘴单元6是单独向这样的导水槽5a注入调整水W的构件。喷嘴单元6具有三根注水喷嘴6a和分别连接于这些注水喷嘴6a的供水阀62a、62b、62c。 注水喷嘴6a设置为与导水槽5a数量相同，分别配置于能向各个导水槽5a注水的位置。需要说明的是，在本实施方式中，使用自来水作为调整水W。此外，作为供水阀62a、62b、62c，也可以采用换向供水阀。The nozzle unit 6 is a member that injects the adjustment water W into such a water guide 5a alone. The nozzle unit 6 has three water injection nozzles 6a and water supply valves 62a, 62b, 62c respectively connected to the water injection nozzles 6a. The water injection nozzles 6a are provided in the same number as the water guide tanks 5a, and are disposed at positions where water can be injected into the respective water guides 5a. In addition, in this embodiment, tap water is used as the adjustment water W. Further, as the water supply valves 62a, 62b, 62c, a reversing water supply valve may be employed.
当采用这样的结构时，在排水阀50a被打开而外筒3内的洗涤水从排水口50被排出的脱水过程中，从喷嘴单元6的任一注水喷嘴6a注入接水单元5的导水槽5a内的调整水W经由连通构件5a1流入提升筋7内。例如，在从任一注水喷嘴6a注入调整水W的情况下，如图2中箭头所示，调整水W从导水槽5a经由连通构件5a1流入提升筋7。When such a configuration is employed, the water guiding nozzle of the water receiving unit 5 is injected from any of the water injection nozzles 6a of the nozzle unit 6 in the dehydrating process in which the drain valve 50a is opened and the washing water in the outer cylinder 3 is discharged from the drain port 50. The adjustment water W in the 5a flows into the lifting rib 7 via the communication member 5a1. For example, when the adjustment water W is injected from any of the water injection nozzles 6a, the adjustment water W flows into the lifting ribs 7 from the water guide 5a via the communication member 5a1 as indicated by an arrow in FIG.
提升筋7具有：滞留部71，供利用注水装置1c从洗涤筒1b的顶端1d侧注入的调整水W通过脱水过程时的离心力而滞留；以及出口部72，能使所注入的调整水W从洗涤筒1b的基端1e侧排出。当滚筒2处于高速旋转状态时，流入提升筋7内的调整水W通过离心力贴着滚筒2的内周面2a1而滞留。由此，该提升筋7的重量增加，滚筒2的偏心量(M)发生变化。如此，提升筋7是能通过离心力来存留调整水W的匣式提升筋结构。并且，当脱水过程接近结束而滚筒2的转速降低时，提升筋7内的离心力逐渐衰减，调整水W通过重力从出口部72流出，并向外筒3外排出。此时，调整水W经由出口部72流入滚筒2外的下外方。因此，调整水W以不会浸湿滚筒2内的衣物的方式被排出。The lifting rib 7 has a stagnation portion 71 for retaining the conditioned water W injected from the tip end 1d side of the washing tub 1b by the centrifugal force of the dehydrating process by the water injection device 1c, and the outlet portion 72 for allowing the injected conditioned water W to be injected The base end 1e side of the washing tub 1b is discharged. When the drum 2 is in the high-speed rotation state, the adjustment water W that has flowed into the lifting rib 7 is retained by the centrifugal force against the inner circumferential surface 2a1 of the drum 2. Thereby, the weight of the lifting rib 7 increases, and the eccentric amount (M) of the drum 2 changes. In this way, the lifting rib 7 is a truss type lifting rib structure capable of retaining the adjusting water W by centrifugal force. Further, when the dehydration process is nearing completion and the rotation speed of the drum 2 is lowered, the centrifugal force in the lifting rib 7 is gradually attenuated, and the adjustment water W flows out from the outlet portion 72 by gravity, and is discharged to the outside of the outer cylinder 3. At this time, the adjustment water W flows into the lower outer side of the drum 2 via the outlet portion 72. Therefore, the adjustment water W is discharged so as not to wet the laundry in the drum 2.
图2是表示本实施方式的洗衣机1的电气结构的框图。洗衣机1的动作通过包括微型计算机的控制部30来控制。控制部30具备负责控制整个***的中央控制部(CPU)31，该控制部30上连接了存储器32，该存储器32存储有分别如下详述的值即：比滚筒2的共振点CP低的规定的转速即第一转速(N1)、第一偏心量阈值(ma)、注水用偏心量阈值(mb)、转速上升用阈值(mc)、偏心量容许阈值(md)、脱水稳定转速。此外，通过控制部30，通过由微型计算机来执行存储于存储器32的程序，能进行预定的运转动作，并且存储器32临时存储有执行上述程序时所使用的数据等。FIG. 2 is a block diagram showing an electrical configuration of the washing machine 1 of the present embodiment. The operation of the washing machine 1 is controlled by a control unit 30 including a microcomputer. The control unit 30 includes a central control unit (CPU) 31 that controls the entire system, and the control unit 30 is connected to a memory 32 that stores therein a value that is lower than the resonance point CP of the drum 2, respectively. The number of revolutions is the first number of revolutions (N1), the first eccentric amount threshold (ma), the water eccentricity threshold (mb), the speed increase threshold (mc), the eccentricity allowable threshold (md), and the dehydration stable speed. Further, the control unit 30 can execute a predetermined operation operation by executing a program stored in the memory 32 by the microcomputer, and the memory 32 temporarily stores data and the like used when the program is executed.
中央控制部31向转速控制部33输出控制信号，进而将该控制信号向电机控制部(电机控制电路)34输出，进行电机10的旋转控制。需要说明的是，转速控制部33从电机控制部34实时输入表示电机10的转速的信号，构成控制元件。 The central control unit 31 outputs a control signal to the rotational speed control unit 33, and further outputs the control signal to the motor control unit (motor control circuit) 34 to perform rotation control of the motor 10. In addition, the rotation speed control unit 33 inputs a signal indicating the number of revolutions of the motor 10 from the motor control unit 34 in real time to constitute a control element.
在不平衡量检测部35连接有加速度传感器12。在不平衡位置检测部36连接有加速度传感器12以及接近开关14。由不平衡量检测部35和不平衡位置检测部36来构成偏心检测部。The acceleration sensor 12 is connected to the unbalance amount detecting unit 35. The acceleration sensor 12 and the proximity switch 14 are connected to the unbalanced position detecting unit 36. The eccentricity detecting unit 35 and the unbalanced position detecting unit 36 constitute an eccentricity detecting unit.
由此，当接近开关14检测到标记15a(参照图1)时，根据由加速度传感器12获得的左右方向、上下方向以及前后方向的加速度的大小，在不平衡量检测部35中计算滚筒2的偏心量(M)，该偏心量(M)被输出给不平衡量判定部37。Thus, when the proximity switch 14 detects the mark 15a (refer to FIG. 1), the eccentricity of the drum 2 is calculated in the unbalance amount detecting portion 35 based on the magnitudes of the accelerations in the left-right direction, the up-and-down direction, and the front-rear direction obtained by the acceleration sensor 12. The amount (M) is output to the unbalance amount determining unit 37.
不平衡位置检测部36根据从接近开关14输入的表示标记15a的位置的信号来计算不平衡方向的角度，并将作为偏心位置(N)的不平衡位置信号输出给注水控制部38。在此，不平衡方向的角度是指轴线S1在周向上相对于提升筋7的相对角度。在本实施方式中，如图5所示，作为其一个例子，将用于表示以轴线S1为中心等角度间隔地配置的三个提升筋7(A)、7(B)、7(C)与偏心位置的相对角度的、提升筋7(B)与7(C)的中间位置设定为0°。The unbalanced position detecting unit 36 calculates an angle of the unbalanced direction based on the signal indicating the position of the mark 15a input from the proximity switch 14, and outputs an unbalanced position signal as the eccentric position (N) to the water injection control unit 38. Here, the angle of the unbalanced direction refers to the relative angle of the axis S1 with respect to the lifting rib 7 in the circumferential direction. In the present embodiment, as shown in FIG. 5, three lifting ribs 7 (A), 7 (B), and 7 (C) which are arranged at equal angular intervals around the axis S1 are used as an example. The intermediate position of the lifting ribs 7 (B) and 7 (C) at a relative angle to the eccentric position is set to 0°.
当被输入了来自不平衡量判定部37以及不平衡位置检测部36的表示偏心量(M)和偏心位置(N)的信号时，注水控制部38基于预先存储的控制程序，判断应该供水的提升筋7及其供水量。然后，注水控制部38打开选定的供水阀62a、62b、62c，开始注入调整水W。在滚筒2产生预定的基准以上的偏心量(M)时，注水控制部38从基于偏心量(M)的计算而选定的注水喷嘴6a，开始向接水单元5的导水槽5a注入调整水W，并在偏心量(M)为预定的基准以下时，停止注入调整水W。When the signals indicating the eccentric amount (M) and the eccentric position (N) from the unbalance amount determining unit 37 and the unbalanced position detecting unit 36 are input, the water filling control unit 38 determines that the water supply should be lifted based on the control program stored in advance. The rib 7 and its water supply. Then, the water injection control unit 38 opens the selected water supply valves 62a, 62b, and 62c to start the injection of the adjustment water W. When the eccentric amount (M) of the predetermined reference or more is generated, the water injection control unit 38 starts to inject the adjustment water into the water guiding groove 5a of the water receiving unit 5 from the water injection nozzle 6a selected based on the calculation of the eccentric amount (M). W, and when the eccentric amount (M) is below a predetermined reference, the injection of the adjustment water W is stopped.
需要说明的是，例如，在如图3所示构成偏心的主要原因的洗涤物的团块LD(X)位于滚筒2的提升筋7(B)与提升筋7(C)之间的情况下，注水控制部38以向提升筋7(A)供给调整水W的方式进行控制。此外，在洗涤物的团块LD(Y)位于提升筋7(A)的附近的情况下，以向提升筋7(B)和提升筋7(C)双方供给调整水W的方式进行控制。In addition, for example, in the case where the agglomerate LD (X) of the laundry which constitutes the cause of eccentricity as shown in FIG. 3 is located between the lifting rib 7 (B) of the drum 2 and the lifting rib 7 (C) The water injection control unit 38 controls the supply of the adjustment water W to the lifting rib 7 (A). Further, when the agglomerate LD (Y) of the laundry is located in the vicinity of the lifting rib 7 (A), the adjustment water W is supplied to both the lifting rib 7 (B) and the lifting rib 7 (C).
在本实施方式中，如在洗涤物的团块LD(Y)位于任一提升筋7附近的情况下，为了降低偏心量(M)，需要向多个提升筋7注水，对该情况下的具体控制进行特别详细说明。 In the present embodiment, in the case where the agglomerate LD (Y) of the laundry is located in the vicinity of any of the lifting ribs 7, in order to reduce the amount of eccentricity (M), it is necessary to inject water into the plurality of lifting ribs 7, in this case The specific control is described in detail.
中央控制部31按照图4的参数表的记载，使供水阀X、供水阀Z开口。在本实施方式中，如图5所示，通过将滚筒2沿周向六等分，按情况将偏心位置(N)的判定分为：判定应该对一个提升筋7注水的偏心位置(N)、和判定应对两个提升筋7注水的偏心位置(N)。在此，本实施方式中的“偏心位置(N)”的记载是表示假定计算出的假定偏心位置θ1、正式确定的正式偏心位置θ2的任一方或两方的概念。关于假定偏心位置θ1、正式偏心位置θ2稍后将详细说明。The central control unit 31 opens the water supply valve X and the water supply valve Z in accordance with the description of the parameter table of Fig. 4 . In the present embodiment, as shown in FIG. 5, by dividing the drum 2 into six in the circumferential direction, the determination of the eccentric position (N) is divided into: an eccentric position (N) for determining that a lifting rib 7 should be filled with water. And determine the eccentric position (N) of the water injection of the two lifting ribs 7. Here, the description of the "eccentric position (N)" in the present embodiment is a concept indicating one or both of the assumed assumed eccentric position θ1 and the officially defined official eccentric position θ2. The assumed eccentric position θ1 and the official eccentric position θ2 will be described in detail later.
判定应该对一个提升筋7注水的偏心位置(N)的区域Y是指区域P(A)、P(B)以及P(C)。此外，偏心的消除所需的偏心位置(N)的区域Y是指区域P(AB)、P(BC)以及P(CA)。此外，将区域P(A)、P(B)以及P(C)的以轴心S1为中心的角度设定为20°，将区域P(AB)、P(BC)以及P(CA)的以轴心S1为中心的角度设定为100°。The area Y which determines the eccentric position (N) at which the lifting rib 7 should be filled refers to the areas P(A), P(B), and P(C). Further, the region Y of the eccentricity position (N) required for eccentric elimination refers to the regions P(AB), P(BC), and P(CA). Further, the angles centered on the axis S1 of the regions P(A), P(B), and P(C) are set to 20°, and the regions P(AB), P(BC), and P(CA) are used. The angle centered on the axis S1 is set to 100°.
除此之外，对应于ABC中未记载的文字的提升筋7是本实施方式中最接近偏心位置(N)的提升筋7。In addition to this, the lifting rib 7 corresponding to the character not described in the ABC is the lifting rib 7 closest to the eccentric position (N) in the present embodiment.
