Eccentricity detection method, eccentricity detection system, and storage medium

Abstract

The application provides an eccentricity detection method, an eccentricity detection system and a storage medium, and comprises the following steps: controlling a motor to operate under multiple working conditions, and acquiring a speed fluctuation of the motor under a first working condition, a torque current effective value under the first working condition, a first power value under a second working condition and a second power value under a third working condition; and substituting the speed fluctuation, the torque current effective value, the first power value and the second power value into an eccentricity formula to obtain a current eccentricity of the motor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent household appliances, and in particular to an eccentricity detection method, an eccentricity detection system and a storage medium. BACKGROUND

[0002] When a drum washing machine is dehydrating, uneven distribution of laundry inside the drum of the washing machine can cause eccentricity inside the washing machine, which can cause a barrel collision and affect the service life of the washing machine. The existing technology uses an eccentricity detection method to avoid the fault caused by eccentricity, but there is a certain error between the eccentricity calculated by the existing technology and the actual eccentricity, and when the error is large, the system can be misjudged, and there is a possibility of forced dehydration with large eccentricity, which can cause a high-speed barrel collision problem, causing damage to the washing machine. SUMMARY

[0003] The present application aims to provide an eccentricity detection method, an eccentricity detection system and a storage medium to solve the problem of low accuracy of the existing washing machine drum eccentricity detection.

[0004] To solve the above technical problems, the present application provides an eccentricity detection method, comprising:

[0005] controlling the motor to operate under multiple working conditions, and obtaining the speed fluctuation of the motor under the first working condition, the torque current effective value, the first power value under the second working condition and the second power value under the third working condition;

[0006] substituting the speed fluctuation, the torque current effective value, the first power value and the second power value into an eccentricity formula to obtain the current eccentricity of the motor.

[0007] Optionally, in the eccentricity detection method, the speed fluctuation of the motor under the first working condition is:

[0008] the motor is continuously operated at a first set speed for at least a first threshold time, and the average value of the difference between the estimated speed value obtained within the first threshold time and the first set speed.

[0009] Optionally, in the eccentricity detection method, the torque current effective value of the motor under the first working condition is:

[0010] the motor is continuously operated at a first set speed for at least a first threshold time, and the average value of the torque current estimated value obtained within the first threshold time.

[0011] Optionally, in the eccentricity detection method, the first power value under the second working condition comprises:

[0012] The motor is increased from a first set speed to a second set speed, and is continuously operated at the second set speed for at least a second threshold time, and an average of several power estimation values obtained within the second threshold time.

[0013] Optionally, in the eccentricity detection method, the second power value in the third working condition comprises:

[0014] The motor is increased from a first set speed to a third set speed, and is continuously operated at the third set speed for at least a third threshold time, and an average of several power estimation values obtained within the third threshold time.

[0015] Optionally, in the eccentricity detection method, the eccentricity formula is: Oobcalc=Oob1*C1+Oob2*C2;

[0016] Wherein, Oobcalc is the current eccentricity, Oob1 is a first eccentricity calculated according to the speed fluctuation, the first power value and the second power value, and Oob2 is a second eccentricity calculated according to the torque current effective value, the first power value and the second power value;

[0017] C1 is a first weight value, C2 is a second weight value, and C1+C2=1.

[0018] Optionally, in the eccentricity detection method, the calculation formula of Oob1 is:

[0019] Oob1=a1*Perr+a2*E+a3*Perr*E+a4*Perr^2+a5*E^2+a6*Perr / E+a7*E / Perr+a8*1 / Perr+a9;

[0020] Perr=P2-P1;

[0021] Wherein, P2 is the second power value, P1 is the first power value, E is the speed fluctuation, and a1-a9 is a first group of preset parameters.

[0022] Optionally, in the eccentricity detection method, the calculation formula of Oob2 is:

[0023] Oob2=b1*Perr+b2*Iq+b3*Perr*Iq+b4*Perr^2+b5*Iq^2+b6*Perr / Iq+b7*Iq / Perr+b8*1 / Perr+b9;

[0024] Perr=P2-P1;

[0025] Wherein, P2 is the second power value, P1 is the first power value, Iq is the torque current effective value, b1-b9 are the second group of preset parameters.

[0026] The application also provides a storage medium storing a computer program capable of implementing the eccentricity detection method according to any one of the above.

[0027] The application also provides an eccentricity detection system implementing the eccentricity detection method according to any one of the above.

