Clothes dryer

Abstract

The application discloses a clothes dryer, comprising: a box body; a door body; a door lock; an auxiliary door opening module, comprising: a power source; a pressure reducing device; a pressure regulating device, the pressure regulating device outputs a pilot pressure; a pressure channel; a relay valve, the air inlet of the relay valve is communicated with the air outlet of the power source, and the air outlet of the relay valve is communicated with the inlet of the pressure channel; a first air pressure sensor for detecting the pilot pressure; a second air pressure sensor for detecting the output pressure; the pressure regulating device comprises: a first electromagnetic valve and a second electromagnetic valve; and a controller, which is configured to: according to an error e and an error change rate ec, obtain a first fuzzy output, a second fuzzy output and a third fuzzy output through fuzzy control logic; then obtain a proportional adjustment term, an integral adjustment term and a differential adjustment term through inverse fuzzy control logic; obtain an output u through PID control; and according to the positive and negative values of the output u, control the pressure regulating device to increase pressure, maintain pressure or reduce pressure.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of household appliances, in particular to a clothes dryer. BACKGROUND

[0002] The clothes dryer is a device for quickly drying wet clothes. The clothes dryer comprises a cabinet and a door body. The cabinet is provided with a feeding opening, and the door body is used to open or close the feeding opening. When the clothes dryer is working, the door body must be kept closed to ensure that hot air does not leak out, thereby ensuring the drying effect. When the clothes dryer stops working, the user needs to open the door to take out the clothes. Since the door is generally tightly closed to ensure the drying effect during drying, the user generally needs to use a large pulling force to open the door.

[0003] At present, the door opening and closing of the clothes dryer usually adopts a mechanical or electronic switch. When the door opening and closing is a mechanical switch, the user needs to pull the door opening and closing device with a certain pulling force. When the door opening and closing is an electronic switch, the electronic switch comprises a sensor and a control circuit. When the user approaches the clothes dryer, the sensor detects the presence of the user and automatically opens the door through mechanical transmission.

[0004] However, when the door opening and closing is a mechanical switch, the user needs to have a certain arm strength. For special groups with poor arm strength, it is difficult to open the door body. In addition, since the size of the pulling force needs to be estimated by oneself, too small or too large pulling force will bring discomfort. For users who pursue smooth experience, the experience is not good.

[0005] When the door opening and closing is an electronic switch, the control algorithm is complex, and the fuzzy algorithm adopted in the prior art has the problems of inaccurate operation logic and insufficient control precision. If the precision is to be improved, a large amount of single-chip machine resources needs to be consumed. The PID control is not suitable for a nonlinear and time-varying control system.

[0006] Therefore, the present application provides a clothes dryer. SUMMARY

[0007] The present application aims to at least solve one of the technical problems in the related art. To this end,

[0008] According to the present application, a clothes dryer is provided, comprising:

[0009] a cabinet comprising a feeding opening arranged on the front side of the cabinet;

[0010] a drying drum arranged in the cabinet;

[0011] a door body connected with the cabinet and used to open or close the feeding opening;

[0012] A door lock connected with the box body, the door lock locking the door body to restrict the door body from opening the drop port, or the door lock unlocking the door body to allow the door body to open the drop port;

[0013] An auxiliary door opening module arranged in the box body, configured to apply air thrust to the door body to unlock the door lock; the auxiliary door opening module comprises:

[0014] A power source configured to provide compressed air;

[0015] A pressure reducing device configured to reduce the pressure of air flowing through the pressure reducing device, an air inlet of the pressure reducing device being in communication with an air outlet of the power source;

[0016] A pressure regulating device configured to regulate the pressure of air, an air inlet of the pressure regulating device being in communication with an air outlet of the pressure reducing device, the pressure regulating device outputting a pilot pressure;

[0017] A pressure channel configured to transmit air;

[0018] A relay valve, an air inlet of the relay valve being in communication with an air outlet of the power source and an air outlet of the relay valve being in communication with an inlet of the pressure channel; a pilot port of the relay valve being connected with the pressure regulating device;

[0019] A first air pressure sensor configured to detect the pressure value of air between the pilot port of the relay valve and the pressure regulating device and record the detected pressure value as a pilot pressure;

[0020] A second air pressure sensor configured to detect the pressure value of air between the air outlet of the relay valve and the pressure channel and record the detected pressure value as an output pressure;

[0021] The pressure regulating device comprises:

[0022] A first electromagnetic valve, an inlet of the first electromagnetic valve being connected with an outlet of the pressure reducing valve;

[0023] A second electromagnetic valve, an inlet of the second electromagnetic valve being connected with an outlet of the first electromagnetic valve and a pilot port of the relay valve;

[0024] A controller configured to:

[0025] Obtain an actual pressure value F2’ through the pilot pressure or the output pressure;

[0026] Define the difference between the preset interaction force F2 and the actual pressure value F2’ as an error e;

[0027] Define the error change rate after a preset interval as ec;

[0028] According to the error e and the error change rate ec, a first fuzzy output quantity up1, a second fuzzy output quantity ui1 and a third fuzzy output quantity ud1 are obtained through fuzzy control logic;

[0029] According to the first fuzzy output quantity up1, a proportional adjustment term △ is obtained through inverse fuzzy control logic;

[0030] According to the second fuzzy output quantity ui1, an integral adjustment term △ is obtained through inverse fuzzy control logic;

[0031] According to the third fuzzy output quantity ud1, a differential adjustment term △ is obtained through inverse fuzzy control logic;

[0032] The proportional adjustment term △ , the integral adjustment term △ and the differential adjustment term △ are substituted into PID control to obtain an output quantity u;

[0033] According to the positive or negative value of the output quantity u, the energization state of the first electromagnetic valve and the second electromagnetic valve is controlled, so that the pressure regulating device is pressurized, pressure is maintained or pressure is reduced through the energization state of the first electromagnetic valve and the second electromagnetic valve.

[0034] The present application combines fuzzy control logic with PID control, which can not only exert the advantages of fuzzy algorithm in nonlinear, time-varying and parameter uncertain systems, but also has the control advantages of high precision of PID control algorithm, ensuring that the opening door thrust of the auxiliary door opening module is output quickly, accurately and stably.

[0035] The present application also provides a clothes dryer, comprising:

[0036] A cabinet, comprising a drop opening provided on the front side of the cabinet;

[0037] A drying drum provided in the cabinet;

[0038] A door body connected with the cabinet and used for opening or closing the drop opening;

[0039] A door lock connected with the cabinet, wherein the door lock locks the door body to restrict the door body from opening the drop opening, or the door lock is unlocked with the door body to allow the door body to open the drop opening;

[0040] An auxiliary door opening module provided in the cabinet and used for applying air thrust to the door body to unlock the door body with the door lock; the auxiliary door opening module comprises:

[0041] A power source used for providing compressed air;

[0042] a pressure reducing device for reducing the pressure of air flowing through the pressure reducing device, an air inlet of the pressure reducing device being in communication with an air outlet of the power source;

[0043] a pressure regulating device for regulating the pressure of air, an air inlet of the pressure regulating device being in communication with an air outlet of the pressure reducing device, the pressure regulating device outputting a pilot pressure;

[0044] a pressure channel for transmitting air;

[0045] a relay valve, an air inlet of the relay valve being in communication with an air outlet of the power source and an air outlet of the relay valve being in communication with an inlet of the pressure channel, a pilot port of the relay valve being connected to the pressure regulating device;

[0046] a first air pressure sensor for detecting a pressure value of air between the pilot port of the relay valve and the pressure regulating device and recording the detected pressure value as a pilot pressure;

[0047] a second air pressure sensor for detecting a pressure value of air between the air outlet of the relay valve and the pressure channel and recording the detected pressure value as an output pressure;

[0048] the pressure regulating device comprises:

[0049] a first electromagnetic valve, an inlet of the first electromagnetic valve being connected to an outlet of the pressure reducing valve;

[0050] a second electromagnetic valve, an inlet of the second electromagnetic valve being connected to an outlet of the first electromagnetic valve and a pilot port of the relay valve;

[0051] a controller configured to:

[0052] obtain an actual pressure value F2' through the pilot pressure or the output pressure;

[0053] define a difference between the preset interaction force F2 and the actual pressure value F2' as an error e;

[0054] define a change rate of the error e measured after a preset interval as ec;

[0055] obtain a proportional adjustment term △ , an integral adjustment term △ and a differential adjustment term △ in sequence through fuzzy control logic and inverse fuzzy control logic respectively according to the error e and the error change rate ec;

[0056] substitute the proportional adjustment term △ , the integral adjustment term △ and the differential adjustment term △ into PID control to obtain an output u;

[0057] The energization states of the first electromagnetic valve and the second electromagnetic valve are controlled according to the magnitude of the value of the output variable u, and the energization states of the first electromagnetic valve and the second electromagnetic valve are used to control the pressure increasing, pressure maintaining or pressure decreasing of the pressure regulating device.

[0058] In some embodiments of the present application, the basic universe of discourse of the error e is defined as [-E, E], where E is the maximum boundary value of the error e, and the universe of discourse of the input fuzzy subset is obtained according to the maximum boundary value E of the error e and the error e through a first logical operation.

[0059] In some embodiments of the present application, the universe of discourse of the input fuzzy subset is defined as an integer greater than or equal to -a and less than or equal to a.

[0060] The error fuzzy grade corresponding to the error e is obtained according to the input fuzzy subset corresponding to the error e.

[0061] In some embodiments of the present application, the basic universe of discourse of the error change rate ec is defined as [-A1, A1], where A1 is the maximum boundary value of the error change rate ec, and the universe of discourse of the error change rate fuzzy subset is obtained according to the maximum boundary value A1 of the error change rate ec and the error change rate ec through a second logical operation.

