Washing machine spin control method, apparatus, electronic device, and storage medium

Abstract

This application discloses a washing machine spin-drying control method, device, electronic equipment, and storage medium, belonging to the field of washing machine technology. The method includes: after the washing machine enters the spin-drying state, determining the relative eccentricity of the load in the inner tub; when the relative eccentricity is greater than a first threshold, performing a leveling operation on the load; after the leveling operation is completed, controlling the washing machine to enter the spin-drying state; when the relative eccentricity is less than or equal to the first threshold, controlling the inner tub to accelerate to a target speed. Thus, by first determining the relative eccentricity of the load, and then selecting to perform a leveling operation followed by spin-drying or directly accelerating the spin-drying based on the comparison result between the relative eccentricity and the first threshold, high-speed rotation under large eccentricity conditions can be adaptively avoided, thereby effectively reducing spin-drying vibration and noise, improving spin-drying efficiency, and extending the overall machine lifespan.

Description

Technical Field

[0001] This application relates to the field of washing machine technology, specifically to a washing machine spin-drying control method, apparatus, electronic device, and computer-readable storage medium. Background Technology

[0002] Existing washing machines typically use a fixed spin-drying program during the spin-drying stage. When clothes are unevenly distributed, high-speed spin-drying can easily generate severe vibrations and noise, and even impact the machine body, thereby affecting user comfort and accelerating wear and tear on the entire machine. Summary of the Invention

[0003] This application provides a washing machine spin-drying control method, device, electronic device, and computer-readable storage medium, which can intelligently control the spin-drying process based on the relative eccentricity of the load in the inner drum, thereby effectively reducing vibration noise and improving the service life of the whole machine.

[0004] In a first aspect, embodiments of this application provide a washing machine spin-drying control method, including: After the washing machine enters the spin-drying state, the relative eccentricity of the load in the inner tub is determined; When the relative eccentricity is greater than the first threshold, the load is leveled, and after the leveling operation is completed, the washing machine is controlled to enter the spin-drying state. When the relative eccentricity is less than or equal to the first threshold, the inner barrel is controlled to accelerate to the target speed.

[0005] In one embodiment, determining the relative eccentricity of the load in the inner tub includes: The inner tub is controlled to accelerate to a first speed and maintained for a first preset time period, and a first moment of inertia is determined based on the motor speed of the washing machine motor during the first preset time period. The inner tub is controlled to decelerate from the first speed to the second speed according to the target motor torque, and the deceleration time from the first speed to the second speed is obtained. Based on the deceleration time, the second moment of inertia is determined. The ratio of the first moment of inertia to the second moment of inertia is determined as the relative eccentricity.

[0006] In one embodiment, after determining the second moment of inertia based on the deceleration time, the method further includes: When the number of data points for the second moment of inertia is less than a preset number or the fluctuation range of the second moment of inertia is greater than a second threshold, the inner tub is controlled to accelerate to the first speed, and the step of controlling the inner tub to decelerate from the first speed to the second speed according to the target motor torque is executed. When the number of data points for the second moment of inertia is greater than or equal to the preset number and the fluctuation range of the second moment of inertia is less than or equal to the second threshold, the step of determining the ratio of the first moment of inertia to the second moment of inertia as the relative eccentricity is executed.

[0007] In one embodiment, controlling the inner tub to accelerate to the target speed includes: When the inner tub's rotational speed is less than the target speed, the inner tub is controlled to accelerate. After the inner tub's rotational speed increment reaches the target rotational speed increment, the inner tub is controlled to maintain the current inner tub rotational speed for a second preset time period. Based on the motor speed of the washing machine's motor during the second preset time period, a third moment of inertia is determined. Determine the difference in rotational inertia between the historical rotational inertia and the third rotational inertia; the historical rotational inertia is determined based on the motor speed of the motor in the previous second preset time period; When the difference in rotational inertia is greater than the third threshold, the step of controlling the inner tub to maintain the current inner tub rotational speed for a second preset time period is executed. When the difference in rotational inertia is less than or equal to the third threshold, the step of controlling the acceleration of the inner tub is executed until the rotational speed of the inner tub is greater than or equal to the target speed.

[0008] In one embodiment, the load leveling operation includes: Control the inner tub to stop rotating and allow water to refill; The sum of the historical leveling time and the target time is determined as the target leveling time; the historical leveling time is the leveling time when the step of leveling the load was last executed. Based on the target horizontal length, the inner barrel is controlled to rotate alternately in a preset forward and reverse rhythm.