此外，在本实施方式中，加速度传感器12为能检测左右方向、上下方向以及前后方向的加速度的三轴传感器。由此，即使如图6所示洗涤物位于与滚筒2的基端侧和顶端侧相对的位置的状态(对置负荷的状态)，也能准确地检测出偏心位置(N)以及偏心量(M)。关于对置负荷的状态下的偏心位置(N)以及偏心量(M)的检测方法稍后将详细说明。Further, in the present embodiment, the acceleration sensor 12 is a three-axis sensor capable of detecting accelerations in the left-right direction, the vertical direction, and the front-rear direction. Thereby, even if the laundry is in a state of being opposed to the base end side and the tip end side of the drum 2 as shown in FIG. 6 (the state of the opposing load), the eccentric position (N) and the amount of eccentricity can be accurately detected ( M). The method of detecting the eccentric position (N) and the eccentric amount (M) in the state of the opposing load will be described in detail later.
本实施方式的洗衣机1的控制方法具有：第一偏心检测步骤，在滚筒2的转速达到比滚筒2的共振点CP低的第一转速(N1)的时刻，检测偏心量(M)以及假定偏心位置θ1；以及洗涤物搅拌步骤，在通过第一偏心检测步骤检测到的偏心量(M)大于根据假定偏心位置θ1而被设定为不同的值的第一偏心量阈值(ma)时，通过降低滚筒2的转速或停止滚筒2的旋转来在滚筒2内上下搅拌滚筒2内的洗涤物，然后将滚筒2的转速提高至所述第一转速(N1)。The control method of the washing machine 1 of the present embodiment has a first eccentricity detecting step of detecting the eccentric amount (M) and the assumed eccentricity at the time when the rotational speed of the drum 2 reaches the first rotational speed (N1) lower than the resonance point CP of the drum 2. a position θ1; and a washing agitating step, when the eccentric amount (M) detected by the first eccentricity detecting step is greater than the first eccentric amount threshold (ma) set to a different value according to the assumed eccentric position θ1, The rotation speed of the drum 2 is lowered or the rotation of the drum 2 is stopped to agitate the laundry in the drum 2 up and down in the drum 2, and then the rotation speed of the drum 2 is raised to the first rotation speed (N1).
图7是表示本实施方式的洗衣机1的脱水过程的概要的曲线图。在图7中，纵轴表示滚筒2的转速，横轴表示时间。图8、图10以及图11是表示脱水过程的主要概要的流程图。图8表示脱水过程中的前半部分的脱水前过程，图10以及图11表示作为经过脱水前过程之后的过程的脱水主过程。 FIG. 7 is a graph showing an outline of a dehydration process of the washing machine 1 of the present embodiment. In Fig. 7, the vertical axis represents the rotational speed of the drum 2, and the horizontal axis represents time. 8, 10, and 11 are flowcharts showing the main outline of the dehydration process. Fig. 8 shows the pre-dehydration process in the first half of the dehydration process, and Fig. 10 and Fig. 11 show the main dehydration process as a process after the pre-dehydration process.
在本实施方式中，当中央控制部31接收到来自未图示的脱水按键的输入信号或在洗涤模式运转中接收到旨在应该开始脱水过程的信号时，进入步骤SP1，开始脱水前过程。In the present embodiment, when the central control unit 31 receives an input signal from a dehydration button (not shown) or receives a signal indicating that the dehydration process should be started in the washing mode operation, the process proceeds to step SP1 to start the pre-dehydration process.
(步骤SP1)(Step SP1)
在步骤SP1中，中央控制部31使滚筒2慢速反转后，使滚筒2的旋转上升至低于滚筒2的共振点CP的第一转速(N1)。在滚筒2的转速达到第一转速(N1)时，移至步骤SP2。需要说明的是，在本实施方式中，将第一转速(N1)设定为低于滚筒2的共振点CP即300rpm的180rpm。In step SP1, the central control unit 31 causes the drum 2 to be reversely rotated, and then the rotation of the drum 2 is raised to a lower first speed (N1) than the resonance point CP of the drum 2. When the rotation speed of the drum 2 reaches the first rotation speed (N1), the process proceeds to step SP2. In the present embodiment, the first number of revolutions (N1) is set to be lower than the resonance point CP of the drum 2, that is, 180 rpm of 300 rpm.
(步骤SP2)(Step SP2)
在步骤SP2中，中央控制部31基于由加速度传感器12给出的加速度信号，执行由偏心检测部来计算偏心量(M)以及假定偏心位置θ1的本实施方式的偏心量/假定偏心位置测定的控制。具体说明，图8中的步骤SP2即偏心量/假定偏心位置测定的控制相当于本发明的第一偏心检测步骤。此时，中央控制部31基于由例如加速度传感器12获得的左右方向、上下方向以及前后方向的加速度信号，对各方向分别计算出偏心量(M)。本控制所采用的值是基于计算出的三个方向的值中前后方向的偏心量(M)、和上下方向或左右方向中任一方向的加速度信号而计算出的偏心量(M)。In step SP2, the central control unit 31 executes the eccentric amount/presumed eccentric position measurement of the present embodiment in which the eccentricity detecting unit calculates the eccentric amount (M) and the assumed eccentric position θ1 based on the acceleration signal given by the acceleration sensor 12. control. Specifically, the control of step SP2 in FIG. 8 , that is, the eccentric amount/assumed eccentric position measurement is equivalent to the first eccentricity detecting step of the present invention. At this time, the central control unit 31 calculates the eccentric amount (M) for each direction based on the acceleration signals in the horizontal direction, the vertical direction, and the front-rear direction obtained by, for example, the acceleration sensor 12. The value used in the present control is an eccentric amount (M) calculated based on the eccentric amount (M) in the front-rear direction and the acceleration signal in either the up-down direction or the left-right direction among the calculated values in the three directions.
(步骤SP3)(Step SP3)
中央控制部31对计算出的偏心量(M)和存储于存储器32的第一偏心量阈值(ma)进行比较，并进行判断M＜ma是否成立的启动判定。当中央控制部31判断M＜ma成立时，进入步骤SP4，当判断M＜ma不成立时，进入步骤SP5。在此，第一偏心量阈值(ma)是假定洗涤物的偏倚大到即使向提升筋7供给调整水W也难以将偏心量(M)降低至能将滚筒2的转速上升到脱水稳定转速的程度的情况的阈值。即，在进入步骤SP5的情况下，意味着偏心量(M)大到即使向提升筋7供给调整水W也难以完成脱水过程的程度。The central control unit 31 compares the calculated eccentricity (M) with the first eccentric amount threshold (ma) stored in the memory 32, and performs a determination of whether or not M<ma is established. When the central control unit 31 determines that M<ma is established, the process proceeds to step SP4, and when it is determined that M<ma is not established, the process proceeds to step SP5. Here, the first eccentric amount threshold (ma) is assumed to be such that the deviation of the laundry is so large that it is difficult to reduce the eccentric amount (M) to increase the rotation speed of the drum 2 to the dehydration stable rotation speed even if the adjustment water W is supplied to the lifting rib 7. The threshold of the degree of situation. That is, in the case of proceeding to step SP5, it means that the eccentric amount (M) is so large that it is difficult to complete the dehydration process even if the adjustment water W is supplied to the lifting rib 7.
对第一偏心量阈值(ma)进一步进行说明。在本实施方式中，加速度传感器12采用能分别检测左右方向、上下方向以及前后方向的加速度的加速度传感器。并且，按照左右方向、上下方向以及前后方向的每个加速度信号，设定不 同的第一偏心量阈值(ma_x、ma_z、ma_y)。The first eccentric amount threshold (ma) will be further described. In the present embodiment, the acceleration sensor 12 employs an acceleration sensor that can detect accelerations in the left-right direction, the vertical direction, and the front-rear direction, respectively. And, according to each acceleration signal in the left and right direction, the up and down direction, and the front and rear direction, the setting is not The same first eccentricity threshold (ma_x, ma_z, ma_y).
(步骤SP4)(Step SP4)
在步骤SP4中，在步骤SP2中计算出的偏心量(M)小于按照每个偏心位置设定的第一偏心量阈值(ma)时，中央控制部31使滚筒2的转速上升。此外，中央控制部31一边使滚筒2的转速上升，一边继续执行本实施方式的偏心量/假定偏心位置测定的控制。在此，“继续”不一定是限定于不间断地连续进行的方案。毋庸置疑，当滚筒2的转速上升到了达到脱水稳定转速的任意的多个转速时，可以采用间歇地执行本实施方式的偏心量/假定偏心位置测定的控制的方案。该步骤SP4相当于本发明的第二偏心检测步骤。In step SP4, when the eccentric amount (M) calculated in step SP2 is smaller than the first eccentric amount threshold (ma) set for each eccentric position, the central control unit 31 increases the number of revolutions of the drum 2. Further, the central control unit 31 continues to execute the control of the eccentric amount/assumed eccentric position measurement of the present embodiment while increasing the number of revolutions of the drum 2. Here, "continuation" is not necessarily limited to a scheme that is continuously performed without interruption. Needless to say, when the number of revolutions of the drum 2 rises to an arbitrary number of revolutions at which the dehydration stable rotational speed is reached, a scheme of intermittently performing the control of the eccentric amount/assumed eccentric position measurement of the present embodiment can be employed. This step SP4 corresponds to the second eccentricity detecting step of the present invention.
在步骤SP5中，中央控制部31通过使滚筒2的旋转停止、或者将滚筒2的转速降低至重力大于离心力的转速，来进行沿上下方向搅拌滚筒2内的洗涤物这一偏心位置调整处理的控制。然后，返回步骤SP1。步骤SP5相当于本发明的洗涤物搅拌步骤。在图7中，以实线示出了以不向提升筋7注水的方式使滚筒2的转速达到了脱水稳定转速时的转速的演变。此外，在图7中，以上侧的虚拟线示出了向提升筋7注水一次后转速达到了脱水稳定转速时的转速的演变，并以下侧的虚拟线示出了步骤SP5中的滚筒2的转速的演变。In step SP5, the central control unit 31 performs the eccentric position adjustment processing of the laundry in the agitating drum 2 in the vertical direction by stopping the rotation of the drum 2 or reducing the number of revolutions of the drum 2 to a rotational speed greater than the centrifugal force. control. Then, it returns to step SP1. Step SP5 corresponds to the washing agitation step of the present invention. In Fig. 7, the evolution of the rotational speed when the rotational speed of the drum 2 reaches the dehydration stable rotational speed so as not to inject water into the lifting rib 7 is shown by a solid line. Further, in Fig. 7, the virtual line on the upper side shows the evolution of the rotational speed when the rotational speed reaches the dehydration stable rotational speed after the water is fed to the lifting rib 7, and the virtual line on the lower side shows the drum 2 in step SP5. The evolution of speed.
对于偏心位置调整处理的控制，进一步如图9所示进行说明。首先，当通过上述步骤SP3判断出偏心量(M)大到难以降低的程度时，停止滚筒2的旋转(步骤SP51)。然后，以低于离心力的转速使滚筒2旋转，搅拌滚筒2内的洗涤物，使偏心量(M)发生变化(步骤SP52)。The control of the eccentric position adjustment processing will be further described as shown in FIG. First, when it is judged by the above-described step SP3 that the eccentric amount (M) is too large to be lowered, the rotation of the drum 2 is stopped (step SP51). Then, the drum 2 is rotated at a rotation speed lower than the centrifugal force, and the laundry in the drum 2 is stirred to change the eccentric amount (M) (step SP52).
以下，对于步骤SP4以后的脱水主过程的控制，由图10示意性地并由图11具体地示出进行说明。Hereinafter, the control of the main dehydration process after step SP4 will be schematically illustrated by FIG. 10 and specifically shown in FIG.
(步骤SP6)(Step SP6)
在步骤SP6中，中央控制部31判定图8所示的步骤SP2中计算出的偏心量(M)是否大于按照滚筒2的每个转速预先设定的注水用偏心量阈值(mb)。在偏心量(M)低于注水用偏心量阈值(mb)时，中央控制部31不向提升筋7注水地移至步骤SP7。在偏心量(M)大于注水用偏心量阈值(mb)时，中央控制部31在注水过程中向提升筋7进行注水后移至SP7。 In step SP6, the central control unit 31 determines whether or not the eccentric amount (M) calculated in step SP2 shown in FIG. 8 is larger than the water injection eccentricity threshold value (mb) set in advance for each rotation speed of the drum 2. When the eccentric amount (M) is lower than the eccentric amount threshold (mb) for water injection, the central control unit 31 does not feed the lifting rib 7 to step SP7. When the eccentric amount (M) is larger than the eccentric amount threshold (mb) for water injection, the central control unit 31 injects water into the lifting rib 7 during the water injection, and then moves to SP7.
(步骤SP7)(Step SP7)
在步骤SP7中，中央控制部31以规定的加速度使滚筒2的转速上升。In step SP7, the central control unit 31 increases the number of revolutions of the drum 2 at a predetermined acceleration.
(步骤SP8)(Step SP8)
在步骤SP8中，当滚筒2的转速达到脱水稳定转速时，中央控制部31保持不变地维持滚筒2的转速，直至脱水过程结束。在本实施方式中，脱水稳定转速设定为800rpm。In step SP8, when the rotational speed of the drum 2 reaches the dehydration stable rotational speed, the central control portion 31 maintains the rotational speed of the drum 2 unchanged until the dehydration process ends. In the present embodiment, the dehydration stable rotation speed is set to 800 rpm.