[0062] In some embodiments of the present application, the universe of discourse of the error change rate fuzzy subset is defined as an integer greater than or equal to -b and less than or equal to b.

[0063] The error change rate fuzzy grade corresponding to the error change rate ec is obtained according to the error change rate fuzzy subset obtained by the error change rate ec.

[0064] In some embodiments of the present application, the fuzzy grade of the proportional regulation term △P at this moment, the fuzzy grade of the integral regulation term △I and the fuzzy grade of the differential regulation term △D are determined according to the error fuzzy grade corresponding to the error e and the error change rate fuzzy grade corresponding to the error change rate ec.

[0065] The membership degree relationship of the fuzzy grade of the proportional regulation term △P and the universe of discourse of the proportional fuzzy subset is defined, the membership degree relationship of the fuzzy grade of the integral regulation term △I and the universe of discourse of the integral fuzzy subset is defined, and the membership degree relationship of the fuzzy grade of the differential regulation term △D and the universe of discourse of the differential fuzzy subset is defined. The membership degree relationship of the error fuzzy grade and the universe of discourse of the input fuzzy subset is defined, and the membership degree relationship of the error change rate fuzzy grade and the universe of discourse of the error change rate fuzzy subset is defined.

[0066] The membership degree relationship of the error fuzzy grade and the universe of discourse of the input fuzzy subset is defined, and the membership degree relationship of the error change rate fuzzy grade and the universe of discourse of the error change rate fuzzy subset is defined. ​​​​​

[0067] According to the error e, the error change rate ec, and the proportional adjustment term△ The corresponding membership relationship is obtained through fuzzy control logic to obtain a first fuzzy output quantity up1;

[0068] According to the error e, the error change rate ec, and the integral adjustment term△ The corresponding membership relationship is obtained through fuzzy control logic to obtain a second fuzzy output quantity ui1;

[0069] According to the error e, the error change rate ec, and the differential adjustment term△ The corresponding membership relationship is obtained through fuzzy control logic to obtain a third fuzzy output quantity ud1.

[0070] In some embodiments of the present application, the PID control includes: presetting a proportional constant , an integral constant , and a differential constant ;

[0071] The error e and the error change rate ec are calculated multiple times and counted;

[0072] The proportional constant is added to the proportional adjustment term△ to obtain a proportional term , the integral constant is added to the integral adjustment term△ to obtain an integral term , and the differential constant is added to the differential adjustment term△ to obtain a differential term .

[0073] In some embodiments of the present application, the proportional term is multiplied by the error e of the kth time to obtain the proportional parameter;

[0074] The integral term is multiplied by the sum of the errors e of the 1st to kth times to obtain the integral parameter;

[0075] The differential term is multiplied by the difference between the error of the kth time and the error of the (k-1)th time to obtain the differential parameter;

[0076] The proportional parameter, the integral parameter, and the differential parameter are added to obtain the value of the output quantity u(k) of the kth time.

[0077] In some embodiments of the present application, when the output quantity u(k) is greater than 0, the first electromagnetic valve and the second electromagnetic valve are energized, and the pressure regulating device is pressurized;

[0078] When the output u(k) is equal to 0, the first electromagnetic valve is powered off and the second electromagnetic valve is powered on, and the pressure regulating device maintains pressure;

[0079] When the output u(k) is less than 0, the first electromagnetic valve and the second electromagnetic valve are powered off, and the pressure regulating device reduces pressure. BRIEF DESCRIPTION OF DRAWINGS

[0080] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0081] Figure 1 is a structural diagram of the auxiliary door opening module of the embodiment of the present application;

[0082] Figure 2 is another structural diagram of the auxiliary door opening module of the embodiment of the present application;

[0083] Figure 3 is another structural diagram of the auxiliary door opening module of the embodiment of the present application;

[0084] Figure 4 is another structural diagram of the auxiliary door opening module of the embodiment of the present application;

[0085] Figure 5 is a front view of the clothes drying machine of the embodiment of the present application;

[0086] Figure 6 is another front view of the clothes drying machine of the embodiment of the present application;

[0087] Figure 7 is a principle diagram of the door body opening of the embodiment of the present application;

[0088] Figure 8 is a structural schematic diagram of the clothes drying machine of the embodiment of the present application;

[0089] Figure 9 is another structural schematic diagram of the clothes drying machine of the embodiment of the present application;

[0090] Figure 10 is another structural schematic diagram of the clothes drying machine of the embodiment of the present application;

[0091] Figure 11 is a membership function relationship diagram of the error fuzzy grade and the domain of the input fuzzy subset of the auxiliary door opening module of the embodiment of the present application;

[0092] Figure 12is the membership degree relation table of the error fuzzy level of the auxiliary door opening module and the domain of the input fuzzy subset of the embodiment of the present application;

[0093] Figure 13 is the membership function relation graph of the error change rate fuzzy level of the auxiliary door opening module and the domain of the error change rate fuzzy subset of the embodiment of the present application;

[0094] Figure 14 is the membership degree relation table of the error change rate fuzzy level of the auxiliary door opening module and the domain of the error change rate fuzzy subset of the embodiment of the present application;

[0095] Figure 15 is the membership function relation graph of the proportional adjustment term fuzzy level, the integral adjustment term fuzzy level, the differential adjustment term fuzzy level and the domain of the corresponding fuzzy subset of the auxiliary door opening module of the embodiment of the present application;

[0096] Figure 16 is the membership degree relation table of the proportional adjustment term fuzzy level of the auxiliary door opening module and the domain of the proportional adjustment term fuzzy subset of the embodiment of the present application;

[0097] Figure 17 is the corresponding table of the fuzzy level of the proportional adjustment term, the fuzzy level of the integral adjustment term and the fuzzy level of the differential adjustment term of the auxiliary door opening module of the embodiment of the present application.

[0098] Figure 18 is the information transmission graph between the mobile phone terminal software and the clothes drying machine through the WIFI module of the embodiment of the present application;

[0099] Figure 19 is the flow chart of the PID control algorithm of the auxiliary door opening module of the embodiment of the present application;

[0100] Figure 20 is the flow chart of the PID control algorithm of the auxiliary door opening module of the embodiment of the present application.

[0101] In the following figures:

[0102] Dryer 100; cabinet 1; drying air duct 11; front air duct 111; rear air duct 112; lower air duct 113; drying drum 12; air inlet 121; air outlet 122; drum front seal 123; drum rear seal 124; laundry containing cavity 125; motor 126; belt 127; fan 13; evaporator 141; condenser 142; first water storage tank 15; second water storage tank 16; water pump 17; first water drain pipe 171; water container 18; water container tray 19; second water drain pipe 191; auxiliary door opening module 4; power source 41; pressure reducing device 42; pressure regulating device 43; first electromagnetic valve 431; second electromagnetic valve 432; flow regulating device 433; pressure passage 44; main pressure passage 441; auxiliary pressure passage 442; relay valve 45; pressure sensor 46; first air pressure sensor 471; second air pressure sensor 472; air path pressure control device 473; one-way air device 474; emergency air exhaust device 475; backup air source device 476; filtering device 477; door body 5; door handle 51. DETAILED DESCRIPTION

[0103] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application is described and explained below in connection with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of the present application.

[0104] Obviously, the drawings in the following description are only some examples or embodiments of the present application, and for those of ordinary skill in the art, the present application can be applied to other similar scenarios without creative efforts based on these drawings. In addition, it can be understood that although the efforts made in this development process can be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacture or production changes based on the technical content disclosed in the present application are only routine technical means and should not be understood as insufficient disclosure of the present application.

[0105] In the present application, the phrase "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase at various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment to other embodiments. Those of ordinary skill in the art explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments without conflict.

[0106] The terms "connected", "connected", "coupled" and the like in the present application are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The present application refers to "a plurality" to two or more. "And / or" describes the association between the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean that A exists alone, A and B exist together, and B exists alone. The character " / " generally represents the relationship between the front and rear associated objects as "or". The terms "first", "second", "third" and the like in the present application are only to distinguish similar objects, and do not represent a specific order for the objects.

[0107] In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, also not within the protection scope required by the present application.

[0108] Reference Figures 1-10 The dryer 100 includes a cabinet 1, wherein the bottom to the top of the cabinet 1 is the height direction of the cabinet.

[0109] Reference Figures 5-6 And Figures 8-10 The cabinet 1 forms the appearance of the dryer 100, and the cabinet 1 has a containing space inside, which is used to accommodate and fix various components in the dryer 100, so as to ensure the structural stability of the dryer 100.

[0110] The cabinet 1 includes a drop port (not shown), wherein the drop port is arranged on the front side of the cabinet 1.

[0111] The dryer further includes a drying drum 12, which is arranged in the cabinet 1, wherein the drying drum 12 is rotatably arranged in the cabinet 1.

[0112] Specifically, the cabinet includes a placing space arranged in the cabinet, wherein the drying drum is arranged in the placing space.

[0113] The drying drum includes a drying port (not shown) arranged at the side end of the drying drum, wherein the drying port is arranged at the side of the drying drum close to the drop port, and the drying port is arranged opposite to the drop port.

[0114] The drying drum 12 forms a clothes containing cavity, wherein the clothes containing cavity is communicated with the drying port, and the clothes can be placed in the clothes containing cavity through the drop port and the drying port. The clothes containing cavity is used to contain clothes to be dried to dry the clothes to be dried in the clothes containing cavity.

[0115] The clothes dryer further comprises a door body 5, wherein the door body is connected with the cabinet and is used to open or close the drop port. The door body 5 is arranged at one side of the drying cylinder 12, and the clothes are put into or taken out through the opening and closing of the door body 5 to realize the taking and putting of the clothes in the clothes accommodating cavity.