[0028] The prior art usually adopts a segmented function calculation method and a low-order linear fitting method when calculating the load eccentricity, and the above methods may have a large precision error in some cases when calculating the eccentricity, especially when the load eccentricity exceeds a certain value, the calculation may not be accurate enough, and a large calculation error may cause the system to misjudge and make the washing machine not to be dehydrated or to be forcibly dehydrated under a large eccentricity, which may easily cause great damage to the machine.

[0029] Compared with the prior art, the application fully considers the calculation precision when calculating the eccentricity, processes and optimizes the fitting formula, combines the existing observable variables, and fits a polynomial fitting mode which is relatively more accurate in calculating the eccentricity, and the error is also small when the eccentricity is large, so that the system misjudgment does not occur, and the machine damage is reduced, which has a good improvement effect. BRIEF DESCRIPTION OF DRAWINGS

[0030] Fig. 1 is a flowchart of an eccentricity detection method according to an embodiment of the application;

[0031] Fig. 2 is a fitting result diagram of the eccentricity detection method according to an embodiment of the application;

[0032] Fig. 3 is a flowchart of fitting preset parameters of the eccentricity detection method according to an embodiment of the application. DETAILED DESCRIPTION

[0033] The application will be further described below in combination with the specific embodiments and the accompanying drawings.

[0034] It should be noted that each component in each drawing may be exaggerated for illustration and is not necessarily true to scale. In each drawing, the same or functionally similar components are provided with the same reference numerals.

[0035] In the present application, unless otherwise specified, "arranged on", "arranged above" and "arranged over" do not exclude the presence of an intermediate between the two. In addition, "arranged on or above" only indicates the relative position relationship between the two components, and in some cases, such as after reversing the product direction, it can also be converted to "arranged below or below", and vice versa.

[0036] In the present application, each embodiment is only intended to illustrate the scheme of the present application and should not be understood as limiting.

[0037] In the present application, unless otherwise specified, the quantifier "one" does not exclude the scenario of multiple elements.

[0038] It should also be noted here that in the embodiments of the present application, only a part of the components or assemblies may be shown for the sake of clarity and simplicity, but a person of ordinary skill in the art can understand that under the teaching of the present application, the required components or assemblies can be added according to the specific scene. In addition, unless otherwise stated, the features in different embodiments of the present application can be combined with each other. For example, a feature in the second embodiment can replace a corresponding or functionally similar feature in the first embodiment, and the resulting embodiment also falls within the disclosure or recitation range of the present application.

[0039] It should also be noted here that within the scope of the present application, the phrases "same", "equal", "equal to" and the like do not mean that the two values are absolutely equal, but allow a certain reasonable error, that is, the phrases also cover "substantially the same", "substantially equal", "substantially equal". By analogy, in the present application, the terms "perpendicular to", "parallel to" and the like also cover the meanings of "substantially perpendicular to", "substantially parallel to".

[0040] In addition, the numbering of the steps of each method of the present application does not limit the execution order of the method steps. Unless otherwise specified, each method step can be executed in a different order.

[0041] The eccentricity detection method, eccentricity detection system and storage medium proposed by the present application are further described in detail below in combination with the drawings and specific embodiments. The advantages and features of the present application will be clearer according to the following description. It should be noted that the drawings are very simplified and use non-precise proportions, only for the purpose of facilitating and clearly assisting the description of the embodiments of the present application.

[0042] The purpose of the present application is to provide an eccentricity detection method, an eccentricity detection system and a storage medium to solve the problem of low detection precision of the eccentricity of the drum of the existing washing machine.

[0043] To achieve the above object, the application provides a eccentricity detection method, an eccentricity detection system and a storage medium, which comprises the following steps: controlling a motor to operate under multiple working conditions, and obtaining a speed fluctuation of the motor under a first working condition, a torque current effective value of the motor under the first working condition, a first power value of the motor under a second working condition and a second power value of the motor under a third working condition; and substituting the speed fluctuation, the torque current effective value, the first power value and the second power value into an eccentricity formula to obtain a current eccentricity of the motor.

[0044] Figs. 1-3 The embodiments of the application are provided, which show a flowchart of the eccentricity detection method and a fitting result diagram, etc. Fig. 1 The eccentricity detection method comprises the following steps: controlling a motor to operate under multiple working conditions, and obtaining a speed fluctuation of the motor under a first working condition, a torque current effective value of the motor under the first working condition, a first power value of the motor under a second working condition and a second power value of the motor under a third working condition; and substituting the speed fluctuation, the torque current effective value, the first power value and the second power value into an eccentricity formula to obtain a current eccentricity of the motor.