图11是表示本实施方式的脱水主过程的具体处理的流程图。Fig. 11 is a flow chart showing a specific process of the main dehydration process of the present embodiment.
(步骤SP71)(Step SP71)
在步骤SP71中，中央控制部31按照每秒20rpm逐步使转数上升，直至滚筒2的转速达到400rpm。中央控制部31一边进行步骤SP71，一边并行地执行步骤SP6。In step SP71, the central control unit 31 gradually increases the number of revolutions at 20 rpm per second until the number of revolutions of the drum 2 reaches 400 rpm. The central control unit 31 executes step SP6 in parallel while performing step SP71.
(步骤SP72)(Step SP72)
在步骤SP72中，中央控制部31判定滚筒2的转速是否达到了400rpm。若转速未达到400rpm，则中央控制部31移至步骤SP71。若转速达到400rpm，则中央控制部31移至步骤SP73。In step SP72, the central control unit 31 determines whether or not the rotational speed of the drum 2 has reached 400 rpm. If the number of revolutions does not reach 400 rpm, the central control unit 31 moves to step SP71. When the number of revolutions reaches 400 rpm, the central control unit 31 moves to step SP73.
(步骤SP73)(Step SP73)
在步骤SP73中，中央控制部31按照每秒5rpm逐步使转数上升，直至滚筒2的转速达到600rpm。中央控制部31一边进行步骤SP73，一边并行地执行步骤SP6。In step SP73, the central control unit 31 gradually increases the number of revolutions at 5 rpm per second until the number of revolutions of the drum 2 reaches 600 rpm. The central control unit 31 executes step SP6 in parallel while performing step SP73.
(步骤SP74)(Step SP74)
在步骤SP74中，中央控制部31判定滚筒2的转速是否达到了600rpm。若转速未达到600rpm，则中央控制部31移至步骤SP73。若转速达到600rpm，则中央控制部31移至步骤SP75。在此，滚筒2的转速上升至400～600rpm时的加速度低于其它旋转区域是为了使从洗涤物脱水的水量在该旋转区域多于其它旋转区域，使因被脱水的水而产生的不必要的噪音降低。In step SP74, the central control unit 31 determines whether or not the rotational speed of the drum 2 has reached 600 rpm. When the number of revolutions does not reach 600 rpm, the central control unit 31 moves to step SP73. When the rotation speed reaches 600 rpm, the central control unit 31 moves to step SP75. Here, the acceleration when the rotation speed of the drum 2 is raised to 400 to 600 rpm is lower than the other rotation regions in order to make the amount of water dehydrated from the laundry more than the other rotation regions in the rotation region, thereby making it unnecessary for the dehydrated water. The noise is reduced.
(步骤SP75) (Step SP75)
在步骤SP75中，中央控制部31按照每秒20rpm逐步使转速上升，直至滚筒2的转速达到800rpm。中央控制部31一边进行步骤SP75，一边并行地执行步骤SP6。In step SP75, the central control unit 31 gradually increases the rotational speed at 20 rpm per second until the rotational speed of the drum 2 reaches 800 rpm. The central control unit 31 executes step SP6 in parallel while performing step SP75.
(步骤SP76)(Step SP76)
在步骤SP76中，中央控制部31判定滚筒2的转速是否达到了800rpm。若转速未达到800rpm，则中央控制部31移至步骤SP75。若转速达到800rpm，则中央控制部31移至步骤SP8。In step SP76, the central control unit 31 determines whether or not the rotational speed of the drum 2 has reached 800 rpm. If the number of revolutions does not reach 800 rpm, the central control unit 31 moves to step SP75. When the number of revolutions reaches 800 rpm, the central control unit 31 moves to step SP8.
(步骤SP8)(Step SP8)
在步骤SP8中，当滚筒2的转速达到脱水稳定转速即800rpm时，中央控制部31保持该转速地继续进行脱水过程，并在确认经过了预定的时间后，结束洗涤。换言之，与通常的洗涤中的脱水过程同样，中央控制部31使滚筒2以脱水稳定转速旋转规定时间，进行脱水处理。然后，脱水处理结束。并且，当脱水结束而滚筒2开始减速，离心力低于重力加速度时，提升筋7内的调整水W流出并被排出。In step SP8, when the rotation speed of the drum 2 reaches the dehydration stable rotation speed, that is, 800 rpm, the central control unit 31 continues the dehydration process while maintaining the rotation speed, and ends the washing after confirming that the predetermined time has elapsed. In other words, the central control unit 31 rotates the drum 2 at a dehydration stable rotation speed for a predetermined time and performs a dehydration process, similarly to the dehydration process in the normal washing. Then, the dehydration process ends. Further, when the dehydration is completed and the drum 2 starts to decelerate and the centrifugal force is lower than the gravitational acceleration, the adjustment water W in the lifting rib 7 flows out and is discharged.
在本实施方式的控制方法中，在第二偏心检测步骤即步骤SP3之后，重复进行注水步骤即步骤SP6以及转速上升步骤即步骤SP7，直至滚筒2的转速达到脱水稳定转速。In the control method of the present embodiment, after the second eccentricity detecting step, that is, step SP3, the water filling step, step SP6, and the speed increasing step, step SP7, are repeated until the rotation speed of the drum 2 reaches the dehydration stable rotation speed.
接着，对本实施方式的控制方法的具体方案进一步进行说明。Next, a specific embodiment of the control method of the present embodiment will be further described.
对本实施方式中的假定偏心位置θ1的算法进行说明。本实施方式的特征在于，在脱水过程中，计算从加速度传感器12发出的滚筒2至少旋转一圈的过程中表示一个周期t2的加速度的信号中的任意时刻、与从接近开关14发出脉冲信号ps的定时的时间差t1，并根据时间差t1与滚筒2的转速的关系来计算滚筒2内的周向上的假定偏心位置θ1，基于计算出的假定偏心位置θ1进行降低偏心量(M)的控制，并且将来自加速度传感器12的至少包括前后方向的多个方向的信号中的任一信号用于假定偏心位置θ1的计算。以下，特别是对于本实施方式的假定偏心位置θ1的具体算法，如图12～图14所示进行说明。An algorithm for assuming the eccentric position θ1 in the present embodiment will be described. The present embodiment is characterized in that, in the dehydration process, any one of the signals indicating the acceleration of one cycle t2 in the process of rotating the drum 2 from the acceleration sensor 12 at least one rotation, and the pulse signal ps from the proximity switch 14 are calculated. The time difference t1 of the timing is calculated, and the assumed eccentric position θ1 in the circumferential direction in the drum 2 is calculated based on the relationship between the time difference t1 and the rotational speed of the drum 2, and the control for reducing the eccentric amount (M) is performed based on the calculated assumed eccentric position θ1, and Any of the signals from the plurality of directions including the front-rear direction of the acceleration sensor 12 is used for the calculation of the assumed eccentric position θ1. Hereinafter, in particular, a specific algorithm for the assumed eccentric position θ1 of the present embodiment will be described with reference to FIGS. 12 to 14 .
图12是示出表示基于加速度计算出的加速度的时间变化的信息、与由接近开关14获得的脉冲信号ps的关系的曲线图。在图12中，为了方便，根据由加 速度传感器12获得的前后方向的加速度的极大值(Ymax)与脉冲信号ps的时间差t1来计算假定偏心位置θ1。需要说明的是，在图12所示的本实施方式中，作为一个例子，示出了根据加速度的极大值(Ymax)以及极小值(Ymin)来计算假定偏心位置θ1的方案，但作为本发明的另一实施例，也可以根据加速度零点、加速度的极大值(Ymax)、极小值(Ymin)中的任一个或多个来计算假定偏心位置θ1。FIG. 12 is a graph showing the relationship between the information indicating the temporal change of the acceleration calculated based on the acceleration and the pulse signal ps obtained by the proximity switch 14. In Figure 12, for convenience, according to The assumed eccentric position θ1 is calculated by the time difference t1 between the maximum value (Ymax) of the acceleration in the front-rear direction obtained by the speed sensor 12 and the pulse signal ps. Incidentally, in the present embodiment shown in FIG. 12, as an example, a scheme of calculating the assumed eccentric position θ1 based on the maximum value (Ymax) and the minimum value (Ymin) of the acceleration is shown as In another embodiment of the present invention, the assumed eccentric position θ1 may be calculated from any one or more of the acceleration zero point, the maximum value (Ymax) of the acceleration, and the minimum value (Ymin).
图13是表示偏心量/假定偏心位置测定的处理的流程图。Fig. 13 is a flowchart showing a process of measuring an eccentric amount/assumed eccentric position.
(步骤SP21)(Step SP21)
在步骤SP21中，中央控制部31由加速度传感器12来检测左右方向、前后方向以及上下方向的加速度(X、Y、Z)。In step SP21, the central control unit 31 detects accelerations (X, Y, Z) in the horizontal direction, the front-rear direction, and the vertical direction by the acceleration sensor 12.
(步骤SP22)(Step SP22)
在步骤SP22中，中央控制部31根据由加速度传感器12获得的加速度(X、Y、Z)以及来自接近开关14的中断信号即脉冲信号ps，进行确定加速度(X、Y、Z)的极大值(Xmax、Ymax、Zmax)/极小值(Xmin、Ymin、Zmin)的计算处理。对具体方案稍后将进行说明。In step SP22, the central control unit 31 performs the determination of the maximum acceleration (X, Y, Z) based on the acceleration (X, Y, Z) obtained by the acceleration sensor 12 and the pulse signal ps, which is an interruption signal from the proximity switch 14. Calculation processing of values (Xmax, Ymax, Zmax)/minimum values (Xmin, Ymin, Zmin). The specific scheme will be explained later.
(步骤SP23)(Step SP23)
在步骤SP23中，中央控制部31根据来自接近开关14的作为中断信号的多个脉冲信号ps间的间隔，计算并确定滚筒2旋转一圈的时间即一周期t2的值。In step SP23, the central control unit 31 calculates and determines the value of one cycle t2, which is the time when the drum 2 makes one rotation, based on the interval between the plurality of pulse signals ps as the interruption signals from the proximity switch 14.
(步骤SP24)(Step SP24)
在步骤SP24中，中央控制部31根据来自接近开关14的作为中断信号的多个脉冲信号ps以及由步骤SP22获得的加速度(X、Y、Z)的极大值(Xmax、Ymax、Zmax)，计算并确定其时间差t1。在步骤SP24中，中央控制部31除了图12中图示出的前后方向的时间差t1即时间差t1_Y以外，还一并计算出左右方向、上下方向的时间差t1_X、t1_Z。In step SP24, the central control unit 31 is based on the plurality of pulse signals ps as the interrupt signals from the proximity switch 14 and the maximum values (Xmax, Ymax, Zmax) of the accelerations (X, Y, Z) obtained in step SP22. Calculate and determine the time difference t1. In step SP24, the central control unit 31 calculates the time difference t1_X and t1_Z in the horizontal direction and the vertical direction in addition to the time difference t1 in the front-rear direction shown in FIG. 12, that is, the time difference t1_Y.
(步骤SP25)(Step SP25)
在步骤SP25中，中央控制部31根据由步骤SP22获得的加速度(X、Y、Z)的极大值(Xmax、Ymax、max)/极小值(Xmin、Ymin、Zmin)，计算并确定 作为偏心量(M)的左右方向、前后方向以及上下方向各自的偏心量Mx、My、Mz。偏心量Mx、My、Mz在本实施方式中根据极大值(Xmax、Ymax、Zmax)以及极小值(Xmin、Ymin、Zmin)的差求得。In step SP25, the central control unit 31 calculates and determines based on the maximum values (Xmax, Ymax, max)/minimum values (Xmin, Ymin, Zmin) of the accelerations (X, Y, Z) obtained in step SP22. The eccentric amounts Mx, My, and Mz of the eccentric amount (M) in the left-right direction, the front-rear direction, and the up-and-down direction. In the present embodiment, the eccentric amounts Mx, My, and Mz are obtained from the difference between the maximum value (Xmax, Ymax, Zmax) and the minimum value (Xmin, Ymin, Zmin).
(步骤SP26)(Step SP26)
在步骤SP26中，中央控制部31根据由步骤SP23获得的一周期t2、由步骤SP24获得的时间差t1，通过以下算式计算并确定左右方向、前后方向以及上下方向各自的假定偏心位置θ1-X、θ1-Y、θ1-Z。In the step SP26, the central control unit 31 calculates and determines the assumed eccentric position θ1-X of the left and right direction, the front-rear direction, and the up-and-down direction by the following equation based on the period t2 obtained in step SP23 and the time difference t1 obtained in step SP24. θ1-Y, θ1-Z.