[0116] The clothes dryer further comprises a door lock, wherein the door lock is connected with the cabinet, the door lock locks the door body to limit the opening of the drop port by the door body, or the door lock is unlocked with the door body to enable the door body to open the drop port.

[0117] At present, the opening of the door body of the clothes dryer requires a certain arm strength of the user, and for special groups with poor arm strength, there is a certain difficulty in opening the door body. In addition, since the pulling force needs to be estimated by the user, too small or too large will bring discomfort to the user, and the experience of the user who pursues smooth experience is poor. Alternatively, the clothes dryer often misjudges the opening intention of the user to cause the door to be opened when it is not needed to be opened.

[0118] Therefore, the clothes dryer further comprises an auxiliary door opening module 4, wherein the auxiliary door opening module 4 is arranged in the cabinet, and the auxiliary door opening module 4 is used to apply an air thrust to the door body to unlock the door body and the door lock.

[0119] Reference Figure 1 The auxiliary door opening module 4 comprises a power source 41, wherein the power source is used to provide compressed air.

[0120] Reference Figure 1 The auxiliary door opening module 4 further comprises a pressure reducing device 42, wherein the pressure reducing device 42 is used to reduce the pressure of the air flowing through the pressure reducing device, the air inlet of the pressure reducing device is communicated with the air outlet of the power source, so that the pressure reducing device can reduce the air flowing out of the power source and output the air after pressure reduction.

[0121] The auxiliary door opening module 4 further comprises a pressure regulating device 43, wherein the pressure regulating device 43 is used to regulate the pressure of the air, the air inlet of the pressure regulating device is communicated with the air outlet of the pressure reducing device, and the pressure regulating device outputs a pilot pressure.

[0122] Reference Figure 1 The maximum pressure of the pressure regulating device is regulated by the pressure reducing device 42.

[0123] Reference Figure 1 The auxiliary door opening module 4 further comprises a pressure channel 44, wherein the pressure channel 44 is used to transmit the air.

[0124] Reference Figure 1The auxiliary door opening module 4 further comprises a relay valve 45, wherein an air inlet of the relay valve 45 is in communication with an air outlet of the power source, and an air outlet of the relay valve 45 is in communication with an inlet of the pressure channel; a pilot port of the relay valve is connected with the pressure regulating device, the relay valve receives a pilot pressure output by the pressure regulating device, and the relay valve amplifies a flow according to the pilot pressure and outputs driving air to the pressure channel, and the pressure of the driving air is the same as the pilot pressure.

[0125] When the door body is locked with the door lock, the outlet of the pressure channel is opposite to the door body and applies force to the door body through the driving air to unlock the door body and the door lock.

[0126] The laundry dryer comprises an auxiliary door opening module, the auxiliary door opening module comprises a power source, a pressure reducing device, a pressure regulating device, a relay valve and a pressure channel, and air with a certain pressure can apply force to the door body to open the door body, the auxiliary door opening module can assist in opening the door body, solve the problem that the user cannot open the door body due to insufficient arm strength, and the problem that the user cannot open the door body smoothly due to inaccurate estimation of the opening force, the air transmission is stable and smooth, the output is uniform and smooth, the service life of the door lock can be prolonged, and a smooth door opening experience can be provided to the user.

[0127] In some embodiments of the present application, the power source can be a pump body, wherein the power source can be a small pump.

[0128] In some embodiments of the present application, the pressure reducing device is a pressure reducing valve.

[0129] In some embodiments of the present application, the pressure regulating device is a proportional pressure regulating valve. Figures 5-6 The auxiliary switch module further comprises a pressure sensor 46, the pressure sensor 46 is arranged on the box body, and the pressure sensor 46 is used to detect the interaction force F0 between the door body and the box body.

[0130] The auxiliary switch module further comprises a first air pressure sensor 471 and a second air pressure sensor 472.

[0131] The first air pressure sensor is used to detect the pressure value of the air between the pilot port of the relay valve and the pressure regulating device, and the pressure value detected by the first air pressure sensor is recorded as a pilot pressure.

[0132] The second air pressure sensor 472 is used to detect the pressure value of the air between the air outlet of the relay valve and the pressure channel, and the pressure value detected by the second air pressure sensor 472 is recorded as an output pressure.

[0133] Specifically, the flow path between the pilot port of the relay valve and the pressure regulating device is a pilot flow path; and the flow path between the air outlet of the relay valve and the pressure channel is an output flow path.

[0134] The first air pressure sensor is configured to detect the pressure value of the air in the pilot flow path, and the second air pressure sensor is configured to detect the pressure value of the air in the output flow path.

[0135] The clothes dryer further comprises a controller (not shown) configured to:

[0136] monitor the interaction force F0 between the door body and the cabinet;

[0137] When the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, the pressure regulating device is controlled to increase the pressure or to keep the pressure unchanged, the pilot valve delivers air to the pressure channel to reduce the interaction force, and when the interaction force is reduced to 0, the door body is unlocked from the door lock.

[0138] By monitoring the interaction force F0 between the door body and the cabinet and controlling the pressure regulating device to increase the pressure or to keep the pressure unchanged when the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, the pilot valve can generate air with a certain pressure to apply force to the door body to open the door body. By monitoring the interaction force F0 between the door body and the cabinet, it can be determined whether the user has an intention to open the door, and when the interaction force F0 decreases, it is proved that the user does have some action on the door body, and when the interaction force F0 is less than the first preset interaction force, it is proved that the user does have an intention to open the door. Therefore, when the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, the pressure is increased or kept unchanged, and the pilot valve outputs air, which can avoid the door from being opened when it is not needed to be opened due to misjudgment of the user's intention to open the door, thereby improving the accuracy of the intention to open the door and improving the user experience.

[0139] It should be noted that the controller refers to a device that can generate operation control signals according to instruction operation codes and timing signals to instruct the clothes dryer 100 to execute control instructions. For example, the controller can be a central processing unit (CPU), a general-purpose processor network processor (NP), a digital signal processor (DSP), a programmable logic device (PLD), a microprocessor, a microcontroller, or any combination thereof. The controller can also be other devices with processing functions, such as circuits, devices, or software modules, and the embodiments of the present application do not make any limitation thereto.

[0140] In some embodiments of the present application, the controller is configured to:

[0141] When the interaction force F0 decreases and is less than the first preset interaction force, a current pilot pressure of air in the pilot flow path is obtained, and it is determined whether the current pilot pressure reaches the first pilot pressure P1. When the current pilot pressure does not reach the first pilot pressure P1, the pressure regulating device is controlled to increase the pressure so as to increase the pilot pressure. When the current pilot pressure reaches the first pilot pressure P1, the pressure regulating device is controlled to keep the pressure unchanged.

[0142] In some embodiments of the present application, the controller is configured to:

[0143] When the current pilot pressure does not reach the first pilot pressure P1, the pressure regulating device is controlled to increase the pressure so as to increase the pilot pressure of air in the pilot flow path. The pilot pressure stops increasing when the pilot pressure increases to the target pilot pressure P0.

[0144] The door body needs a pushing force F2 to open, and the corresponding target pilot pressure is P0.

[0145] In some embodiments of the present application, when the interaction force decreases to 0, the pressure regulating device decreases the pressure, and the auxiliary door opening module no longer generates a pushing force on the door body.

[0146] In some embodiments of the present application, with reference to Figure 2 , the pressure regulating device includes a first electromagnetic valve 431 and a second electromagnetic valve 432.

[0147] The inlet of the first electromagnetic valve 431 is connected with the outlet of the pressure reducing valve.

[0148] The inlet of the second electromagnetic valve 432 is connected with the outlet of the first electromagnetic valve and the pilot port of the relay valve.

[0149] When the pressure regulating device increases the pressure, the first electromagnetic valve and the second electromagnetic valve are powered on.

[0150] When the pressure regulating device keeps the pressure unchanged, the first electromagnetic valve is powered off and the second electromagnetic valve is powered on.

[0151] When the pressure regulating device decreases the pressure, the first electromagnetic valve and the second electromagnetic valve are powered off.

[0152] In the drawings, the first electromagnetic valve and the second electromagnetic valve are powered off.

[0153] The communication and disconnection of the first electromagnetic valve are controlled by the power-on and power-off of the first electromagnetic valve, and the disconnection and communication of the second electromagnetic valve are controlled by the power-on and power-off of the second electromagnetic valve.

[0154] When the first electromagnetic valve is powered on, the first electromagnetic valve is connected. When the first electromagnetic valve is powered off, the first electromagnetic valve is disconnected. When the second electromagnetic valve is powered off, the second electromagnetic valve is connected. When the second electromagnetic valve is powered on, the second electromagnetic valve is disconnected.

[0155] The outlet of the second electromagnetic valve is connected with other devices or is open.

[0156] The first electromagnetic valve and the second electromagnetic valve are two-position three-way electromagnetic valves.

[0157] In some embodiments of the present application, with reference to Figure 2 The pressure regulating device further comprises a flow regulator 433, wherein the inlet of the flow regulator is connected with the pressure reducing device, and the flow regulator 433 is used to control the flow of the flow path between the pressure regulating device and the pilot port of the relay valve. Since the relay valve has the function of amplifying the flow, the regulation of the flow path between the pressure regulating device and the pilot port of the relay valve is for the regulation of the output flow of the relay valve.

[0158] The flow regulator 433 can be a throttle valve.

[0159] In some embodiments of the present application, with reference to Figure 3 and Figure 4 The auxiliary door opening module further comprises an air path pressure control device 473, the inlet of the air path pressure control device 473 is connected with the air outlet of the power source, and the air path pressure control device 473 is used to control the overflow air pressure of the flow path between the air outlet of the power source and the pressure reducing device.