[0045] Specifically, in the eccentricity detection method, the speed fluctuation of the motor under the first working condition is an average value of differences between a first set speed and a plurality of speed estimation values obtained within a first threshold time during which the motor continuously operates at the first set speed for at least the first threshold time. For example, the absolute values of the differences between each speed estimation value and the first set speed are calculated to obtain a plurality of first absolute values, and the average value of the plurality of first absolute values is the speed fluctuation.

[0046] Further, in the eccentricity detection method, the torque current effective value of the motor under the first working condition is an average value of a plurality of torque current estimation values obtained within a first threshold time during which the motor continuously operates at a first set speed for at least the first threshold time.

[0047] Specifically, in the eccentricity detection method, the first power value under the second working condition comprises an average value of a plurality of power estimation values obtained within a second threshold time during which the motor continuously operates at a second set speed for at least the second threshold time, after the motor increases from the first set speed to the second set speed. In the eccentricity detection method, the second power value under the third working condition comprises an average value of a plurality of power estimation values obtained within a third threshold time during which the motor continuously operates at a third set speed for at least the third threshold time, after the motor increases from the first set speed to the third set speed.

[0048] Further, in the eccentricity detection method, the eccentricity formula is Oobcalc=Oob1*C1+Oob2*C2.

[0049] wherein Oobcalc is the current eccentricity, Oob1 is a first eccentricity calculated according to the speed fluctuation, a first power value and a second power value, Oob2 is a second eccentricity calculated according to the torque current effective value, the first power value and the second power value;

[0050] C1 is a first weight value, C2 is a second weight value, and C1+C2=1.

[0051] Specifically, in the eccentricity detection method, the calculation formula of Oob1 is:

[0052] Oob1=a1*Perr+a2*E+a3*Perr*E+a4*Perr^2+a5*E^2+a6*Perr / E+a7*E / Perr+a8*1 / Perr+a9;

[0053] Perr=P2-P1;

[0054] wherein P2 is the second power value, P1 is the first power value, E is the speed fluctuation, and a1-a9 are a first group of preset parameters.

[0055] In addition, in the eccentricity detection method, the calculation formula of Oob2 is:

[0056] Oob2=b1*Perr+b2*Iq+b3*Perr*Iq+b4*Perr^2+b5*Iq^2+b6*Perr / Iq+b7*Iq / Perr+b8*1 / Perr+b9;

[0057] Perr=P2-P1;

[0058] wherein P2 is the second power value, P1 is the first power value, Iq is the torque current effective value, and b1-b9 are a second group of preset parameters.

[0059] The application further provides a storage medium storing a computer program capable of implementing the eccentricity detection method according to any one of the above embodiments.

[0060] The application further provides an eccentricity detection system implementing the eccentricity detection method according to any one of the above embodiments.

[0061] The prior art usually includes segmented function calculation method and low-order linear fitting method when calculating load eccentricity, and the above methods have large precision error in some cases, especially when the load eccentricity exceeds a certain value, the calculation is not accurate enough, and the large calculation error will lead to system misjudgment, so that the washing machine does not spin or forcibly spins under large eccentricity, which is easy to cause great damage to the machine.

[0062] Compared with the prior art, the present application fully considers the calculation accuracy when calculating the eccentricity, processes and optimizes the fitting formula, combines the existing observable variables, and fits a more accurate polynomial fitting method for calculating the eccentricity, so that the error is smaller when the eccentricity is large, and the system misjudgment does not occur, which has a good improvement effect on reducing the damage to the machine.

[0063] In the eccentricity detection method, the eccentricity detection system and the storage medium provided by the present application, a washing machine load imbalance detection method is provided, which aims to more accurately calculate the actual eccentricity and more closely approach the actual value, prevent the motor from spinning abnormally, and reduce the damage to the internal washing machine.

[0064] The first group of preset parameters and the second group of preset parameters can also be obtained by the following method, as shown in the following table: Fig. 3 As shown in the table, the method comprises: setting a plurality of working conditions of the motor and making the motor run in the plurality of working conditions in sequence; obtaining the motor eccentricity, speed fluctuation and power error value of each working condition when running in each working condition; forming an eccentricity formula according to the relationship between the motor eccentricity, speed fluctuation and power error value of the plurality of working conditions, performing curve fitting on the eccentricity formula to obtain calibration parameters; and re-substituting the calibration parameters into the eccentricity formula to calculate the motor eccentricity by using the calibration parameters.