θ1-X＝t1_X×360÷t2θ1-X=t1_X×360÷t2
θ1-Y＝t1_Y×360÷t2θ1-Y=t1_Y×360÷t2
θ1-Z＝t1_Z×360÷t2θ1-Z=t1_Z×360÷t2
图14是具体示出确定加速度(X、Y、Z)的极大值(Xmax、Ymax、Zmax)/极小值(Xmin、Ymin、Zmin)的计算处理的流程图。实际从加速度传感器输入的加速度(X、Y、Z)的值虽然按照每1毫秒分别被输入，但存在如下倾向：一边表现出反复从极大至极小的大起伏，一边按照每个输入值来进一步反复细微的起伏。因此，在本实施方式中，中央控制部31将这些多个输入值的移动平均值用作用于计算处理的加速度(X1、Y1、Z1)来进行计算处理。由此，上述细微的起伏降低了对中央控制部31的计算处理的影响。FIG. 14 is a flowchart specifically showing a calculation process of determining maximum values (Xmax, Ymax, Zmax)/minimum values (Xmin, Ymin, Zmin) of the accelerations (X, Y, Z). The values of the accelerations (X, Y, and Z) actually input from the acceleration sensor are input every one millisecond, but there is a tendency to exhibit a large fluctuation from the maximum to the minimum while repeating the input value. Further repeated subtle fluctuations. Therefore, in the present embodiment, the central control unit 31 performs the calculation processing by using the moving average of the plurality of input values as the acceleration (X1, Y1, Z1) for the calculation processing. Thereby, the above-described fine fluctuations reduce the influence on the calculation processing of the central control unit 31.
(步骤SP221)(Step SP221)
在步骤SP221中，中央控制部31并行实施两次被输入的加速度(X、Y、Z)的16移动平均的计算，同时将这些按照每16毫秒获得的移动平均值认作加速度(X1、Y1、Z1)，继续输入。具体而言，作为一个例子，中央控制部31根据第1～16个、第17～32个输入值来计算并输入移动平均值，与之并行，还根据第2～17个、第18～32个输入值来计算出移动平均值作为第二次的值。由此，在计算处理中，能使用第1次、第2次的任一移动平均值。具体而言，例如，即使由第1～16个输入值而得到的移动平均值因为任何理由无法计算出来，作为替代也能根据第2～17个输入值来计算出移动平均值并提供给计算处理。In step SP221, the central control unit 31 performs the calculation of the 16 moving averages of the input accelerations (X, Y, Z) twice in parallel, and recognizes these moving average values obtained every 16 milliseconds as acceleration (X1, Y1). , Z1), continue to enter. Specifically, as an example, the central control unit 31 calculates and inputs a moving average value based on the first to theteenteenth and seventeenth to thirty-eightth input values, and in parallel with the second to theteenth and eighteenth to eighteenth Enter the value to calculate the moving average as the second value. Thereby, in the calculation process, any moving average of the first time and the second time can be used. Specifically, for example, even if the moving average value obtained from the first to the 16th input values cannot be calculated for any reason, the moving average value can be calculated from the second to 17th input values and supplied to the calculation. deal with.
(步骤SP222) (Step SP222)
在步骤SP222中，中央控制部31接受由接近开关14获得的脉冲信号ps的输入。In step SP222, the central control unit 31 accepts the input of the pulse signal ps obtained by the proximity switch 14.
(步骤SP223)(Step SP223)
在步骤SP223中，中央控制部31将通过步骤SP221持续输入的加速度(X1、Y1、Z1)随时更新为临时的极大值/极小值。In step SP223, the central control unit 31 updates the acceleration (X1, Y1, Z1) continuously input in step SP221 to a temporary maximum value/minimum value at any time.
(步骤SP224)(Step SP224)
在步骤SP224中，中央控制部31接受由接近开关14获得的由步骤SP222获得的脉冲信号ps的下一个脉冲信号ps。In step SP224, the central control section 31 accepts the next pulse signal ps of the pulse signal ps obtained by the step SP222 obtained by the proximity switch 14.
(步骤SP225)(Step SP225)
在步骤SP225中，中央控制部31将在步骤SP222、步骤SP224的脉冲信号ps之间得到的加速度(X1、Y1、Z1)的极大值/极小值设为确定出的加速度(X、Y、Z)的极大值(Xmax、Ymax、Zmax)/极小值(Xmin、Ymin、Zmin)。In step SP225, the central control unit 31 sets the maximum/minimum value of the acceleration (X1, Y1, Z1) obtained between the pulse signals ps of step SP222 and step SP224 to the determined acceleration (X, Y). , Z) maximum value (Xmax, Ymax, Zmax) / minimum value (Xmin, Ymin, Zmin).
图15是表示启动判定的一实施例的流程图，图16是表示启动判定的另一实施例的流程图。以下，对启动判定进行说明。Fig. 15 is a flowchart showing an embodiment of the activation determination, and Fig. 16 is a flowchart showing another embodiment of the activation determination. The start determination will be described below.
(步骤SP31)(Step SP31)
在步骤SP31中，中央控制部31选择通过步骤SP25确定出的左右方向的偏心量Mx和上下方向的偏心量Mz中表现出较大值的偏心量(M)。在本实施方式中，为了方便说明，将所选择的偏心量(M)记作偏心量Mxz。In the step SP31, the central control unit 31 selects the eccentric amount Mx in the left-right direction determined by the step SP25 and the eccentric amount (M) which exhibits a large value in the eccentricity amount Mz in the vertical direction. In the present embodiment, for convenience of explanation, the selected eccentric amount (M) is referred to as the eccentric amount Mxz.
(步骤SP32)(Step SP32)
在步骤SP32中，中央控制部31判定偏心量Mxz是否高于作为第一偏心量阈值(ma)的阈值M_xz。若偏心量Mxz低于阈值M_xz，则中央控制部31移至步骤SP33。若偏心量Mxz高于阈值M_xz，则中央控制部31判定不可启动，移至步骤SP5，进行偏心量调整处理。In step SP32, the central control unit 31 determines whether or not the eccentric amount Mxz is higher than the threshold M_xz which is the first eccentric amount threshold (ma). When the eccentric amount Mxz is lower than the threshold value M_xz, the central control unit 31 proceeds to step SP33. When the eccentricity amount Mxz is higher than the threshold value M_xz, the central control unit 31 determines that the eccentricity amount Mxz is not operative, and proceeds to step SP5 to perform the eccentricity amount adjustment processing.
(步骤SP33)(Step SP33)
在步骤SP33中，中央控制部31判定前后方向的偏心量My是否高于作为第一偏心量阈值(ma)的阈值M_y。若偏心量My低于阈值M_y，则中央控制部31判定可以启动。在该情况下，使滚筒2的转速上升。若偏心量My高于阈 值M_y，则中央控制部31判定不可启动，移至步骤SP5，进行偏心量调整处理。In step SP33, the central control unit 31 determines whether or not the eccentric amount My in the front-rear direction is higher than the threshold M_y which is the first eccentric amount threshold (ma). When the eccentric amount My is lower than the threshold value M_y, the central control unit 31 determines that activation is possible. In this case, the number of revolutions of the drum 2 is increased. If the eccentricity My is higher than the threshold When the value M_y is reached, the central control unit 31 determines that the activation is impossible, and the process proceeds to step SP5 to perform the eccentricity adjustment processing.
接着，参照图16，对启动判定的另一实施例进行说明。在本实施方式中，中央控制部31根据滚筒2的偏心状态来适当改变用于启动判定的阈值M_xz、阈值M_y，进行启动判定。Next, another embodiment of the startup determination will be described with reference to Fig. 16 . In the present embodiment, the central control unit 31 appropriately changes the threshold value M_xz and the threshold value M_y for the start determination based on the eccentric state of the drum 2, and performs the start determination.
在本实施方式中，对于作为第一偏心检测步骤的步骤SP3，在处于如图6所示的对置负荷的状态时，将第一偏心量阈值(ma)设定为小于不处于对置负荷的状态时的值。此外，在本实施方式中，在不是对置负荷的状态时，根据假定偏心位置θ1来设定不同的第一偏心量阈值(ma)。In the present embodiment, with respect to step SP3 as the first eccentricity detecting step, the first eccentric amount threshold (ma) is set to be smaller than the non-opposing load when in the state of the opposite load as shown in FIG. The value of the state. Further, in the present embodiment, when the load is not in the opposite state, the first eccentric amount threshold (ma) is set differently according to the assumed eccentric position θ1.
中央控制部31选择性地读出分别存储于存储器32的阈值M_xz1、阈值M_y1、阈值M_xz2、阈值M_y2、阈值M_xz3、阈值M_y3，作为本实施方式中使用的第一偏心量阈值(ma)。这些阈值中的阈值M_xz1、阈值M_y1为最大的值，阈值M_xz3、阈值M_y3为最低的值。The central control unit 31 selectively reads out the threshold value M_xz1, the threshold value M_y1, the threshold value M_xz2, the threshold value M_y2, the threshold value M_xz3, and the threshold value M_y3 respectively stored in the memory 32 as the first eccentricity amount threshold value (ma) used in the present embodiment. Among the thresholds, the threshold M_xz1 and the threshold M_y1 are the largest values, and the threshold M_xz3 and the threshold M_y3 are the lowest values.
对图16所示的启动判定进行说明。中央控制部31进行上述的步骤SP31的处理。然后，移至步骤SP34。The startup determination shown in Fig. 16 will be described. The central control unit 31 performs the processing of the above-described step SP31. Then, the process moves to step SP34.
(步骤SP34)(Step SP34)
在步骤SP34中，中央控制部31判定由步骤SP31选择的偏心量Mxz的值是否小于前后方向的偏心量My。若偏心量Mxz的值的较小，则中央控制部31移至步骤SP35。若偏心量Mxz的值较大，则中央控制部31移至步骤SP36。In step SP34, the central control unit 31 determines whether or not the value of the eccentric amount Mxz selected in step SP31 is smaller than the eccentric amount My in the front-rear direction. When the value of the eccentricity amount Mxz is small, the central control unit 31 proceeds to step SP35. When the value of the eccentric amount Mxz is large, the central control unit 31 proceeds to step SP36.
(步骤SP35)(Step SP35)
在步骤SP35中，中央控制部31从存储器32读出并采用阈值M_xz3、阈值M_y3作为之后的步骤SP32、SP33中使用的第一偏心量阈值(ma)。即，在本实施方式中，在判断出滚筒2处于对置负荷的状态的情况下，与在不是对置负荷时进行设定时相比，中央控制部31将第一偏心量阈值(ma)设定为更低的值。由此，在滚筒2处于对置负荷的状态时，最容易移至也被称为翻滚的偏心位置调整处理。In step SP35, the central control unit 31 reads out the threshold value M_xz3 and the threshold value M_y3 from the memory 32 as the first eccentricity amount threshold value (ma) used in the subsequent steps SP32 and SP33. In other words, in the present embodiment, when it is determined that the drum 2 is in the state of the opposing load, the central control unit 31 sets the first eccentric amount threshold (ma) as compared with when the setting is performed when the load is not opposed. Set to a lower value. Therefore, when the drum 2 is in the state of the opposing load, it is most easy to move to the eccentric position adjustment processing also called tumbling.
(步骤SP36)(Step SP36)
在步骤SP36中，中央控制部31读出存储于存储器32的假定偏心位置θ1 是图5的参数表所示的区域Y中的哪个区域Y。当判断假定偏心位置θ1为未设定供水阀Z的区域Y即区域P(A)、P(B)或P(C)时，中央控制部31移至步骤SP38。当判断假定偏心位置θ1为设定了供水阀Z的区域Y即区域P(AB)、P(BC)或P(CA)时，中央控制部31移至步骤SP37。In step SP36, the central control unit 31 reads out the assumed eccentric position θ1 stored in the memory 32. It is the region Y in the region Y shown in the parameter table of Fig. 5 . When it is judged that the assumed eccentric position θ1 is the region Y in which the water supply valve Z is not set, that is, the region P(A), P(B) or P(C), the central control unit 31 proceeds to step SP38. When it is judged that the assumed eccentric position θ1 is the region Y in which the water supply valve Z is set, that is, the region P(AB), P(BC) or P(CA), the central control unit 31 proceeds to step SP37.
(步骤SP37)(Step SP37)
在步骤SP37中，中央控制部31从存储器32读出并采用阈值M_xz2、阈值M_y2，作为之后的步骤SP32、SP33中使用的第一偏心量阈值(ma)。In step SP37, the central control unit 31 reads out the threshold value M_xz2 and the threshold value M_y2 from the memory 32 as the first eccentricity amount threshold value (ma) used in the subsequent steps SP32 and SP33.
(步骤SP38)(Step SP38)
在步骤SP38中，中央控制部31从存储器32读出并采用阈值M_xz1、阈值M_y1，作为之后的步骤SP32、SP33中使用的第一偏心量阈值(ma)。在本实施方式中，对作为第一偏心检测步骤的步骤SP3，根据假定偏心位置θ1来设定不同的第一偏心量阈值(ma)。具体而言，在假定偏心位置θ1位于区域P(A)、P(B)或P(C)时，将偏心量阈值(ma)设定得较小，当假定偏心位置θ1位于区域P(AB)、P(BC)或P(CA)时，将偏心量阈值(ma)设定得较大。In step SP38, the central control unit 31 reads out the threshold value M_xz1 and the threshold value M_y1 from the memory 32 as the first eccentricity amount threshold value (ma) used in the subsequent steps SP32 and SP33. In the present embodiment, a different first eccentric amount threshold (ma) is set based on the assumed eccentric position θ1 in step SP3 as the first eccentricity detecting step. Specifically, when the eccentric position θ1 is assumed to be located in the region P(A), P(B), or P(C), the eccentric amount threshold (ma) is set to be small, and when the eccentric position θ1 is assumed to be located in the region P (AB) When P(BC) or P(CA), the eccentricity threshold (ma) is set to be large.