[0160] The air path pressure control device 473 is an overflow valve, wherein the inlet of the overflow valve is connected with the air outlet of the power source, and the outlet of the overflow valve is connected with other devices or is open.

[0161] In some embodiments of the present application, with reference to Figure 3 and Figure 4 The auxiliary door opening module further comprises a one-way air device 474, the one-way air device 474 is used to prevent air backflow, the inlet of the one-way air device 474 is connected with the air outlet of the power source, and the outlet of the one-way air device 474 is connected with the pressure reducing device.

[0162] The one-way air device 474 can be a one-way valve.

[0163] In some embodiments of the present application, with reference to Figure 3 and Figure 4 The auxiliary door opening module further comprises an emergency air exhaust device 475, the emergency air exhaust device 475 is used to cut off the air flow path between the power source and the pressure reducing device and the relay valve.

[0164] In the case that the air path fails and constantly pushes the door body, the emergency air exhaust device 475 can be used to cut off the air path and simultaneously exhaust the air on the side of the emergency air exhaust device 475 away from the power source.

[0165] The emergency air exhaust device 475 can be a stop valve.

[0166] In some embodiments of the present application, with reference to Figure 3 and Figure 4 The auxiliary door opening module further comprises a filter device 477 connected to the air inlet of the pressure regulating device and the air inlet of the relay valve on the side close to the power source. The filter device is used to filter impurities in the air to ensure the purity of the gas.

[0167] The filter device can be a filter.

[0168] In some embodiments of the present application, with reference to Figure 3 and Figure 4 The auxiliary door opening module further comprises a backup air source device 476, which can replace the power source for a period of time when the power source fails, improving the durability of the device and filling the gap before after-sales arrives.

[0169] The backup air source device 476 can be a gas storage tank with a certain volume.

[0170] In some embodiments of the present application, the pressure channel can be one way, the inlet of the pressure bucket is connected to the air outlet of the relay valve, and the outlet of the pressure channel is opposite to the door body when the door body closes the drop port.

[0171] In some embodiments of the present application, with reference to Figure 3 and Figure 4 The pressure channel comprises a main pressure channel 441, and the inlet of the main pressure channel 441 is connected to the air outlet of the relay valve.

[0172] The pressure channel further comprises at least two auxiliary pressure channels 442, wherein one end of the two auxiliary pressure channels is connected to the outlet of the main pressure channel at the same time, and the outlets of the two auxiliary pressure channels correspond to different positions of the door body.

[0173] In some embodiments of the present application, with reference to Figure 5 and Figure 6 The door body comprises a door handle 51, wherein the pressure sensor is arranged on one side of the door handle of the door body, and the outlet of the pressure channel corresponds to the position of the door body on one side of the door handle when the door body closes the drop port.

[0174] In some embodiments of the present application, the number of pressure sensors is the same as the number of auxiliary pressure channels, wherein the pressure sensor and the auxiliary pressure channel correspond one by one, that is, the pressure sensor is arranged on one side of the outlet of the auxiliary pressure channel, and the distance between each pressure sensor and the outlet of the corresponding auxiliary pressure channel is equal or the difference between the distances of two adjacent pressure sensors is within a certain range, to ensure the stability of the value detected by the pressure sensor.

[0175] The interaction force is the average value of the value detected by the pressure sensor.

[0176] In some embodiments of the present application, the cabinet includes a drop port provided on the front side of the cabinet; a door body connected with the cabinet and used for opening or closing the drop port; a door lock connecting the cabinet, the door lock locking the door body to limit the door body from opening the drop port or the door lock being unlocked with the door body so that the door body can open the drop port; and an auxiliary door opening module provided in the cabinet, the auxiliary door opening module being used for applying air thrust to the door body to unlock the door body with the door lock.

[0177] The auxiliary door opening module includes a power source, a pressure reducing device, a pressure regulating device, a pressure channel, a relay valve, a pressure sensor, a first air pressure sensor, and a second air pressure sensor; the power source is used for providing compressed air; the pressure reducing device is used for reducing the pressure of the air flowing through the pressure reducing device, the air inlet of the pressure reducing device being in communication with the air outlet of the power source; the pressure regulating device is used for regulating the pressure of the air, the air inlet of the pressure regulating device being in communication with the air outlet of the pressure reducing device, and the pressure regulating device outputting a pilot pressure; and the pressure channel is used for transmitting the air.

[0178] The air inlet of the relay valve is in communication with the air outlet of the power source, and the air outlet of the relay valve is in communication with the inlet of the pressure channel; the pilot port of the relay valve is connected with the pressure regulating device.

[0179] The pressure sensor is provided on the cabinet to detect the interaction force F0 between the door body and the cabinet.

[0180] The first air pressure sensor is used for detecting the pressure value of the air between the pilot port of the relay valve and the pressure regulating device and recording the detected pressure value as the pilot pressure.

[0181] The second air pressure sensor is used for detecting the pressure value of the air between the air outlet of the relay valve and the pressure channel and recording the detected pressure value as the output pressure.

[0182] A controller is configured to:

[0183] monitor the interaction force F0 between the door body and the cabinet;

[0184] when the interaction force F0 decreases and the interaction force F0 is less than a first preset interaction force, control the pressure regulating device to increase the pressure or maintain the pressure, and the relay valve to deliver the air to the pressure channel to reduce the interaction force.

[0185] By setting the interaction force F0 between the door body and the box, and when the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, the pressure increasing device or pressure maintaining device is controlled to increase the pressure, so that the relay valve can generate a certain pressure of air to force the door body, so that the door body is opened; and by monitoring the interaction force F0 between the door body and the box, it is identified whether the user has the intention to open the door, and when the interaction force F0 decreases, it is proved that the user indeed has some actions on the door body, and when the interaction force F0 is less than the first preset interaction force, it is proved that the user indeed has the intention to open the door, so that the pressure is increased or maintained and the air output by the relay valve when the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force can avoid the door being opened when it is not needed to be opened due to misjudgment of the user's intention to open the door, so as to improve the accuracy of the intention to open the door and improve the user experience.

[0186] In some embodiments of the present application, the air outlet of the power source is connected with the air inlet of the air path pressure control device and the air inlet of the one-way air device, the air outlet of the one-way air device is connected with the air inlet of the air storage device, the air outlet of the air storage device is connected with the air inlet of the emergency air exhaust device, the air outlet of the emergency air exhaust device is connected with the air inlet of the filter device, and the air outlet of the filter device is connected with the air inlet of the pressure reducing device and the air inlet of the relay valve.

[0187] The power source compresses air into the main air circuit, and the air pressure in the main air circuit is set by the air path pressure control device. The air in the main air circuit is divided into two paths after passing through the filter device and flows into the pressure reducing device and the relay valve respectively. The set pressure P2 of the pressure reducing device is used as the air duct pressure of the pressure regulating device, and the pilot pressure is output to the pilot port of the relay valve through the pressure regulating device, so that the output air pressure of the relay valve is kept consistent with the pilot pressure.

[0188] In some embodiments of the present application, when the pressure regulating device enters the pressure increasing state, and the air pressure value detected by the first air pressure sensor is greatly different from the air pressure value detected by the second air pressure device, it is prompted that the relay valve is damaged and needs to be replaced or repaired in time.

[0189] In some embodiments of the present application, if the user continuously forces during the whole door opening process, and the interaction force F0 is detected as 0 during the pressure increasing process, it indicates that the door has been opened.

[0190] If the user does not want to continuously force, but only wants to tell the dryer to open the door, the user can force for a short time and then release the hand, and wait for the auxiliary door opening module to work to open the door body.

[0191] In some embodiments of the present application, reference is made to Figures 8-10, the drying cylinder 12 is provided with an air inlet 121 and an air outlet 122, both of which are communicated with the clothes containing cavity, and the drying machine 100 will generate a drying airflow during the drying process, the drying airflow enters the clothes containing cavity from the air inlet 121 and carries away the moisture on the clothes and is discharged from the air outlet 122. Referring to Figure 1 In the embodiment, the air inlet 121 and the air outlet 122 are respectively arranged on the left and right sides of the drying cylinder 12, and the rotation of the drying cylinder 12 is realized by a transmission mechanism composed of a motor and a belt.

[0192] Referring to Figures 8-10 , the box body 1 is provided with an air duct plate, and the air duct plate forms a drying air duct 11 therebetween, the drying air duct 11 is arranged between the box body 1 and the drying cylinder 12, and the two ends of the drying air duct 11 are respectively communicated with the air inlet 121 and the air outlet 122 of the drying cylinder 12 to form a loop channel, and the drying air duct 11 is provided with a fan 13, the fan 13 is used to realize the flow of air in the drying air duct 11 from the air outlet 122 to the air inlet 121, so that the air in the clothes containing cavity enters the drying air duct 11 through the air outlet 122, and the air in the drying air duct 11 enters the clothes containing cavity through the air inlet 121, to realize the air circulation between the clothes containing cavity and the drying air duct 11. In the embodiment, the fan 13 is a centrifugal fan, which is located on the side close to the air inlet 121 of the drying cylinder 12 and is driven by a motor, and the drying cylinder 12 and the air duct plate are sealed by a front cylinder seal 123 and a rear cylinder seal 124.

[0193] In the embodiment, referring to Figures 8-10 , the drying air duct 11 includes a front air duct 111 communicated with one side of the drying cylinder 12, a rear air duct 112 communicated with the other side of the drying cylinder 12, and a lower air duct 113, the front air duct 111 and the rear air duct 112 are communicated through the lower air duct 113, and the drying air duct 11 is communicated with the clothes containing cavity to form a loop channel. Referring to Figures 8-10 , wherein the arrow direction is the air circulation direction in the loop channel.