[0065] In an embodiment of the present application, the method further comprises: repeatedly executing the washing machine to perform the spin-drying program, applying different load weights and eccentricities in each washing machine spin-drying program, and sequentially performing the eccentricity detection working state, the load detection working state and the official weighing working state in each washing machine spin-drying program; detecting the load imbalance degree in the eccentricity detection working state; detecting the load weight in the load detection working state and the official weighing working state after the eccentricity detection working state is completed; and performing curve fitting according to the data detected in each washing machine spin-drying program.

[0066] In one embodiment of the present application, the detection of the load imbalance degree in the eccentricity detection working state comprises: in the eccentricity detection working state, the motor is controlled to run steadily at the first rotating speed n1 for at least a first threshold time; after the first threshold time t1, the rotating speed fluctuation E and the torque current effective value Iq in the eccentricity detection working state are obtained; the rotating speed fluctuation is the average value of the difference between the rotating speed given value and the rotating speed calculated value in the first threshold time.

[0067] In one embodiment of the present application, the detection of the load weight in the load detection working state and the official weighing working state respectively comprises: in the load detection working state, the rotating speed of the motor is controlled to gradually increase from the first rotating speed to the second rotating speed n2 for steady running for at least a second threshold time t2; after the second threshold time, the load pre-weighing value is obtained; the first power value P1 is calculated according to the load pre-weighing value, and the rotating speed of the motor is controlled to return to the first rotating speed for steady running.

[0068] In one embodiment of the present application, the detection of the load weight in the load detection working state and the official weighing working state respectively further comprises: entering the official weighing working state; in the official weighing working state, the rotating speed of the motor is controlled to gradually increase from the first rotating speed to the third rotating speed n3 for steady running for at least a third threshold time t3; after the third threshold time, the load official weighing value is obtained; the second power value P2 is calculated according to the load official weighing value, and the rotating speed of the motor is controlled to return to the first rotating speed for steady running.

[0069] In one embodiment of the present application, further comprising: calculating the difference Perr between the second power value and the first power value; setting Oob1 as the first actual eccentricity, and according to the relationship between the rotating speed fluctuation E, the difference PErr between the second power value and the first power value, and the first actual eccentricity Oob1:

[0070] Oob1=a1*Perr+a2*E+a3*Perr*E+a4*Perr^2+a5*E^2+a6*Perr / E+a7*E / Pe rr+a8*1 / Perr+a9;

[0071] The coefficients a1-a9 in the formula are fitted.

[0072] In one embodiment of the present application, further comprising: setting Oob2 as the second actual eccentricity, and according to the relationship between the torque current effective value Iq, the difference PErr between the second power value and the first power value, and the second actual eccentricity Oob2:

[0073] Oob2 = b1*Perr + b2*Iq + b3*Perr*Iq + b4*Perr^2 + b5*Iq^2 + b6*Perr / Iq + b7*Iq / Perr + b8*1 / Perr + b9;

[0074] The coefficients b1-b9 in the formula are fitted.

[0075] The values of C1 and C2 are adjusted according to the actual situation of the motor; and then, according to the fitted actual eccentricity, it is judged whether the washing machine continues to enter the dehydration stage.

[0076] In an embodiment of the present application, in the eccentricity detection method, the first rotating speed is less than the second rotating speed, and the second rotating speed is less than the third rotating speed. For example, in the above steps, the eccentricity detection rotating speed setting value n1 is 88 revolutions, the pre-weighing rotating speed setting value n2 is 125 revolutions, and the formal weighing rotating speed value n3 is 155 revolutions. Generally, n1 < n2 < n3, and the specific values are adjusted according to the actual motor.

[0077] The fitting results of the experimental test are shown in Fig. 2 The vertical coordinate represents the eccentricity, and the horizontal coordinate represents the number of data collection. The curve S1 is the actual eccentricity, and the curve S2 is the fitted eccentricity calculated by the fitting curve. The eccentricity values of the two curves in each stage are close, and there is no situation that the fitted value fluctuates to other stages. The above experiment proves that the fitting method of the present application, the calculation result is closer to the actual eccentricity value, and there is no sudden change of the fitted value, and the result is more accurate.

[0078] The present application also provides an eccentricity detection system for controlling the rotation of a washing machine drum motor, which implements the eccentricity detection method of any one of the above.