然后，中央控制部31使用在步骤SP35、步骤SP37、步骤SP38中采用的阈值，与图15同样地进行步骤SP32以及步骤SP33。Then, the central control unit 31 performs steps SP32 and SP33 in the same manner as in FIG. 15 using the threshold values used in steps SP35, SP37, and SP38.
以上，结束脱水过程中的脱水前过程的处理的说明。以后，对上述步骤SP6之后的脱水主过程的处理进行说明。在此，由于步骤SP7、步骤SP8的处理已经在上面说明过，因此主要对步骤SP6即注水过程的具体处理进行说明。The above description of the process of the pre-dehydration process in the dehydration process is completed. Hereinafter, the processing of the main dehydration process after the above step SP6 will be described. Here, since the processing of step SP7 and step SP8 has been described above, the specific processing of step SP6, that is, the water filling process will be mainly described.
图17是表示注水过程的概要的流程图。如此，在本实施方式的注水过程中，在如上所述滚筒2的转速达到180rpm以后继续进行的步骤SP2即偏心量/假定偏心位置测定的处理的基础上，主要进行步骤SP61即偏心位置确定的处理和步骤SP62即注水实施的处理。Fig. 17 is a flow chart showing an outline of a water injection process. As described above, in the water filling process of the present embodiment, in the step SP2, which is the eccentric amount/assumed eccentric position measurement, which is continued after the rotation speed of the drum 2 reaches 180 rpm as described above, the eccentric position determination is mainly performed in step SP61. Process and step SP62 are the treatments performed by the water injection.
(步骤SP61)(Step SP61)
在步骤SP61中，中央控制部31根据假定偏心位置θ1来确定正式偏心位置θ2。对偏心位置确定的处理稍后将说明。In step SP61, the central control unit 31 determines the formal eccentric position θ2 based on the assumed eccentric position θ1. The processing of the eccentric position determination will be described later.
(步骤SP62) (Step SP62)
在步骤SP62中，中央控制部31根据偏心量(M)以及在步骤SP61中得到的正式偏心位置θ2来实施向提升筋7的注水。对注水实施的处理稍后将说明。In step SP62, the central control unit 31 performs water injection into the lifting rib 7 based on the eccentric amount (M) and the formal eccentric position θ2 obtained in step SP61. The processing of the water injection implementation will be described later.
图18是表示本实施方式的注水过程的具体处理过程的流程图。记载了从滚筒2的转速达到180rpm以后继续进行的步骤SP2即偏心量/假定偏心位置测定的处理到上述步骤61为止的流程的一个例子。Fig. 18 is a flow chart showing a specific processing procedure of the water flooding process of the present embodiment. An example of the flow from the process of measuring the eccentric amount/assumed eccentric position in step SP2, which is continued from the rotation speed of the drum 2 to 180 rpm, to the above-described step 61 is described.
在步骤63中，中央控制部31选择由步骤SP2确定出的左右方向的偏心量Mx和上下方向的偏心量Mz中的较大的值作为偏心量(M)。在本实施方式中，为了方便说明，将所选择的偏心量(M)记作偏心量Mxz。In step 63, the central control unit 31 selects a larger value of the eccentricity amount Mx in the left-right direction and the eccentricity amount Mz in the vertical direction determined in step SP2 as the eccentric amount (M). In the present embodiment, for convenience of explanation, the selected eccentric amount (M) is referred to as the eccentric amount Mxz.
(步骤SP64)(Step SP64)
在步骤SP64中，中央控制部31判定偏心量Mxz是否高于作为注水用偏心量阈值(mb)的阈值M_xz4。若偏心量Mxz低于阈值M_xz4，则移至步骤SP65。若所选择的偏心量Mxz高于阈值M_xz4，则移至步骤SP66。In step SP64, the central control unit 31 determines whether or not the eccentricity amount Mxz is higher than the threshold value M_xz4 which is the eccentricity amount threshold (mb) for water injection. If the eccentric amount Mxz is lower than the threshold value M_xz4, the process proceeds to step SP65. If the selected eccentricity Mxz is higher than the threshold M_xz4, the process proceeds to step SP66.
(步骤SP65)(Step SP65)
在步骤SP65中，中央控制部31判定前后方向的偏心量My是否高于作为注水用偏心量阈值(mb)的阈值M_y4。若偏心量My低于阈值M_y4，则中央控制部31不进行偏心量(M)的计算。换言之，中央控制部31判定该情况下的偏心量(M)为无需向提升筋7注水的程度的值。在该情况下，中央控制部31使滚筒2的转速上升。若偏心量My高于阈值M_y，则中央控制部31移至步骤SP66。In step SP65, the central control unit 31 determines whether or not the eccentric amount My in the front-rear direction is higher than the threshold value M_y4 which is the eccentricity threshold value (mb) for water injection. When the eccentric amount My is lower than the threshold value M_y4, the central control unit 31 does not perform the calculation of the eccentric amount (M). In other words, the central control unit 31 determines that the eccentric amount (M) in this case is a value that does not require water to be poured into the lifting rib 7 . In this case, the central control unit 31 increases the number of revolutions of the drum 2. When the eccentric amount My is higher than the threshold M_y, the central control unit 31 moves to step SP66.
(步骤SP66)(Step SP66)
在步骤SP66中，中央控制部31不上升地维持滚筒2的转速。然后，中央控制部31进行上述的步骤SP61即偏心位置确定的处理、步骤SP62即注水实施的处理。In step SP66, the central control unit 31 maintains the number of revolutions of the drum 2 without rising. Then, the central control unit 31 performs the above-described step SP61, that is, the process of determining the eccentric position, and the step SP62, that is, the process of water injection.
(步骤SP67)(Step SP67)
在步骤SP67中，中央控制部31不上升地维持滚筒2的转速。然后，中央控制部31进行步骤SP61即偏心位置确定的处理、步骤SP62即注水实施的处理。In step SP67, the central control unit 31 maintains the number of revolutions of the drum 2 without rising. Then, the central control unit 31 performs a process of determining the eccentric position in step SP61 and a process of performing water injection in step SP62.
如图17以及图18所示，本实施方式的控制方法的特征在于，基于来自加 速度传感器12的包括前后方向的多个方向的信号来分别计算偏心量(M)，并基于正式偏心位置θ2来进行注水实施的处理，该正式偏心位置θ2基于计算出的偏心量(M)为注水用偏心量阈值(mb)以上的信号而确定出来。As shown in FIGS. 17 and 18, the control method of the present embodiment is characterized in that it is based on The speed sensor 12 includes signals in a plurality of directions in the front-rear direction to calculate an eccentric amount (M), and performs a water injection process based on the official eccentric position θ2 based on the calculated eccentric amount (M). The water injection is determined by a signal having an eccentricity threshold (mb) or more.
参照图19以及图20，对偏心位置正式确定的处理进行说明。图19是表示偏心位置正式确定的处理过程的流程图。图20是表示图19中所示的偏心量(M)与第一阈值以及第二阈值的关系的图。存储器32存储有图20的数据，并根据状况适当读出所需的数据。需要说明的是，图20中的作为偏心载荷量的偏心量Mx、My、Mz的数字的单位为克(g)。此外，同一图中的第一阈值a1、b1、c1以及第二阈值a2、b2、c2的数字的单位为rpm。The process of officially determining the eccentric position will be described with reference to Figs. 19 and 20 . Fig. 19 is a flow chart showing the processing procedure for the eccentric position to be formally determined. Fig. 20 is a view showing the relationship between the eccentric amount (M) shown in Fig. 19 and the first threshold and the second threshold. The memory 32 stores the data of Fig. 20 and appropriately reads out the required data according to the situation. In addition, the unit of the number of the eccentric amount Mx, My, and Mz which are the eccentric load amount in FIG. 20 is gram (g). Further, the unit of the numbers of the first thresholds a1, b1, c1 and the second thresholds a2, b2, c2 in the same figure is rpm.
如图20所示，假定偏心位置θ1与正式偏心位置θ2对应，但假定偏心位置θ1与正式偏心位置θ2的关系根据滚筒2的转速而不同。在本实施方式中，根据偏心量(M)以及滚筒2的转速来改变用于计算正式偏心位置θ2的流程。具体而言，按照滚筒2的转速处于低于第一阈值a1、b1、c1的转速时；滚筒2的转速处于第一阈值a1、b1、c1以上且低于第二阈值a2、b2、c2的转速时；以及滚筒2的转速处于第二阈值a2、b2、c2以上的转速时来改变计算正式偏心位置θ2的算式。As shown in FIG. 20, it is assumed that the eccentric position θ1 corresponds to the formal eccentric position θ2, but the relationship between the eccentric position θ1 and the formal eccentric position θ2 is assumed to be different depending on the number of revolutions of the drum 2. In the present embodiment, the flow for calculating the formal eccentric position θ2 is changed in accordance with the eccentric amount (M) and the rotational speed of the drum 2. Specifically, when the rotation speed of the drum 2 is at a rotation speed lower than the first threshold values a1, b1, c1; the rotation speed of the drum 2 is above the first threshold values a1, b1, c1 and lower than the second threshold values a2, b2, c2 At the time of the rotational speed; and when the rotational speed of the drum 2 is at the rotational speeds of the second threshold values a2, b2, c2 or more, the equation for calculating the formal eccentric position θ2 is changed.
(步骤SP611)(Step SP611)
在步骤SP611中，中央控制部31对于偏心量Mx、My、Mz分别按照图20所示确定第一阈值a1、b1、c1以及第二阈值a2、b2、c2。换言之，中央控制部31从存储器32读出与偏心量Mx、My、Mz对应的第一阈值a1、b1、c1以及第二阈值a2、b2、c2。In step SP611, the central control unit 31 determines the first threshold values a1, b1, c1 and the second threshold values a2, b2, c2 for the eccentricities Mx, My, Mz as shown in Fig. 20, respectively. In other words, the central control unit 31 reads out the first threshold values a1, b1, c1 and the second threshold values a2, b2, and c2 corresponding to the eccentricities Mx, My, and Mz from the memory 32.
(步骤SP612)(Step SP612)
在步骤SP612中，中央控制部31判定滚筒2的转速是否低于第一阈值a1、b1、c1。在滚筒2的转速低于第一阈值a1、b1、c1的情况下，移至步骤613。在滚筒2的转速为第一阈值a1、b1、c1以上的情况下，移至步骤614。In step SP612, the central control unit 31 determines whether or not the number of revolutions of the drum 2 is lower than the first threshold values a1, b1, and c1. When the rotation speed of the drum 2 is lower than the first threshold values a1, b1, and c1, the routine proceeds to step 613. When the number of revolutions of the drum 2 is equal to or greater than the first threshold values a1, b1, and c1, the routine proceeds to step 614.
(步骤SP613)(Step SP613)
在步骤SP613中，中央控制部31将假定偏心位置θ1的值直接确定为正式偏心位置θ2的值。 In step SP613, the central control unit 31 directly determines the value of the assumed eccentric position θ1 as the value of the formal eccentric position θ2.
(步骤SP614)(Step SP614)
在步骤SP614中，中央控制部31判定滚筒2的转速是否低于第二阈值a2、b2、c2。在滚筒2的转速低于第一阈值a2、b2、c2的情况下，中央控制部31移至步骤615。在滚筒2的转速为第一阈值a2、b2、c2以上的情况下，中央控制部31移至步骤616。In step SP614, the central control unit 31 determines whether or not the rotational speed of the drum 2 is lower than the second threshold values a2, b2, and c2. When the rotation speed of the drum 2 is lower than the first threshold values a2, b2, and c2, the central control unit 31 moves to step 615. When the number of rotations of the drum 2 is equal to or greater than the first threshold values a2, b2, and c2, the central control unit 31 proceeds to step 616.
(步骤SP615)(Step SP615)
在步骤SP615中，中央控制部31将假定偏心位置θ1减去90°的值确定为正式偏心位置θ2的值。该情况下，在正式偏心位置θ2的值变得低于0时，中央控制部31将再加上360°的值设为正式偏心位置θ2。In step SP615, the central control unit 31 determines a value obtained by subtracting 90° from the assumed eccentric position θ1 as the value of the formal eccentric position θ2. In this case, when the value of the official eccentric position θ2 becomes lower than 0, the central control unit 31 sets the value added by 360° as the formal eccentric position θ2.
(步骤SP616)(Step SP616)
在步骤SP616中，中央控制部31将假定偏心位置θ1减去180°的值确定为正式偏心位置θ2的值。该情况下，在正式偏心位置θ2的值变得低于0时，中央控制部31将再加上360°的值设为正式偏心位置θ2。In step SP616, the central control unit 31 determines a value obtained by subtracting 180° from the assumed eccentric position θ1 as a value of the formal eccentric position θ2. In this case, when the value of the official eccentric position θ2 becomes lower than 0, the central control unit 31 sets the value added by 360° as the formal eccentric position θ2.
对步骤SP62所示的注水实施的处理进行说明。图21是表示注水实施的处理过程的流程图。The processing performed by the water injection shown in step SP62 will be described. Fig. 21 is a flow chart showing the processing procedure of the water injection implementation.