[0194] Referring to Figures 8-10 , the drying air duct 11 is provided with a drying device, the drying device is used to heat the condensed drying airflow, and the heated drying airflow is introduced into the clothes containing cavity from the air inlet 121. The drying device is also used to condense the high-temperature and high-humidity airflow discharged from the air outlet 122, so as to condense the moisture carried in the high-temperature and high-humidity airflow to form condensed water. In this way, the moisture of the clothes in the clothes containing cavity is carried away by the drying airflow, so that the moisture on the clothes is separated from the clothes, so as to realize the drying of the clothes.

[0195] Specifically, referring to Figures 8-10In the embodiment, the drying device is arranged in the lower air duct 113, and the drying device comprises a condenser 142 and an evaporator 141. The condenser 142 is arranged on the side of the evaporator 141 close to the upper air inlet 121 of the drying cylinder 12. The condenser 142 is used to heat the air in the drying air duct 11 to form a high-temperature drying air flow. The drying air flow passes through the drying air duct 11 and enters the drying cylinder 12, thereby evaporating the moisture of the clothes to be dried in the drying cylinder 12 to form a high-temperature and high-humidity air flow. The high-temperature and high-humidity air flow discharged from the drying cylinder 12 has a large amount of water vapor. After passing through the front air duct 111, the high-temperature and high-humidity air flow contacts the evaporator 141 in the lower air duct 113, and condensate is precipitated from the high-temperature and high-humidity air flow to form a low-temperature and low-humidity air flow. The low-temperature and low-humidity air flow is further heated by the condenser 142 to form a high-temperature drying air flow.

[0196] With reference to Figures 8-10 The clothes dryer 100 further comprises a water storage tank for collecting the condensate formed on the evaporator 141. In the embodiment, the water storage tank comprises a first water storage tank 15 and a second water storage tank 16. The first water storage tank 15 is arranged in the lower air duct 113 and located below the drying device. The second water storage tank 16 is arranged outside the drying air duct 11 and in communication with the first water storage tank 15, so that the condensate collected in the first water storage tank 15 enters the second water storage tank 16. By dividing the water storage tank into two parts and arranging them inside and outside the drying air duct 11, the volume of the water storage tank can be effectively increased, thereby increasing the capacity of the water storage tank.

[0197] With reference to Figures 8-10 To drain the condensate in the water storage tank, a drain pump 17 is arranged in the second water storage tank 16. The drain pump 17 is used to pump the water in the second water storage tank 16 into a water container 18 or outside the cabinet 1.

[0198] With reference to Figures 8-10 The top of the cabinet 1 is provided with the water container 18. The top of the water container 18 is provided with a water inlet. The water inlet is in communication with the drain pump 17 through a first drain pipe 171. In the embodiment, the first drain pipe 171 extends upward from the bottom of the cabinet 1 to the top of the cabinet 1. The first drain pipe 171 is in communication with the water container 18 through the water inlet, so as to drain the condensate in the second water storage tank 16 into the water container 18.

[0199] With reference to Figures 8-10Further, the top of the cabinet 1 is further provided with a water container tray 19, and the water container tray 19 is provided with a water container 18, and the water container tray 19 is in communication with the water storage tank. Specifically, the bottom of the water container tray 19 is provided with a water outlet, and the water outlet is correspondingly arranged with the second water storage tank 16, and the water outlet is in communication with the first water storage tank 15 through the second drain pipe 191. By arranging the water outlet and the second drain pipe 191, the water container tray 19 is in communication with the second water storage tank 16. When the water in the water container is too much and overflows into the water container tray 19, it will flow into the second water storage tank 16 through the second drain pipe 191, so as to relieve the water overflow of the water container.

[0200] In some embodiments of the present application, the clothes dryer 100 can further include a display, which can be a liquid crystal display or an organic light-emitting diode display. The specific type, size, resolution, etc. of the display are not limited, and those skilled in the art can understand that the display can be changed in performance and configuration as needed.

[0201] The display can be used to display the control panel of the clothes dryer 100 or the running information of the clothes dryer 100. The clothes dryer displays the running information of the clothes dryer, such as the running time of the clothes dryer and the running program of the clothes dryer.

[0202] Wherein, whether to open the door body of the clothes dryer can be operated through the control panel, when it is needed to open, the controller controls the power source to work, the pressure regulating device to increase pressure or maintain pressure, and the relay valve to output air with pilot pressure and act on the door body, so that the door body is opened.

[0203] In some embodiments of the present application, the clothes dryer can further include a voice prompt device for playing voice prompt information according to a program. The content of the voice prompt information can be pre-set by the manufacturer of the clothes dryer 100, or can be set by the user through the man-machine interaction device. For example, when the controller obtains that the clothes have met the drying end condition (when the clothes dryer runs to the stop time), the controller can control the voice prompt device to play the prompt information such as "drying is completed".

[0204] The clothes dryer can further include a man-machine interaction device for realizing the interaction between the user and the clothes dryer. The man-machine interaction device can include one or more of physical keys or touch display panels. For example, the user can set the drying program required by the clothes dryer through the man-machine interaction device.

[0205] Wherein, whether to open the door can be indicated to the clothes dryer through the man-machine interaction, and when it is needed to open the door, the auxiliary door opening module works.

[0206] Reference Figures 11-20In some embodiments of the present application, the controller is configured to obtain an actual pressure value F2' through the pilot pressure or the output pressure.

[0207] The difference between the preset interaction force F2 and the actual pressure value F2' is defined as an error e.

[0208] The error change rate measured after a preset interval is defined as ec;

[0209] According to the error e and the error change rate ec, the proportional adjustment term ΔP, the integral adjustment term ΔI and the differential adjustment term ΔD are obtained in sequence through the fuzzy control logic and the inverse fuzzy control logic.

[0210] The proportional adjustment term ΔP, the integral adjustment term ΔI and the differential adjustment term ΔD are substituted into the PID control to obtain an output u.

[0211] According to the value of the output u, the energization states of the first electromagnetic valve and the second electromagnetic valve are controlled, and the pressure increasing, pressure maintaining or pressure reducing of the pressure regulating device is controlled through the energization states of the first electromagnetic valve and the second electromagnetic valve.

[0212] In the present application, the error e is calculated through the preset pressure or the output pressure, and the error change rate ec is measured after a preset interval. Then, the fuzzy control logic and the PID control are used to output an accurate output u, and the energization or de-energization of the first electromagnetic valve and the second electromagnetic valve is controlled according to the value of the output u. The PID control logic can more accurately calculate the output u, so as to accurately control the action of the first electromagnetic valve and the second electromagnetic valve, and realize the control of the pressure increasing, pressure maintaining or pressure reducing of the pressure regulating device of the auxiliary door opening module.

[0213] The fuzzy control logic and the PID control are combined in the present application, which can not only exert the advantages of the fuzzy algorithm in the nonlinear, time-varying and parameter uncertain system, but also have the high-precision control advantage of the PID control algorithm, so as to ensure the fast, accurate and stable output of the door opening thrust of the auxiliary door opening module.

[0214] When the relay valve is normally operated, the pilot pressure is equal to the output pressure. The pilot pressure detected by the first air pressure sensor is the pressure in the pipeline between the pilot port of the relay valve and the pressure regulating device, and the output pressure detected by the second air pressure sensor is the pressure in the pipeline between the air outlet of the relay valve and the pressure channel. According to the pressure and the cross-sectional area of the corresponding pipeline, the pressure in the corresponding pipeline is obtained.

[0215] ​​​​​​Since the pilot pressure is equal to the output pressure, the actual pressure value F2' is calculated by the pilot pressure or the output pressure. The actual pressure value F2' is the actual force applied to the door body by the auxiliary door opening module.

[0216] The difference between the preset interaction force F2 and the actual pressure value F2' is defined as an error e. The analog signal is converted into a digital signal by an analog-to-digital converter, i.e., the error e is converted into a digital signal recognizable by the controller.

[0217] The fuzzy control logic includes a step of converting the input accurate error e into a fuzzy quantity.

[0218] Referring to Figures 11-20 , the basic universe of the error e is defined as [-E, E], where E is the maximum boundary value of the error e. The universe of the input fuzzy subset is obtained by the first logical operation according to the maximum boundary value E of the error e and the error e.

[0219] The first logic includes: y = (a / E)·e, and the final value of y is obtained by rounding. Where y is the input fuzzy subset, and all the input fuzzy subsets constitute the universe of the input fuzzy subset.

[0220] The universe of the input fuzzy subset can be set by the user.

[0221] The universe of the input fuzzy subset is defined as an integer greater than or equal to -a and less than or equal to a. The error fuzzy level corresponding to the error e is obtained according to the input fuzzy subset of the error e.

[0222] In this embodiment, the error fuzzy level of the input error e is described by the language NB, NS, ZO, PS, and PB, where NB represents negative big, NS represents negative small, ZO represents zero, PS represents positive small, and PB represents positive big.

[0223] In some embodiments, referring to Figures 11-20 , the universe of the input fuzzy subset is defined as {-4, -3, -2, -1, 0, 1, 2, 3, 4}. That is, a = 4, and the basic universe of the error e is [-E, E]. The universe of the fuzzy subset is converted by the first logic from the basic universe [-E, E] to the fuzzy subset: y = (4 / E)·e, and the final value of y is obtained by rounding.

[0224] Referring to Figures 13-14 , the basic universe of the error change rate ec is defined as [-A1, A1], where A1 is the maximum boundary value of the error change rate ec. The universe of the error change rate fuzzy subset is obtained by the second logical operation according to the maximum boundary value A1 of the error change rate ec and the error change rate ec.