[0079] The prior art generally includes a segmented function calculation method and a low-order linear fitting method when calculating the load eccentricity. The above method may have a large precision error in some cases when calculating the eccentricity, especially when the load eccentricity exceeds a certain value, the calculation is not accurate enough, and a large calculation error may cause the system to misjudge and make the washing machine not dehydrate or forcibly dehydrate under a large eccentricity, which may cause great damage to the machine.

[0080] Compared with the prior art, the present application fully considers the calculation accuracy when calculating the eccentricity, processes and optimizes the fitting formula, combines the existing observable variables, and fits a polynomial fitting method which is relatively more accurate in calculating the eccentricity. The error is also small when the eccentricity is large, and the system misjudgment does not occur, which has a good improvement effect on reducing the damage to the machine.

[0081] In the eccentricity detection method, the eccentricity detection system and the storage medium, a washing machine load imbalance detection method is provided, which aims to more accurately calculate the actual eccentricity, more close to the actual value, prevent the abnormal situation of motor dehydration, and reduce the damage to the washing machine.

[0082] To sum up, the above embodiments describe different configurations of the eccentricity detection method, the eccentricity detection system and the storage medium in detail. Of course, the present application includes but is not limited to the configurations listed in the above embodiments. Any transformation based on the configurations provided in the above embodiments belongs to the scope of the present application. Those skilled in the art can draw conclusions from the above embodiments.

[0083] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part.

[0084] The above description is only a description of the preferred embodiments of the present application, and does not limit the scope of the present application. Any modification or modification made by those skilled in the art according to the above disclosure is within the protection scope of the claims.

Claims

1. An eccentricity amount detection method characterized by comprising: Comprising: controlling the motor to run in multiple working conditions, and obtaining a speed fluctuation amount of the motor in a first working condition, a torque current effective value in the first working condition, a first power value in a second working condition, and a second power value in a third working condition; substituting the speed fluctuation amount, the torque current effective value, the first power value and the second power value into an eccentricity formula to obtain a current eccentricity of the motor, The eccentricity formula is: Oob calc = Oob1 C1+ Oob2 C2; wherein Oob calc is the current eccentricity, Oob1 is a first eccentricity calculated from the rotation speed fluctuation, the first power value, and the second power value, and Oob2 is a second eccentricity calculated from the torque current effective value, the first power value, and the second power value; C1 is a first weight value, C2 is a second weight value, C1+C2=1, the calculation formula of the Oob1 is: Oob1 = a1 Perr + a2 E + a3 Perr E + a4 Perr2 + a5 E2 + a6 Perr / E + a7 E / Perr + a8 1 / Perr + a9; Perr=P2-P1; wherein P2 is the second power value, P1 is the first power value, E is the speed fluctuation amount, a1-a9 are a first group of preset parameters, the calculation formula of the Oob2 is: Oob2 = b1 Perr + b2 Iq+b3 Perr Iq +b4 Perr ^2+b5 Iq ^2+b6 Perr / Iq+b7 Iq / Perr +b8 1 / Perr +b9; Perr=P2-P1; wherein Iq is the torque current effective value, b1-b9 are a second group of preset parameters.

2. The eccentricity amount detection method according to claim 1, characterized by, The speed fluctuation amount of the motor in the first working condition is: The motor runs at a first set speed for at least a first threshold time, and the average value of the difference between the first set speed and a plurality of speed estimation values obtained within the first threshold time.

3. The eccentricity amount detecting method according to claim 1, wherein The torque current effective value of the motor in the first working condition is: The motor runs at a first set speed for at least a first threshold time, and the average value of a plurality of torque current estimation values obtained within the first threshold time.

4. The eccentricity amount detection method according to any one of claims 1 to 3, characterized by, The first power value in the second working condition includes: The motor increases from a first set speed to a second set speed, and runs at the second set speed for at least a second threshold time, and the average value of a plurality of power estimation values obtained within the second threshold time.

5. The eccentricity amount detecting method according to any one of claims 1 to 3, characterized by, The second power value in the third working condition includes: The motor increases from a first set speed to a third set speed, and runs at the third set speed for at least a third threshold time, and the average value of a plurality of power estimation values obtained within the third threshold time.

6. A storage medium storing a computer program capable of implementing the eccentricity detection method according to any one of claims 1-5.

7. An eccentricity detecting system characterized by comprising: Implementing the eccentricity detection method according to any one of claims 1-5.

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