(步骤SP621)(Step SP621)
在步骤SP621中，与上述步骤SP31同样，中央控制部31将由上述步骤SP25确定出的左右方向的偏心量Mx和上下方向的偏心量Mz中的较大的值设为偏心量Mxz。除此之外，中央控制部31判定偏心量Mxz的值是否大于偏心量My。若偏心量Mxz较大，则中央控制部31移至步骤SP622。若偏心量Mxz较小，则中央控制部31移至步骤SP623。In step SP621, the central control unit 31 sets the larger value of the eccentricity amount Mx in the left-right direction and the eccentricity amount Mz in the vertical direction determined by the above-described step SP25 as the eccentric amount Mxz. In addition to this, the central control unit 31 determines whether or not the value of the eccentric amount Mxz is larger than the eccentric amount My. When the eccentric amount Mxz is large, the central control unit 31 proceeds to step SP622. When the eccentric amount Mxz is small, the central control unit 31 moves to step SP623.
(步骤SP622)(Step SP622)
在步骤SP622中，中央控制部31判定将基于表示偏心量Mx、偏心量Mz中较大的值的偏心量(M)的确定偏心位置θ2用于注水。In step SP622, the central control unit 31 determines that the determined eccentric position θ2 based on the eccentric amount (M) indicating a larger value of the eccentric amount Mx and the eccentric amount Mz is used for water injection.
(步骤SP623)(Step SP623)
在步骤SP623中，中央控制部31判定将基于偏心量My的确定偏心位置θ2用于注水。 In step SP623, the central control unit 31 determines that the determined eccentric position θ2 based on the eccentric amount My is used for water injection.
(步骤SP624)(Step SP624)
在步骤SP624中，中央控制部31执行供水阀驱动的处理。对供水阀驱动的处理的具体过程稍后将说明。In step SP624, the central control unit 31 performs processing of the water supply valve drive. The specific process of the treatment of the water supply valve drive will be described later.
(步骤SP625)(Step SP625)
在步骤SP625中，中央控制部31执行判定向提升筋7的供水量是否适当的供水量判定的处理。对该处理的具体过程稍后将说明。In step SP625, the central control unit 31 performs a process of determining whether or not the water supply amount to the lifting rib 7 is appropriate. The specific process for this processing will be described later.
(步骤SP626)(Step SP626)
在步骤SP626中，中央控制部31在步骤SP625的供水量判定的处理中判定任一提升筋7不满水的情况下，移至步骤SP627。此外，中央控制部31在步骤SP625的供水量判定的处理中判定任一提升筋7满水的情况下，移至SP632。In step SP626, the central control unit 31 determines that any of the lifting ribs 7 is not full of water in the process of determining the water supply amount in step SP625, and proceeds to step SP627. Further, when the central control unit 31 determines that any of the lifting ribs 7 is full of water in the process of determining the water supply amount in step SP625, the central control unit 31 shifts to SP632.
(步骤SP627)(Step SP627)
在步骤SP627中，中央控制部31在原本即将为了减少偏心量(M)而进行注水时，执行偏心量(M)是否反而增加了的判定即偏心量增加判定。对偏心量增加判定的具体过程稍后将说明。In step SP627, the central control unit 31 performs a determination as to whether or not the eccentric amount (M) is increased, that is, the eccentric amount increase determination, when water injection is performed to reduce the eccentric amount (M). The specific process for determining the eccentricity increase will be described later.
(步骤SP628)(Step SP628)
在步骤SP628中，中央控制部31判定在步骤SP627的偏心量增加判定中有无作为偏心量增加信息的M增加信息(NG)。在没有M增加信息(NG)的情况下，中央控制部31移至步骤SP631。在有M增加信息(NG)的情况下，中央控制部31移至步骤SP629。In step SP628, the central control unit 31 determines whether or not there is M increase information (NG) as the eccentricity increase information in the eccentricity increase determination in step SP627. When there is no M addition information (NG), the central control unit 31 moves to step SP631. When there is M addition information (NG), the central control unit 31 moves to step SP629.
(步骤SP629)(Step SP629)
在步骤SP629中，中央控制部31判定在步骤SP628中M增加信息(NG)是否为三次以下。若M增加信息(NG)为三次以下，则中央控制部31移至步骤SP631。若M增加信息(NG)不为三次以下，则中央控制部31移至步骤SP632。In step SP629, the central control unit 31 determines whether the M addition information (NG) is three or less in step SP628. When the M increase information (NG) is three or less, the central control unit 31 proceeds to step SP631. If the M increase information (NG) is not three or less, the central control unit 31 proceeds to step SP632.
(步骤SP630)(Step SP630)
在步骤SP630中，中央控制部31将基于在步骤SP622、SP623中采用的任一偏心量Mx、My、Mz而计算出的确定偏心位置θ2的数据变更为其它数据。 In step SP630, the central control unit 31 changes the data of the determined eccentric position θ2 calculated based on any of the eccentric amounts Mx, My, and Mz used in steps SP622 and SP623 to other data.
(步骤SP631)(Step SP631)
在步骤SP631中，中央控制部31执行是否使滚筒2的转速加速的加速可否判定。对加速可否判定的具体过程稍后将说明。In step SP631, the central control unit 31 performs an acceleration determination of whether or not to accelerate the rotational speed of the drum 2. The specific process for determining the feasibility of acceleration will be described later.
(步骤SP632)(Step SP632)
在步骤SP632中，中央控制部31执行变更是否使滚筒2加速的判定基准的加速判定变更的处理。对该处理的具体过程稍后将说明。In step SP632, the central control unit 31 performs a process of changing whether or not the acceleration determination of the determination criterion for accelerating the drum 2 is changed. The specific process for this processing will be described later.
在本实施方式中，如上所述，在步骤SP630中将确定偏心位置θ2的数据变更为其它数据，但在即使基于变更后的确定偏心位置θ2的数据来向提升筋7进行注水也看不到偏心量(M)降低的情况下，虽未图示，但通过进行上述步骤SP5的偏心位置调整处理的控制来变更滚筒2内的洗涤物的配置，开始再次脱水过程。In the present embodiment, as described above, the data for determining the eccentric position θ2 is changed to other data in step SP630. However, even if water is injected into the lifting rib 7 based on the data of the determined eccentric position θ2 after the change, it is not seen. When the eccentric amount (M) is lowered, the arrangement of the laundry in the drum 2 is changed by the control of the eccentric position adjustment processing in the above-described step SP5, and the re-dehydration process is started.
接着，参照图22，对上述步骤SP624的供水阀驱动的处理的具体过程进行说明。Next, a specific procedure of the process of the water supply valve drive of the above-described step SP624 will be described with reference to Fig. 22 .
(步骤SP633)(Step SP633)
在步骤SP633中，中央控制部31取得用于供水阀62a、62b、62c的驱动的正式偏心位置θ_fix。正式偏心位置θ_fix是根据偏心量Mx、My、Mz而得到的正式偏心位置θ2的任一值。此外，在本实施方式中，如图5所示，正式偏心位置θ_fix如图5所示，变现为与轴心S1向周向延伸的任意虚拟线的相对角度，并作为表示0°～359°的0～359的任一数值在图22中示出。In step SP633, the central control unit 31 acquires the official eccentric position θ_fix for driving the water supply valves 62a, 62b, 62c. The formal eccentric position θ_fix is any value of the formal eccentric position θ2 obtained from the eccentric amounts Mx, My, and Mz. Further, in the present embodiment, as shown in FIG. 5, the normal eccentric position θ_fix is expressed as a relative angle of any imaginary line extending in the circumferential direction from the axis S1 as shown in FIG. 5, and is expressed as 0° to 359°. Any value of 0 to 359 is shown in FIG.
(步骤SP634)(Step SP634)
在步骤SP634中，中央控制部31判定是否符合正式偏心位置θ_fix为小于10或者大于350的值这一条件。在符合上述条件的情况下，中央控制部31移至步骤SP635。在不符合上述条件的情况下，中央控制部31移至步骤SP636。In step SP634, the central control unit 31 determines whether or not the condition that the formal eccentric position θ_fix is less than 10 or greater than 350 is satisfied. When the above conditions are met, the central control unit 31 moves to step SP635. If the above conditions are not met, the central control unit 31 moves to step SP636.
(步骤SP635)(Step SP635)
在步骤SP635中，中央控制部31判定正式偏心位置θ_fix处于图5所示的区域P(A)内，同时驱动供水阀62a，向提升筋7(A)供水。In step SP635, the central control unit 31 determines that the official eccentric position θ_fix is in the region P(A) shown in Fig. 5, and simultaneously drives the water supply valve 62a to supply water to the lifting rib 7 (A).
(步骤SP636) (Step SP636)
在步骤SP636中，中央控制部31判定是否符合正式偏心位置θ_fix为10以上且110以下的值这一条件。在符合上述条件的情况下，中央控制部31移至步骤SP637。在不符合上述条件的情况下，中央控制部31移至步骤SP638。In step SP636, the central control unit 31 determines whether or not the condition that the formal eccentricity position θ_fix is 10 or more and 110 or less is satisfied. When the above conditions are met, the central control unit 31 moves to step SP637. When the above conditions are not satisfied, the central control unit 31 moves to step SP638.
(步骤SP637)(Step SP637)
在步骤SP636中，中央控制部31判定正式偏心位置θ_fix处于图5所示的区域P(AB)内，同时驱动供水阀62a、62b，向提升筋7(A)、7(B)供水。In step SP636, the central control unit 31 determines that the official eccentric position θ_fix is in the region P(AB) shown in FIG. 5, and simultaneously drives the water supply valves 62a and 62b to supply water to the lifting ribs 7 (A) and 7 (B).
(步骤SP638)(Step SP638)
在步骤SP638中，中央控制部31判定是否符合正式偏心位置θ_fix为110以上且130以下的值这一条件。在符合上述条件的情况下，中央控制部31移至步骤SP639。在不符合上述条件的情况下，中央控制部31移至步骤SP640。In step SP638, the central control unit 31 determines whether or not the condition that the formal eccentric position θ_fix is a value of 110 or more and 130 or less is satisfied. When the above conditions are met, the central control unit 31 moves to step SP639. When the above conditions are not satisfied, the central control unit 31 moves to step SP640.
(步骤SP639)(Step SP639)
在步骤SP639中，中央控制部31判定正式偏心位置θ_fix处于图5所示的区域P(B)内，同时驱动供水阀62b，向提升筋7(B)供水。In step SP639, the central control unit 31 determines that the official eccentric position θ_fix is in the region P(B) shown in Fig. 5, and simultaneously drives the water supply valve 62b to supply water to the lifting rib 7 (B).
(步骤SP640)(Step SP640)
在步骤SP640中，中央控制部31判定是否符合正式偏心位置θ_fix为130以上且230以下的值这一条件。在符合上述条件的情况下，中央控制部31移至步骤SP641。在不符合上述条件的情况下，中央控制部31移至步骤SP642。In step SP640, the central control unit 31 determines whether or not the condition that the formal eccentric position θ_fix is a value of 130 or more and 230 or less is satisfied. When the above conditions are met, the central control unit 31 moves to step SP641. When the above conditions are not satisfied, the central control unit 31 moves to step SP642.
(步骤SP641)(Step SP641)
在步骤SP641中，中央控制部31判定正式偏心位置θ_fix处于图5所示的区域P(BC)内，同时驱动供水阀62b、62c，向提升筋7(B)、7(C)供水。In step SP641, the central control unit 31 determines that the official eccentric position θ_fix is in the region P(BC) shown in Fig. 5, and simultaneously drives the water supply valves 62b and 62c to supply water to the lifting ribs 7 (B) and 7 (C).
(步骤SP642)(Step SP642)
在步骤SP642中，中央控制部31判定是否符合正式偏心位置θ_fix为230以上且250以下的值这一条件。在符合上述条件的情况下，中央控制部31移至步骤SP643。在不符合上述条件的情况下，中央控制部31移至步骤SP644。In step SP642, the central control unit 31 determines whether or not the condition that the formal eccentric position θ_fix is 230 or more and 250 or less is satisfied. When the above conditions are met, the central control unit 31 moves to step SP643. If the above conditions are not met, the central control unit 31 moves to step SP644.
(步骤SP643)(Step SP643)
在步骤SP643中，中央控制部31判定正式偏心位置θ_fix处于图5所示的 区域P(C)内，同时驱动供水阀62c，向提升筋7(C)供水。In step SP643, the central control unit 31 determines that the formal eccentric position θ_fix is as shown in FIG. In the region P (C), the water supply valve 62c is simultaneously driven to supply water to the lifting rib 7 (C).
(步骤SP644)(Step SP644)
在步骤SP644中，中央控制部31判定符合正式偏心位置θ_fix为250以上且350以下的值这一条件，同时移至步骤SP645。In the step SP644, the central control unit 31 determines that the value of the formal eccentricity position θ_fix is 250 or more and 350 or less, and the process proceeds to step SP645.
(步骤SP645)(Step SP645)
在步骤SP645中，中央控制部31判定正式偏心位置θ_fix处于图5所示的区域P(CA)内，同时驱动供水阀62c、62a，向提升筋7(C)、7(A)供水。In step SP645, the central control unit 31 determines that the official eccentric position θ_fix is in the region P (CA) shown in Fig. 5, and simultaneously drives the water supply valves 62c and 62a to supply water to the lifting ribs 7 (C) and 7 (A).