[0225] The second logic includes: z=(b / A1)·ec, and the value of the final z is obtained by rounding, wherein z is a fuzzy subset of error change rate, and all the fuzzy subsets of error change rate constitute a domain of the fuzzy subset of error change rate.

[0226] The domain of the fuzzy subset of error change rate can be set by a user.

[0227] The domain of the fuzzy subset of error change rate is defined as an integer between greater than or equal to-b and less than or equal to b. The fuzzy grade of error change rate corresponding to the error change rate ec is obtained according to the fuzzy subset of error change rate obtained by the error change rate ec.

[0228] In the embodiment, the fuzzy grade of error change rate ec is described by using languages NB, NM, NS, ZO, PS, PM and PB, wherein NB represents negative big, NM represents negative medium, NS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, and PB represents positive big.

[0229] In some embodiments, referring to Figures 13-14 , the domain {-3, -2, -1, 0, 1, 2, 3} of the error change rate ec is defined. That is, b=3, and the basic domain of the error change rate ec is [-A1, A1]. The second logic is used to convert from the basic domain [-A1, A1] to the domain of the fuzzy subset: z=(3 / A1)·ec, and the value of the final z is obtained by rounding.

[0230] Referring to Figures 15-16 , the basic domain of the proportional adjustment term △ is [-B1, B1], wherein B1 is the maximum boundary value of the proportional adjustment term △ . According to the maximum boundary value B1 of the proportional adjustment term △ and the proportional adjustment term △ , the fifth logic operation is used to obtain the domain of the fuzzy subset of the proportional adjustment term.

[0231] The fifth logic includes: p=(c / B1)·△ , and the value of the final p is obtained by rounding, wherein p is a fuzzy subset of the proportional adjustment term, and all the fuzzy subsets of the proportional adjustment term constitute a domain of the fuzzy subset of the proportional adjustment term.

[0232] The domain of the fuzzy subset of the proportional adjustment term can be set by a user.

[0233] The domain of the fuzzy subset of the proportional adjustment term is defined as an integer between greater than or equal to-c and less than or equal to c. The fuzzy grade of the proportional adjustment term corresponding to the proportional adjustment term is obtained according to the fuzzy subset of the proportional adjustment term.

[0234] In this embodiment, the proportional adjustment term Δ The proportional adjustment term fuzzy grade is described by language NB, NM, NS, ZO, PS, PM, PB, wherein NB represents negative big, NM represents negative medium, NS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, and PB represents positive big.

[0235] In some embodiments, referring to Figures 15-16 , the domain of the proportional adjustment term Δ is defined as {-3, -2, -1, 0, 1, 2, 3}. That is, c = 3, and the basic domain of the proportional adjustment term Δ is [-B1, B1]. The fifth logic is used to convert from the basic domain [-B1, B1] to the domain of the fuzzy subset: p = (c / B1)·△ The value of p is finally obtained by rounding.

[0236] Referring to Figures 15-16 , the basic domain of the integral adjustment term Δ is defined as [-C1, C1], wherein C1 is the maximum boundary value of the integral adjustment term Δ . According to the maximum boundary value C1 of the integral adjustment term Δ and the integral adjustment term Δ , the domain of the integral adjustment term fuzzy subset is obtained by the sixth logic operation.

[0237] The sixth logic includes: i = (d / C1)·△ The value of i is finally obtained by rounding, wherein i is the integral adjustment term fuzzy subset, and all the integral adjustment term fuzzy subsets constitute the domain of the integral adjustment term fuzzy subset.

[0238] The domain of the integral adjustment term fuzzy subset can be set by the user.

[0239] The domain of the integral adjustment term fuzzy subset is defined as an integer greater than or equal to -d and less than or equal to d. According to the integral adjustment term fuzzy subset obtained by the integral adjustment term Δ , the integral adjustment term fuzzy grade corresponding to the integral adjustment term Δ is obtained.

[0240] In this embodiment, the integral adjustment term fuzzy grade of the integral adjustment term Δ is described by language NB, NM, NS, ZO, PS, PM, PB, wherein NB represents negative big, NM represents negative medium, NS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, and PB represents positive big.

[0241] In some embodiments, referring to Figures 15-16 , the domain of the integral adjustment term Δ The universe of discourse is {-3, -2, -1, 0, 1, 2, 3}. That is, d = 3, and the integral adjustment term Δ... The fundamental domain is [-C1, C1]. The transformation from the fundamental domain [-C1, C1] to the fuzzy subset domain is performed using sixth logic: i = (d / C1)·△ The final value of i is obtained by rounding.

[0242] Reference Figures 15-16 Define the differential adjustment term Δ The fundamental domain is [-D1, D1], where D1 is the differential adjustment term Δ. The maximum boundary value is determined by the differential adjustment term Δ. Maximum boundary value D1 and differential adjustment term Δ The universe of discourse of the fuzzy subset of the differential adjustment term is obtained through the seventh logical operation.

[0243] The seventh logic includes: j = (f / D1)·△ The final value of i is obtained by rounding, where i is a fuzzy subset of the differential adjustment term, and all fuzzy subsets of the differential adjustment term constitute the universe of discourse of the fuzzy subset of the differential adjustment term.

[0244] The universe of discourse for the fuzzy subset of the differential adjustment term can be customized by the user.

[0245] The universe of discourse for the fuzzy subset of the differential adjustment term is defined as integers greater than or equal to -f and less than or equal to f. According to the differential adjustment term Δ... The fuzzy subset of the obtained differential adjustment term is used to obtain the differential adjustment term Δ. The corresponding fuzzy level of the differential adjustment term.

[0246] In this embodiment, the differential adjustment term Δ The fuzzy levels of the differential adjustment term are described by the languages ​​NB, NM, NS, ZO, PS, PM, and PB, where NB represents negative large, NM represents negative medium, NS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, and PB represents positive large.

[0247] In some embodiments, refer to Figures 15-16 The universe of discourse for the differential adjustment term is defined as {-3, -2, -1, 0, 1, 2, 3}. That is, f = 3, and the differential adjustment term Δ... The fundamental domain is [-D1, D1]. The transformation from the fundamental domain [-D1, D1] to the fuzzy subset domain is performed using seventh logic: j = (f / D1)·△ The final value of f is obtained by rounding.

[0248] The fuzzy inference further comprises a third logic. Based on the fuzzy grade of the error and the fuzzy grade of the error change rate, the corresponding proportional adjustment term Δ is obtained through the third logic. The fuzzy grade of the integral adjustment term Δ and the fuzzy grade of the differential adjustment term Δ Figure 17 The third logic is the corresponding relation in the table.

[0249] The fuzzy inference further comprises a fourth logic.

[0250] The fuzzy grade of the proportional adjustment term Δ and the membership relation of the universe of the proportional fuzzy subset are defined, the fuzzy grade of the integral adjustment term Δ and the membership relation of the universe of the integral fuzzy subset are defined, and the fuzzy grade of the differential adjustment term Δ and the membership relation of the universe of the differential fuzzy subset are defined.

[0251] The membership relation of the universe of the input fuzzy subset is defined according to the fuzzy grade of the error and the fuzzy grade of the error change rate, and the membership relation of the universe of the error change rate fuzzy subset is defined according to the fuzzy grade of the error change rate.

[0252] According to the membership relation corresponding to the error e, the error change rate ec and the proportional adjustment term Δ , the first fuzzy output quantity up1 is obtained through the fourth logic.

[0253] According to the membership relation corresponding to the error e, the error change rate ec and the integral adjustment term Δ , the second fuzzy output quantity ui1 is obtained through the fourth logic.

[0254] According to the membership relation corresponding to the error e, the error change rate ec and the differential adjustment term Δ , the third fuzzy output quantity ud1 is obtained through the fourth logic.

[0255] In this embodiment, the calculation of the proportional adjustment term Δ is taken as an example, and the calculation of the integral adjustment term Δ and the differential adjustment term Δ is the same as the calculation of the proportional adjustment term Δ , which is not described here.

[0256] In this embodiment, E=10, A1=10, B1=10, C1=10, D1=10, a=4, b=3, e=8 and ec=8.8 are defined.

[0257] According to the first logic operation, y=(a / E)·e=(4 / E)·e=(4 / 10)·8=3.2 is obtained, and y is rounded to 3.

[0258] According to the second logic operation, z = (b / A1) ec = (3 / A1) ec = (3 / 10) 8.8 = 2.64, z is rounded to 3.

[0259] According to the membership relation of the universe of discourse of the error change rate fuzzy grade and the error change rate fuzzy subset, when y is 3, the error e activates the fuzzy grade PB, the membership is 0.5, and the error e activates the fuzzy grade PS, the membership is 0.5. When z is 3, the error change rate ec activates the PB, the membership is 1, and the unactivated membership does not participate in the operation.

[0260] According to the membership relation of the universe of discourse of the error e, the error change rate ec, and the proportional adjustment term ΔKp, the fourth logic operation is used to obtain the first fuzzy output quantity up1. Figure 17 According to the error e and the error change rate ec, it can be known that the fuzzy grade of the proportional adjustment term ΔKp is NB, the fuzzy grade of ΔKp is NM. According to the membership relation of the universe of discourse of the error e, the error change rate ec, and the proportional adjustment term ΔKp, the fourth logic operation is used to obtain the first fuzzy output quantity up1.

[0261] The fourth logic operation further includes: taking the intersection of e and ec, which means taking the smaller value of the two values.

[0262] According to the intersection relation of e and ec, if the fuzzy grade of e is PB, e = {0, 0, 0, 0, 0, 0, 0, 0.5, 1} and the fuzzy grade of ec is PB, ec = {0, 0, 0, 0, 0, 0, 1}, according to the fuzzy control logic, the unactivated membership does not participate in the operation, and the corresponding operation result of taking the intersection of e and ec is 0.5. The fuzzy grade of ΔKp is NB, ΔKp = {1, 0, 0, 0, 0, 0, 0}, and the intersection of ΔKp and 0.5 is {0.5, 0, 0, 0, 0, 0, 0}.

[0263] If the fuzzy grade of e is PS and the fuzzy grade of ec is PB, at this time, e = {0, 0, 0, 0, 0, 0.5, 1, 0.5, 0}, ec = {0, 0, 0, 0, 0, 0, 1}, according to the fuzzy control logic, the unactivated membership does not participate in the operation, and the corresponding operation result of taking the intersection of e and ec is 0.5. The fuzzy grade of ΔKp is NM, ΔKp = {0, 1, 0, 0, 0, 0, 0}, and the intersection of ΔKp and 0.5 is {0.5, 0, 0, 0, 0, 0, 0}.

[0264] If the fuzzy grade of e is PS and the fuzzy grade of ec is PB, at this time, e = {0, 0, 0, 0, 0, 0.5, 1, 0.5, 0}, ec = {0, 0, 0, 0, 0, 0, 1}, according to the fuzzy control logic, the unactivated membership does not participate in the operation, and the corresponding operation result of taking the intersection of e and ec is 0.5. The fuzzy grade of ΔKp is NM, ΔKp = {0, 1, 0, 0, 0, 0, 0}, and the intersection of ΔKp and 0.5 is {0.5, 0, 0, 0, 0, 0, 0}. ​​​The intersection with 0.5 gives {0, 0.5, 0, 0, 0, 0, 0}.

[0265] Finally, the union of the two results is taken to obtain the first fuzzy output up1, i.e., {0.5, 0, 0, 0, 0, 0, 0} U {0, 0.5, 0, 0, 0, 0, 0} = {0.5, 0.5, 0, 0, 0, 0, 0}. The union U represents taking the larger value of the two values. The first fuzzy output up1 = {0.5, 0.5, 0, 0, 0, 0, 0}.

[0266] Since the first fuzzy output up1 obtained above is a fuzzy quantity, the control of the controlled object cannot be completed, and a proportional adjustment term △ is obtained through the inverse fuzzy control logic.

[0267] Using the barycentric method, an intermediate value Q is calculated according to the first fuzzy output up1, and an eighth logic operation is performed on the intermediate value Q and the maximum boundary value B1 of the proportional adjustment term △ to obtain the first fuzzy output up1.

[0268] up1 = {0.5, 0.5, 0, 0, 0, 0, 0}, and Q is calculated by the barycentric method as .

[0269] The fifth logic operation includes: △ = (B1 / c)·Q = (10 / 3)·(-2.5) = -8.33, i.e., △ = -8.33.

[0270] Similarly, the integral adjustment term △ and the differential adjustment term △ can be obtained through the above logic.

[0271] The proportional adjustment term △ , the integral adjustment term △ , and the differential adjustment term △ are brought into the PID control to obtain the output u. According to the positive or negative value of the output u, the energization states of the first electromagnetic valve and the second electromagnetic valve are controlled, and the pressure regulating device is controlled to increase, maintain, or decrease the pressure through the energization states of the first electromagnetic valve and the second electromagnetic valve.

[0272] In the present application, the error e and the error change rate ec are fuzzified, and the first fuzzy output up1, the second fuzzy output ui1, and the third fuzzy output ud1 are obtained after fuzzy reasoning. The proportional adjustment term △ The second fuzzy output ui1 is de-fuzzified to obtain the integral adjustment term Δ The third fuzzy output ud1 is de-fuzzified to obtain the differential adjustment term Δ The output u is calculated by PID control, and the first electromagnetic valve and the second electromagnetic valve are controlled to be powered on or powered off according to the value of the output u, so as to control the pressure regulating device to increase, decrease or maintain the pressure. The application avoids the complex modeling process and the influence of items such as friction that cannot be accurately modeled by using a fuzzy algorithm, does not depend on the accurate mathematical model of the controlled object, simplifies the system complexity, and makes the control of the auxiliary door opening module more simple.

[0273] In this embodiment, the PID control includes: the controller controls to calculate the output u (k) at this time after a preset interval, and u (k) is the value of the output u calculated after the kth counting.

[0274] The proportional constant , the integral constant and the differential constant are set in advance. The error e and the error change rate ec are calculated multiple times and counted.

[0275] The proportional constant is added to the proportional adjustment term Δ to obtain the proportional term , the integral constant is added to the integral adjustment term Δ to obtain the integral term , and the differential constant is added to the differential adjustment term Δ to obtain the differential term .

[0276] In this embodiment, the proportional term is multiplied by the error e of the kth time to obtain the proportional parameter. The integral term is multiplied by the sum of the errors e of the first time to the kth time to obtain the integral parameter. The differential term is multiplied by the difference between the error of the kth time and the error of the (k-1)th time to obtain the differential parameter.

[0277] The proportional constant , the integral constant and the differential constant are constants, and the proportional constant , the integral constant and the differential constant are set as fixed values, that is, when the output u is calculated, the proportional constant , the integral constant and the differential constant does not change with the error e.

[0278] the proportional constant , the integral constant and the differential constant The values of the proportional constant, the integral constant and the differential constant can be preset by the user in the controller.

[0279] In this embodiment, the formula of the PID control is as follows:

[0280]

[0281] k represents the calculation result of the kth time of the controller timing interrupt, k≥1, represents the value of the accumulation of all errors e from the 1st to the kth time of the computer, represents the error of the kth time, is a constant.

[0282] In this embodiment, the controller is configured to: after a preset time interval, perform operations according to the error e, the proportional term , the integral term and the differential term to obtain the value of the kth output u.

[0283] In this embodiment, the preset time interval can be set to 1 ms, that is, the controller timing interrupt and the calculation of u(k) are performed once every 1 ms.

[0284] When the output u is greater than 0, the first electromagnetic valve and the second electromagnetic valve are energized, and the pressure regulating device is pressurized.

[0285] The output u has a maximum value u1 and a minimum value u2, and it can be set that when u1>u>0, the controller controls the pressure regulating device to pressurize first and then maintain pressure. As the value of u becomes larger and larger, the proportion of pressurization becomes larger and the proportion of pressure maintenance becomes smaller. That is, the larger the value of u, the larger the proportion of pressurization and the smaller the proportion of pressure maintenance. The pressurization proportion and the pressure maintenance proportion can be represented by the pressurization time and the pressure maintenance time. When u=u1, the controller controls the pressure regulating device to be in a pressurization state all the time.

[0286] When the output u is equal to 0, the first electromagnetic valve is de-energized and the second electromagnetic valve is energized, and the pressure regulating device is pressurized. It can be set that when the output u is approximately equal to 0, it is considered that the output u is equal to 0 at this time.

[0287] When the output u is less than 0, the first electromagnetic valve and the second electromagnetic valve are de-energized, and the pressure regulating device is depressurized.

[0288] It can be provided that when u2

[0289] The proportion range of the pressure reduction proportion and the pressure maintaining proportion can be self-defined, or the pressure reduction proportion and the pressure maintaining proportion can be controlled to change uniformly through a linear function.

[0290] In some embodiments of the present application, when the difference between the pilot pressure detected by the first air pressure sensor and the output pressure detected by the second air pressure sensor is greater than a preset difference, the controller prompts that the relay valve is damaged and needs to be replaced or repaired in time.

[0291] In some embodiments of the present application, when the interaction force F0 is equal to 0, it indicates that the door body has been opened at this time, or the change range of F0 is less than or equal to F 定 , which indicates that the pulling force does not meet the requirements at this time, representing that the auxiliary door opening module is not needed to open the door at this time, and the door opening device needs to be cleared to 0 at this time, i.e., the door state flag is equal to 0, which represents that the door does not need to be opened at this time.

[0292] When the change range of F0 is greater than F 定 , it indicates that the auxiliary door opening module needs to be controlled to open the door at this time, and the door opening device needs to be set to 1 at this time.

[0293] The auxiliary door opening module is in a pressure reduction state when the door does not need to be opened, and the PID control is started to control the output force to meet the preset interaction force F2 when the door needs to be opened.

[0294] In some embodiments of the present application, the clothes dryer adopts a single-chip microcomputer as hardware, and the single-chip microcomputer interacts with a WIFI module through a UART serial port communication, so as to realize the bidirectional communication between the mobile phone terminal and the single-chip microcomputer. When the controller detects a relay valve fault, the controller transmits the information of the relay valve fault to the cloud and the mobile phone terminal through the WIFI module, so as to notify the user.

[0295] The controller can also transmit the state information of the door body opening or closing to the cloud and the mobile phone terminal through the WIFI module, so as to facilitate the user to check.

[0296] The user can issue a door opening flag through the mobile phone terminal software, transmit the door opening information to the controller through the cloud and the WIFI module, and control the automatic opening of the door body through the controller.

[0297] The IO output of the single-chip microcomputer is realized through the GPIO port, and then the opening and closing of the first electromagnetic valve and the second electromagnetic valve are controlled.

[0298] The application detects the pilot pressure between the relay valve pilot port and the pressure regulating device through the first air pressure sensor, converts the analog signal of the pilot pressure collected by the first air pressure sensor into a digital signal through an analog-digital converter, and then calculates the error e.

[0299] The output pressure between the air outlet of the relay valve and the pressure channel is detected through the second air pressure sensor, the analog signal of the output pressure collected by the second air pressure sensor is converted into a digital signal through an analog-digital converter, and then the error e is calculated.

[0300] The application detects the interaction force F0 between the door body and the box through the pressure sensor, and converts the interaction force F0 from an analog signal to a digital signal through an analog-digital converter.