本实施方式中在进行图22所示的供水阀的驱动的处理的同时，始终进行假定偏心位置θ1和正式偏心位置θ2的计算、确定。因此，不言而喻，从相当于本发明的同时注水步骤的步骤SP637、SP641、SP645，移至相当于向单个提升筋7(A)、(B)或(C)注水的切换提升筋7的本发明的注水切换步骤的步骤SP635、SP639或SP643。In the present embodiment, the calculation of the driving of the water supply valve shown in FIG. 22 is performed, and the calculation and determination of the assumed eccentric position θ1 and the formal eccentric position θ2 are always performed. Therefore, it goes without saying that the steps SP637, SP641, and SP645 corresponding to the simultaneous water injection step of the present invention are moved to the switching ribs 7 corresponding to the water injection into the single lifting rib 7 (A), (B) or (C). Steps SP635, SP639 or SP643 of the water injection switching step of the present invention.
接着，参照图23，对上述步骤SP625的供水量判定的处理的具体过程进行说明。Next, a specific procedure of the process of determining the water supply amount in the above-described step SP625 will be described with reference to Fig. 23 .
(步骤SP646)(Step SP646)
在步骤SP646中，中央控制部31累计供水阀62a、62b、62c各自的驱动时间。In step SP646, the central control unit 31 accumulates the respective driving times of the water supply valves 62a, 62b, and 62c.
(步骤SP647)(Step SP647)
在步骤SP647中，中央控制部31根据驱动时间的累计，换算成供水阀62a、62b、62c各自的供水量。In step SP647, the central control unit 31 converts the water supply amount of each of the water supply valves 62a, 62b, and 62c based on the integration of the driving time.
(步骤SP648)(Step SP648)
在步骤SP648中，中央控制部31进行供水阀62a的累计供水量是否达到了1000g的判定。在判定累计供水量达到1000g的情况下，中央控制部31移至步骤SP649。在判定累计供水量未达到1000g的情况下，中央控制部31移至步骤SP650。In step SP648, the central control unit 31 determines whether or not the accumulated water supply amount of the water supply valve 62a has reached 1000 g. When it is determined that the cumulative water supply amount has reached 1000 g, the central control unit 31 proceeds to step SP649. When it is determined that the cumulative water supply amount has not reached 1000 g, the central control unit 31 proceeds to step SP650.
(步骤SP649) (Step SP649)
在步骤SP649中，中央控制部31判定通过供水阀62a供水的提升筋7(A)满水，并在图21所示的步骤SP626的处理时，发送表示“是”的信息。In step SP649, the central control unit 31 determines that the lifting rib 7 (A) supplied with water by the water supply valve 62a is full of water, and transmits information indicating "YES" at the processing of step SP626 shown in Fig. 21 .
(步骤SP650)(Step SP650)
在步骤SP650中，中央控制部31进行供水阀62b的累计供水量是否达到了1000g的判定。在判定累计供水量达到1000g的情况下，中央控制部31移至步骤SP651。在判定累计供水量未达到1000g的情况下，中央控制部31移至步骤SP652。In step SP650, the central control unit 31 determines whether or not the accumulated water supply amount of the water supply valve 62b has reached 1000 g. When it is determined that the cumulative water supply amount has reached 1000 g, the central control unit 31 proceeds to step SP651. When it is determined that the cumulative water supply amount has not reached 1000 g, the central control unit 31 proceeds to step SP652.
(步骤SP651)(Step SP651)
在步骤SP651中，中央控制部31判定通过供水阀62b供水的提升筋7(B)满水，并在图21所示的步骤SP626的处理时，发送表示“是”的信息。In step SP651, the central control unit 31 determines that the lifting rib 7 (B) supplied through the water supply valve 62b is full of water, and transmits information indicating "YES" at the processing of step SP626 shown in FIG.
(步骤SP652)(Step SP652)
在步骤SP652中，中央控制部31进行供水阀62c的累计供水量是否达到了1000g的判定。在判定累计供水量达到1000g的情况下，中央控制部31移至步骤SP653。在判定累计供水量未达到1000g的情况下，中央控制部31移至步骤SP654。In step SP652, the central control unit 31 determines whether or not the accumulated water supply amount of the water supply valve 62c has reached 1000 g. When it is determined that the cumulative water supply amount has reached 1000 g, the central control unit 31 proceeds to step SP653. When it is determined that the cumulative water supply amount has not reached 1000 g, the central control unit 31 proceeds to step SP654.
(步骤SP653)(Step SP653)
在步骤SP653中，中央控制部31判定通过供水阀62c供水的提升筋7(C)满水，并在图21所示的步骤SP626的处理时，发送表示“是”的信息。In step SP653, the central control unit 31 determines that the lifting rib 7 (C) supplied with water by the water supply valve 62c is full of water, and transmits information indicating "YES" at the processing of step SP626 shown in Fig. 21 .
(步骤SP654)(Step SP654)
在步骤SP654中，中央控制部31判定通过供水阀62a、62b、62c供水的任一个提升筋7(A)、7(B)、7(C)均不满水，并在图21所示的步骤SP626的处理时，发送表示“否”的信息。In step SP654, the central control unit 31 determines that any one of the lifting ribs 7 (A), 7 (B), and 7 (C) supplied through the water supply valves 62a, 62b, and 62c is not full of water, and is in the procedure shown in FIG. When the SP626 is processed, information indicating "No" is transmitted.
接着，对步骤SP627所示的偏心量增加判定进行说明。图24是表示偏心量增加判定的处理过程的流程图。Next, the eccentric amount increase determination shown in step SP627 will be described. Fig. 24 is a flowchart showing a processing procedure of the eccentric amount increase determination.
(步骤SP655)(Step SP655)
在步骤SP655中，中央控制部31判定通过供水阀62a、62b、62c供水的时间经过了5秒时偏心量Mx、My、Mz是否已降低。在判定偏心量Mx、My、 Mz降低了的情况下，中央控制部31移至步骤SP656。在判定偏心量Mx、My、Mz未降低的情况下，中央控制部31移至步骤SP657。需要说明的是，在此，偏心量Mx、My、Mz是否已降低的判定基准未必仅限于正式偏心位置θ_fix计算时所采用的偏心量(M)。例如，可以是基于偏心量Mx与偏心量My的和(差)进行判定的方案，也可以是基于偏心量Mz与偏心量My的和(差)进行判定的方案。In step SP655, the central control unit 31 determines whether or not the eccentricities Mx, My, and Mz have decreased when the time period of water supply by the water supply valves 62a, 62b, and 62c has elapsed for 5 seconds. In determining the eccentricity Mx, My, When Mz is lowered, the central control unit 31 proceeds to step SP656. When it is determined that the eccentricities Mx, My, and Mz have not decreased, the central control unit 31 proceeds to step SP657. Here, the criterion for determining whether or not the eccentricities Mx, My, and Mz have decreased is not necessarily limited to the eccentric amount (M) used in the calculation of the formal eccentric position θ_fix. For example, it may be determined based on the sum (difference) of the eccentric amount Mx and the eccentric amount My, or may be determined based on the sum (difference) of the eccentric amount Mz and the eccentric amount My.
(步骤SP656)(Step SP656)
在步骤SP656中，中央控制部31判定偏心量(M)没有增加。中央控制部31在图21中的步骤SP629中发送表示“否”的信号或者不发送任何信号。In step SP656, the central control unit 31 determines that the eccentric amount (M) has not increased. The central control unit 31 transmits a signal indicating "NO" or does not transmit any signal in step SP629 in Fig.21.
(步骤SP657)(Step SP657)
在步骤SP657中，中央控制部31判定偏心量(M)有增加，移至步骤SP658。In step SP657, the central control unit 31 determines that the amount of eccentricity (M) has increased, and proceeds to step SP658.
(步骤SP658)(Step SP658)
在步骤SP658中，中央控制部31发送作为规定的信号的偏心量增加信息即M增加信息(NG)，以在图21中的步骤SP628中进行“是”的判定。In the step SP658, the central control unit 31 transmits the M increase information (NG) which is the eccentric amount increase information as the predetermined signal, and performs the determination of "YES" in the step SP628 in Fig. 21 .
接着，对步骤SP631所示的加速可否判定进行说明。图25是表示加速可否判定的处理过程的流程图。Next, the acceleration availability determination shown in step SP631 will be described. Fig. 25 is a flowchart showing a processing procedure of the acceleration possibility determination.
(步骤SP659)(Step SP659)
在步骤SP659中，中央控制部31判定偏心量Mxz是否小于作为转速上升用阈值(mc)的阈值m_xz5。在判定偏心量Mxz小于阈值m_xz5的情况下，中央控制部31移至步骤660。在判定偏心量Mxz不小于阈值m_xz5的情况下，中央控制部31判定仍无法加速，移至步骤SP625，以继续向提升筋7供水。In step SP659, the central control unit 31 determines whether or not the eccentric amount Mxz is smaller than the threshold m_xz5 which is the threshold for increasing the rotational speed (mc). When it is determined that the eccentric amount Mxz is smaller than the threshold value m_xz5, the central control unit 31 proceeds to step 660. When it is determined that the eccentric amount Mxz is not smaller than the threshold value m_xz5, the central control unit 31 determines that the acceleration cannot be accelerated, and proceeds to step SP625 to continue supplying water to the lifting rib 7.
(步骤SP660)(Step SP660)
在步骤SP660中，中央控制部31判定偏心量My是否小于作为转速上升用阈值(mc)的阈值m_y5。在判定偏心量My小于阈值m_y5的情况下，中央控制部31判定可加速并恢复滚筒2的加速。在判定偏心量My不小于阈值m_y5的情况下，中央控制部31判定仍无法加速并移至步骤SP625，以继续向提升筋7供水。 In step SP660, the central control unit 31 determines whether or not the eccentric amount My is smaller than the threshold m_y5 which is the threshold for increasing the rotational speed (mc). When it is determined that the eccentric amount My is smaller than the threshold value m_y5, the central control unit 31 determines that the acceleration of the drum 2 can be accelerated and resumed. When it is determined that the eccentric amount My is not smaller than the threshold value m_y5, the central control unit 31 determines that the acceleration cannot be accelerated and proceeds to step SP625 to continue supplying water to the lifting rib 7.
在此，对图18所示的注水用偏心量阈值(mb)与图25所示的转速上升用阈值(mc)的关系进行说明。在本实施方式中，如上所述，作为加速度传感器12，采用能分别检测左右方向、上下方向以及前后方向的加速度的三轴加速度传感器12。并且，在本实施方式中，按照这三个加速度的每个方向，设定了不同的注水用偏心量阈值(mb)和转速上升用阈值(mc)。此外，在本实施方式中，注水用偏心量阈值(mb)与转速上升用阈值(mc)的差设定为：随着转速上升而逐渐或分阶段地变小。除此之外，在本实施方式中，设定为：随着滚筒2的偏心量(M)变多，注水用偏心量阈值(mb)与转速上升用阈值(mc)的差逐渐或分阶段地变大。Here, the relationship between the water injection eccentricity threshold value (mb) shown in FIG. 18 and the rotation speed increase threshold value (mc) shown in FIG. 25 will be described. In the present embodiment, as described above, the acceleration sensor 12 employs a triaxial acceleration sensor 12 that can detect accelerations in the horizontal direction, the vertical direction, and the front-rear direction, respectively. Further, in the present embodiment, different water injection eccentricity threshold values (mb) and rotational speed increase threshold values (mc) are set for each of the three acceleration directions. Further, in the present embodiment, the difference between the eccentricity threshold value (mb) for water injection and the threshold value (mc) for increasing the rotational speed is set to gradually or gradually decrease as the number of revolutions increases. In addition, in the present embodiment, the difference between the eccentric amount threshold (m) of the water injection and the threshold (mc) for increasing the rotational speed is gradually or stepwise as the eccentric amount (M) of the drum 2 increases. The land becomes bigger.
接着，对步骤SP632所示的加速判定变更的处理进行说明。图26是表示加速判定变更的处理过程的流程图。Next, the processing of the acceleration determination change shown in step SP632 will be described. FIG. 26 is a flowchart showing a processing procedure of the acceleration determination change.
(步骤SP661)(Step SP661)
在步骤SP661中，中央控制部31将上述步骤SP631的加速可否判定中使用的作为转速上升用阈值(mc)的阈值m_xz5、阈值m_y5变更为作为表示更大的值的偏心量容许阈值(md)的阈值m_xz6、阈值m_y6，并移至步骤SP631。中央控制部31使用阈值m_xz6、阈值m_y6进行步骤SP631的加速可否判定。In the step SP661, the central control unit 31 changes the threshold value m_xz5 and the threshold value m_y5 which are the rotational speed increase thresholds (mc) used in the acceleration determination of the step SP631 to the eccentricity allowable threshold (md) which is a larger value. The threshold m_xz6 and the threshold m_y6 are shifted to step SP631. The central control unit 31 performs the acceleration availability determination of step SP631 using the threshold value m_xz6 and the threshold value m_y6.