[0301] The application combines fuzzy control logic with PID control, which can not only exert the advantages of fuzzy algorithm in nonlinear, time-varying and parameter uncertain systems, but also has the control advantages of high precision of PID control algorithm, ensuring the fast, accurate and stable output of the opening force of the auxiliary door opening module

[0302] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the application, and are not limited thereto; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the application.

[0303] In order to facilitate explanation, the above description has been made in combination with specific embodiments. However, the above exemplary discussion is not intended to exhaust or limit the embodiments to the specific forms disclosed above. Various modifications and variations can be derived according to the above teachings. The selection and description of the above embodiments are to better explain the principles and practical applications, so that those skilled in the art can better use the embodiments and various different modified embodiments suitable for specific use considerations.

Claims

1. A clothes dryer characterized by, The dryer comprises: a cabinet including a drop opening on a front side of the cabinet; a drying drum arranged in the cabinet; a door connected to the cabinet and used to open or close the drop opening; a door lock connected to the cabinet, the door lock locking the door to restrict the door from opening the drop opening or the door lock being unlocked with the door to allow the door to open the drop opening; an auxiliary door opening module arranged in the cabinet and used to apply air thrust to the door to unlock the door with the door lock; the auxiliary door opening module comprises: a power source used to provide compressed air; a pressure reducing device used to reduce the pressure of air flowing through the pressure reducing device, an air inlet of the pressure reducing device being in communication with an air outlet of the power source; the pressure reducing device is a pressure reducing valve; a pressure regulating device used to regulate the pressure of air, an air inlet of the pressure regulating device being in communication with an air outlet of the pressure reducing device, the pressure regulating device outputting a pilot pressure; a pressure channel used to transmit air; a relay valve, an air inlet of the relay valve being in communication with the air outlet of the power source and an air outlet of the relay valve being in communication with an inlet of the pressure channel; a pilot port of the relay valve being connected to the pressure regulating device; a first air pressure sensor used to detect the pressure value of air between the pilot port of the relay valve and the pressure regulating device and record the detected pressure value as a pilot pressure; a second air pressure sensor used to detect the pressure value of air between the air outlet of the relay valve and the pressure channel and record the detected pressure value as an output pressure; the pressure regulating device comprises: a first electromagnetic valve, an inlet of the first electromagnetic valve being connected to an outlet of the pressure reducing valve; a second electromagnetic valve, an inlet of the second electromagnetic valve being connected to an outlet of the first electromagnetic valve and the pilot port of the relay valve; a controller configured to: obtain an actual pressure value F2' through the pilot pressure or the output pressure; define the difference between a preset interaction force F2 and the actual pressure value F2' as an error e; define the error change rate ec measured after a preset interval; obtain a first fuzzy output quantity up1, a second fuzzy output quantity ui1 and a third fuzzy output quantity ud1 through fuzzy control logic according to the error e and the error change rate ec; According to the first fuzzy output variable up1 through the inverse fuzzy control logic to obtain the proportional adjustment term Δ ; The integral adjustment term Δ is obtained by inverse fuzzy control logic according to the second fuzzy output ui1 ; The third fuzzy output ud1 is passed through the inverse fuzzy control logic to obtain the derivative adjustment term Δud1 ; The proportional adjustment term Δ , the integral adjustment term Δ , and the differential adjustment term Δ are substituted into the PID control to obtain the output u. control the energization state of the first electromagnetic valve and the second electromagnetic valve according to the positive or negative value of the output quantity u, and control the pressure increasing, pressure maintaining or pressure reducing of the pressure regulating device through the energization state of the first electromagnetic valve and the second electromagnetic valve.

2. The dryer according to claim 1, wherein: the basic domain of the error e is defined as [-E, E], wherein E is the maximum boundary value of the error e, and the domain of the input fuzzy subset is obtained through first logical operation according to the maximum boundary value E of the error e and the error e.

3. The dryer according to claim 2, wherein: the domain of the input fuzzy subset is defined as an integer greater than or equal to -a and less than or equal to a; the error fuzzy grade corresponding to the error e is obtained according to the input fuzzy subset corresponding to the error e.

4. The dryer according to claim 2, wherein: The basic domain of the error change rate ec is defined as [-A1, A1], wherein A1 is the maximum boundary value of the error change rate ec, and the domain of the error change rate fuzzy subset is obtained by the second logical operation of the maximum boundary value A1 of the error change rate ec and the error change rate ec.

5. The clothes dryer according to claim 4, wherein The domain of the error change rate fuzzy subset is defined as an integer greater than or equal to -b and less than or equal to b; The error change rate fuzzy grade corresponding to the error change rate ec is obtained according to the error change rate fuzzy subset obtained from the error change rate ec.

6. The clothes dryer according to claim 4, wherein The proportional adjustment term Δ at this time is determined based on the error blur level corresponding to the error e and the error change rate blur level corresponding to the error change rate ec The blur level of the integral adjustment term Δ The blur level of the differential adjustment term Δ The blur level of the differential adjustment term Δ Define the proportional adjustment term △ The membership relationship between the fuzzy hierarchy and the domain of the proportional fuzzy subset is defined, and the integral adjustment term Δ is defined. The membership relationship between the fuzzy hierarchy and the universe of discourse of the integral fuzzy subset is defined, and the differential adjustment term Δ is defined. The membership relationship between the fuzzy hierarchy and the domain of the differential fuzzy subset; The membership relations of the error fuzzy grade and the domain of the input fuzzy subset, and the membership relations of the error change rate fuzzy grade and the domain of the error change rate fuzzy subset are defined. According to the error e, the error change rate ec, the proportional adjustment term Δ The corresponding membership degree relation is obtained through the fuzzy control logic to obtain the first fuzzy output quantity up1; According to the error e, the error change rate ec and the integral adjustment term Δ The corresponding membership relationship is obtained through the fuzzy control logic to obtain the second fuzzy output ui1; According to the error e, the error change rate ec and the differential adjustment term Δ The corresponding membership relationship is obtained by fuzzy control logic to obtain the third fuzzy output quantity ud1.

7. The clothes dryer according to claim 1, wherein The PID control includes: presetting a proportional constant , an integral constant , and a differential constant ; The error e and the error change rate ec are calculated multiple times and counted; by the proportional constant with the proportional adjustment term Δ are added to obtain the proportional term by the integral constant with the integral adjustment term Δ are added to obtain the integral term by the derivative constant with the derivative adjustment term Δ are added to obtain the derivative term .

8. The clothes dryer according to claim 7, wherein by the proportional term multiplied by the error e of the kth time to obtain the proportional parameter; by the integral term multiplied by the sum of the errors e1 to ek to obtain the integral parameter; by the differential term multiplying the difference between the error of the kth time and the error of the (k-1)th time to obtain a differential parameter; The value of the kth output u(k) is obtained by adding the proportional parameter, the integral parameter and the differential parameter.

9. The clothes dryer according to claim 7 or 8, wherein When the output u(k) is greater than 0, the first electromagnetic valve and the second electromagnetic valve are energized, and the pressure regulating device is pressurized; When the output u(k) is equal to 0, the first electromagnetic valve is de-energized and the second electromagnetic valve is energized, and the pressure regulating device is pressure-maintained; When the output u(k) is less than 0, the first electromagnetic valve and the second electromagnetic valve are de-energized, and the pressure regulating device is depressurized.

10. A clothes dryer characterized by comprising: It comprises: a cabinet, comprising a drop port arranged on the front side of the cabinet; a drying drum arranged in the cabinet; a door body connected with the cabinet and used for opening or closing the drop port; a door lock connected with the cabinet, the door lock locking the door body to restrict the door body from opening the drop port, or the door lock being unlocked with the door body to allow the door body to open the drop port; an auxiliary door opening module arranged in the cabinet and used for applying air thrust to the door body to unlock the door body with the door lock; the auxiliary door opening module comprises: a power source for providing compressed air; a pressure reducing device for reducing the pressure of air flowing through the pressure reducing device, the air inlet of the pressure reducing device being in communication with the air outlet of the power source; the pressure reducing device is a pressure reducing valve; a pressure regulating device for regulating air pressure, the air inlet of the pressure regulating device being in communication with the air outlet of the pressure reducing device, and the pressure regulating device outputting pilot pressure; a pressure channel for transmitting air; a relay valve, the air inlet of the relay valve being in communication with the air outlet of the power source and the air outlet of the relay valve being in communication with the inlet of the pressure channel; the pilot port of the relay valve being connected with the pressure regulating device; a first air pressure sensor for detecting the pressure value of air between the pilot port of the relay valve and the pressure regulating device and recording the detected pressure value as pilot pressure; a second air pressure sensor for detecting the pressure value of air between the air outlet of the relay valve and the pressure channel and recording the detected pressure value as output pressure; The pressure regulating device comprises: a first electromagnetic valve, an inlet of which is connected with an outlet of the pressure reducing valve; a second electromagnetic valve, an inlet of which is connected with an outlet of the first electromagnetic valve and a pilot port of a relay valve; a controller configured to: obtain an actual pressure value F2' through the pilot pressure or the output pressure; define a difference between a preset interaction force F2 and the actual pressure value F2' as an error e; define a change rate of the error e measured after a preset interval as ec; According to the error e and the error change rate ec, the proportional adjustment term ΔP , the integral adjustment term ΔI , and the differential adjustment term ΔD are obtained in sequence through the fuzzy control logic and the inverse fuzzy control logic, respectively. The proportional adjustment term Δ The integral adjustment term Δ The differential adjustment term Δ is substituted into the PID control to obtain the output u; control energization states of the first electromagnetic valve and the second electromagnetic valve according to a value of an output quantity u, and control the pressure regulating device to increase pressure, maintain pressure or reduce pressure through the energization states of the first electromagnetic valve and the second electromagnetic valve.

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