(步骤SP662)(Step SP662)
在步骤SP662中，中央控制部31通过使用由步骤SP661变更后的偏心量容许阈值(md)即阈值m_xz6、阈值m_y6来进行的步骤SP631的加速可否判定，进行是否可加速的判定。在加速可否判定的结果为可加速的情况下，中央控制部31使滚筒2加速。在加速可否判定的结果为不可加速的情况下，中央控制部31判定脱水过程难以继续，并进行上述步骤SP5的偏心位置调整处理。In step SP662, the central control unit 31 determines whether or not acceleration is possible by determining the acceleration availability of step SP631 by using the eccentric amount allowable threshold value (md), which is changed in step SP661, that is, the threshold value m_xz6 and the threshold value m_y6. When the result of the acceleration determination is accelerated, the central control unit 31 accelerates the drum 2. When the result of the acceleration determination is not accelerated, the central control unit 31 determines that the dehydration process is difficult to continue, and performs the eccentric position adjustment processing of the above-described step SP5.
如上所述，在步骤SP5中，中央控制部31通过使滚筒2的旋转停止、或者将滚筒2的转速降低至重力高于离心力的转速，沿上下方向搅拌滚筒2内的洗涤物。然后，再次从步骤SP1开始脱水过程。As described above, in step SP5, the central control unit 31 agitates the laundry in the drum 2 in the vertical direction by stopping the rotation of the drum 2 or reducing the number of revolutions of the drum 2 to a rotation speed higher than the centrifugal force. Then, the dehydration process is started again from step SP1.
如上所述，本实施方式的滚筒洗衣机1的控制方法的特征在于，在脱水过程中，计算从加速度传感器12发出的滚筒2至少旋转一圈的过程中表示加速度的时间变化的信息中一周期t2的任意时刻、与来自接近传感器14的脉冲信号 ps被发出的定时的时间差t1，并根据该时间差t1与滚筒2的转速的关系来计算滚筒2内的确定偏心位置θ2，基于计算出的确定偏心位置θ2来进行降低偏心量(M)的控制，并且将来自加速度传感器12的至少前后方向以及左右方向或上下方向的信号(Mx、My、Mz)中的任一信号用于确定偏心位置θ2的计算。As described above, the control method of the drum washing machine 1 of the present embodiment is characterized in that in the dehydration process, the period t2 indicating the time change of the acceleration in the process of rotating the drum 2 from the acceleration sensor 12 at least one rotation is calculated. Any time, with a pulse signal from proximity sensor 14 The time difference t1 of the timing at which the ps is emitted, and the determined eccentric position θ2 in the drum 2 is calculated based on the relationship between the time difference t1 and the rotational speed of the drum 2, and the control for reducing the eccentric amount (M) is performed based on the calculated determined eccentric position θ2. And any of the signals (Mx, My, Mz) from at least the front-rear direction and the left-right direction or the up-and-down direction of the acceleration sensor 12 is used to determine the calculation of the eccentric position θ2.
即，根据本实施方式，将表示加速度的时间变化的信息中至少包括前后方向的多个方向的信息中的任一信息用于确定偏心位置θ2的计算，由此能实现更准确的确定偏心位置θ2的计算。That is, according to the present embodiment, any of the information indicating the temporal change of the acceleration including at least the plurality of directions in the front-rear direction is used for determining the calculation of the eccentric position θ2, whereby the more accurate determination of the eccentric position can be realized. Calculation of θ2.
此外，根据表示加速度的时间变化的信息所依据的振动方向，改变用于计算确定偏心位置θ2的时间差t1与滚筒2的转速的关系，因此，更有效地降低确定偏心位置θ2计算的误差，实现准确的确定偏心位置θ2的计算。Further, the relationship between the time difference t1 for calculating the determined eccentric position θ2 and the rotational speed of the drum 2 is changed according to the vibration direction on which the information indicating the temporal change of the acceleration is based, and therefore, the error in determining the calculation of the eccentric position θ2 is more effectively reduced. Accurately determine the calculation of the eccentric position θ2.
此外，在本实施方式中，利用表示加速度的时间变化的信息中容易检测的极大值(Xmax、Ymax、Zmax)以及极小值(Xmin、Ymin、Zmin)，由此实现更准确的确定偏心位置θ2的计算。Further, in the present embodiment, the maximum value (Xmax, Ymax, Zmax) and the minimum value (Xmin, Ymin, Zmin) which are easily detected in the information indicating the temporal change of the acceleration are utilized, thereby achieving more accurate determination of the eccentricity. Calculation of position θ2.
此外，在本实施方式中，使来自加速度传感器12的其它方向的信号优先于前后方向的信号来计算确定偏心位置θ2，由此有效地避免了确定偏心位置θ2的误算。Further, in the present embodiment, the signal from the other direction of the acceleration sensor 12 is prioritized over the signal in the front-rear direction to calculate the determined eccentric position θ2, thereby effectively avoiding the miscalculation of determining the eccentric position θ2.
此外，在本实施方式中，基于来自加速度传感器12的包括前后方向的多个方向的信号来分别计算偏心量(M)，并基于根据计算出的偏心量(M)为阈值M_xz4、阈值M_y4以上的信号而计算出的确定偏心位置θ2来进行降低偏心量(M)的控制。由此，实现基于更准确地计算出的确定偏心位置θ2的控制。Further, in the present embodiment, the eccentric amount (M) is calculated based on the signals from the plurality of directions including the front-rear direction of the acceleration sensor 12, and based on the calculated eccentric amount (M), the threshold value M_xz4 and the threshold value M_y4 or more. The calculated eccentric position θ2 is calculated to reduce the eccentricity (M). Thereby, control based on the more accurately calculated eccentric position θ2 is achieved.
此外，在本实施方式中，基于来自加速度传感器12的包括前后方向的多个方向的信号来分别计算出偏心量(M)，并在根据前后方向的信号计算出的偏心量(M)大于根据其它信号计算出的偏心量(M)时，基于前后方向的信号来进行降低偏心量(M)的控制，因此，特别是在滚筒2处于对置负荷的状态时，实现了基于更准确地计算出的确定偏心位置θ2的控制。Further, in the present embodiment, the eccentric amount (M) is calculated based on the signals from the plurality of directions including the front-rear direction of the acceleration sensor 12, and the eccentric amount (M) calculated based on the signals in the front-rear direction is larger than When the eccentric amount (M) calculated by other signals is used, the control for reducing the eccentric amount (M) is performed based on the signal in the front-rear direction, and therefore, based on the more accurate calculation, particularly when the drum 2 is in the state of the opposite load The control for determining the eccentric position θ2 is determined.
以上，对本发明的一实施方式进行了说明，但本实施方式的结构不限定于上述结构，可以进行各种变形。Although an embodiment of the present invention has been described above, the configuration of the present embodiment is not limited to the above configuration, and various modifications can be made.
例如，在上述实施方式中，作为洗衣机，公开了将本发明应用于能适于家 庭用的所谓斜滚筒全自动洗衣机的一个例子，但毋庸置疑，即使是广泛适用于自助洗衣店店铺的卧式洗衣干衣机，本发明的控制方法也能适用。For example, in the above embodiment, as a washing machine, the application of the present invention to a home can be disclosed. An example of a so-called inclined drum automatic washing machine for the court, but it is undoubted that the control method of the present invention can be applied even in a horizontal washer-dryer widely applicable to a laundromat shop.
此外，例如，在上述实施方式中，公开了将提升筋7设置为三个的方案，但毋庸置疑，也可以采用具备四个以上提升筋7的结构。此外，毋庸置疑，提升筋7未必需要沿着滚筒2的周向等角度间隔地配置，此外，也不需要分别为相同的形状。Further, for example, in the above-described embodiment, the configuration in which the lifting ribs 7 are provided in three is disclosed, but it is needless to say that a configuration having four or more lifting ribs 7 may be employed. Further, it is needless to say that the lifting ribs 7 do not necessarily need to be arranged at equal angular intervals along the circumferential direction of the drum 2, and it is not necessary to have the same shape.
此外，在上述实施方式中，加速度传感器12设置了一个能检测左右方向、上下方向以及前后方向的加速度的三轴加速度传感器，但也可以通过安装多个只能检测上下方向、左右方向、前后方向中任一方向的加速度的加速度传感器来构成加速度传感器12。Further, in the above-described embodiment, the acceleration sensor 12 is provided with a three-axis acceleration sensor capable of detecting accelerations in the left-right direction, the vertical direction, and the front-rear direction, but it is also possible to detect only the up-and-down direction, the left-right direction, and the front-rear direction by mounting a plurality of them. An acceleration sensor of acceleration in either direction constitutes the acceleration sensor 12.
在不脱离本发明的技术精神的范围内，其它结构也可以进行各种变形。 Other configurations may be variously modified without departing from the spirit of the invention.

Claims (7)

  1. 一种滚筒洗衣机的控制方法，其中，A control method of a drum washing machine, wherein
    所述滚筒洗衣机具有：一个或多个加速度传感器，用于检测滚筒的左右方向或上下方向的加速度以及前后方向的加速度；以及滚筒位置检测装置，根据所述滚筒的旋转而发出脉冲信号，The drum washing machine has: one or more acceleration sensors for detecting acceleration in the left-right direction or the up-and-down direction of the drum and acceleration in the front-rear direction; and a drum position detecting device that emits a pulse signal according to the rotation of the drum,
    所述滚筒洗衣机的控制方法的特征在于，The control method of the drum washing machine is characterized in that
    在脱水过程中，During the dehydration process,
    计算所述滚筒至少旋转一圈的过程中表示加速度的时间变化的信息中的任意时刻与所述脉冲信号的时间差，并根据该时间差与所述滚筒的转速的关系来计算所述滚筒内的偏心位置，基于计算出的偏心位置来进行降低偏心量的控制，Calculating a time difference between the moment indicating the time change of the acceleration and the pulse signal in the process of rotating the drum at least one rotation, and calculating the eccentricity in the drum according to the relationship between the time difference and the rotation speed of the drum Position, based on the calculated eccentric position, to reduce the amount of eccentricity control,
    在偏心位置的计算中，利用来自所述加速度传感器的至少包括前后方向的多个方向的信号中的任一信号。In the calculation of the eccentric position, any one of signals from the acceleration sensor including at least a plurality of directions in the front-rear direction is utilized.
  2. 根据权利要求1所述的滚筒洗衣机的控制方法，其特征在于，A control method of a drum washing machine according to claim 1, wherein
    根据表示所述加速度的时间变化的信息所依据的加速度的方向，改变用于计算偏心位置的所述时间差与脱水转速的关系。The relationship between the time difference for calculating the eccentric position and the spin-drying speed is changed according to the direction of the acceleration on which the information indicating the temporal change of the acceleration is based.
  3. 根据权利要求1或2所述的滚筒洗衣机的控制方法，其特征在于，A method of controlling a drum washing machine according to claim 1 or 2, characterized in that
    所述时间差的计算基于表示所述加速度的时间变化的信息的极大值或极小值、以及和所述脉冲信号来计算。The calculation of the time difference is calculated based on a maximum value or a minimum value of information indicating a temporal change of the acceleration, and the pulse signal.
  4. 根据权利要求1或2所述的滚筒洗衣机的控制方法，其特征在于，A method of controlling a drum washing machine according to claim 1 or 2, characterized in that
    所述时间差的计算基于表示所述加速度的时间变化的信息的加速度零点、和所述脉冲信号来计算。The calculation of the time difference is calculated based on an acceleration zero point indicating information of a temporal change of the acceleration, and the pulse signal.
  5. 根据权利要求1或2所述的滚筒洗衣机的控制方法，其特征在于，A method of controlling a drum washing machine according to claim 1 or 2, characterized in that
    所述偏心位置的计算使来自所述加速度传感器的其它方向的信号优先于前后方向的信号来计算。The calculation of the eccentric position causes signals from other directions of the acceleration sensor to be prioritized over signals in the front-rear direction.
  6. 根据权利要求1或2所述的滚筒洗衣机的控制方法，其特征在于，A method of controlling a drum washing machine according to claim 1 or 2, characterized in that
    使用来自所述加速度传感器的包括前后方向的多个方向的信号，对各方向 分别计算偏心量，并将计算出的各偏心量分别与预定的阈值对比，基于表示偏心量为阈值以上的方向的信号来计算偏心位置，并基于计算出的偏心位置来进行降低所述偏心量的控制。Using signals from the acceleration sensor in a plurality of directions including the front-rear direction, for each direction Calculating the eccentricity amount separately, comparing the calculated eccentricity amounts with a predetermined threshold value, calculating an eccentricity position based on the signal indicating the direction in which the eccentricity amount is equal to or greater than the threshold value, and reducing the eccentricity amount based on the calculated eccentricity position control.
  7. 根据权利要求1或2所述的滚筒洗衣机的控制方法，其特征在于，A method of controlling a drum washing machine according to claim 1 or 2, characterized in that
    使用来自所述加速度传感器的包括前后方向的多个方向的信号，对各方向分别计算偏心量，并在根据前后方向的信号计算出的偏心量大于根据其它方向的信号计算出的偏心量时，基于前后方向的信号来进行降低所述偏心量的控制。 Using the signals from the acceleration sensor in a plurality of directions including the front-rear direction, the eccentric amount is calculated for each direction, and when the eccentric amount calculated from the signals in the front-rear direction is larger than the eccentric amount calculated from the signals in other directions, The control for reducing the amount of eccentricity is performed based on the signals in the front-rear direction.
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