[0009] In one embodiment, before determining the sum of the historical average length and the target duration as the target average length, the method further includes: The target duration is determined based on the relative eccentricity; the target duration is proportional to the relative eccentricity.

[0010] In one embodiment, controlling the washing machine to enter the spin-drying state includes: Control the washing machine to drain water and obtain the current water level of the inner tub; When the current water level is less than or equal to the target water level, the inner tub is controlled to rotate so that the washing machine enters the spin-drying state.

[0011] Secondly, embodiments of this application provide a washing machine spin-drying control device, the device comprising: The first determining module is used to determine the relative eccentricity of the load in the inner tub after the washing machine enters the spin-drying state. The first control module is used to perform a leveling operation on the load when the relative eccentricity is greater than a first threshold, and to control the washing machine to enter the spin-drying state after the leveling operation is completed. The second control module is used to control the inner barrel to accelerate to the target speed when the relative eccentricity is less than or equal to the first threshold.

[0012] In one embodiment, the first determining module includes: The first determining submodule is used to control the inner tub to accelerate to a first speed and maintain it for a first preset time period, and to determine a first moment of inertia based on the motor speed of the washing machine motor during the first preset time period. The second determining submodule is used to control the inner tub to decelerate from the first speed to the second speed according to the target motor torque, and to obtain the deceleration time from the first speed to the second speed, and to determine the second moment of inertia based on the deceleration time; The third determining submodule is used to determine the ratio of the first moment of inertia to the second moment of inertia as the relative eccentricity.

[0013] In one embodiment, the washing machine spin-drying control device further includes: The third control module is used to control the inner tub to accelerate to the first speed and execute the step of controlling the inner tub to decelerate from the first speed to the second speed according to the target motor torque when the number of data of the second moment of inertia is less than the preset number or the fluctuation amplitude of the second moment of inertia is greater than the second threshold. The fourth control module is used to execute the step of determining the ratio of the first rotational inertia and the second rotational inertia as the relative eccentricity when the number of data points of the second rotational inertia is greater than or equal to the preset number and the fluctuation amplitude of the second rotational inertia is less than or equal to the second threshold.

[0014] In one embodiment, the second control module includes: The fourth determining submodule is used to control the inner tub to accelerate when the inner tub rotation speed is less than the target speed, and to control the inner tub to maintain the current inner tub rotation speed for a second preset time period after the inner tub rotation speed increment reaches the target rotation speed increment, and to determine the third moment of inertia based on the motor speed of the washing machine motor during the second preset time period. The fifth determining submodule is used to determine the difference in rotational inertia between the historical rotational inertia and the third rotational inertia; the historical rotational inertia is determined based on the motor speed of the motor in the previous second preset time period; The first control submodule is used to execute the step of controlling the inner tub to maintain the current inner tub rotation speed for a second preset time period when the difference in rotational inertia is greater than the third threshold. The second control submodule is used to execute the step of controlling the inner tub to accelerate when the difference in rotational inertia is less than or equal to the third threshold, until the rotational speed of the inner tub is greater than or equal to the target speed.

[0015] In one embodiment, the first control module includes: The third control submodule is used to control the inner tub to stop rotating and refill with water; The sixth determining submodule is used to determine the sum of the historical leveling length and the target time as the target leveling length; the historical leveling length is the leveling length when the step of leveling the load was last executed. The fourth control submodule is used to control the inner barrel to rotate alternately according to a preset forward and reverse rhythm based on the target horizontal length.

[0016] In one embodiment, the washing machine spin-drying control device further includes: The fifth control module is used to control the washing machine to drain water and to obtain the current water level of the inner tub; The sixth control module is used to control the inner tub to rotate when the current water level is less than or equal to the target water level, so that the washing machine enters the spin-drying state.

[0017] Thirdly, embodiments of this application also provide an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps in the washing machine spin-drying control method described above.

[0018] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in the washing machine spin-drying control method described above.

[0019] Fifthly, embodiments of this application also provide a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various optional implementations described in the embodiments of this application.

[0020] In summary, in this embodiment, after the washing machine enters the spin-drying state, the relative eccentricity of the load in the inner tub can be determined. When the relative eccentricity is greater than a first threshold, a leveling operation is performed on the load. After the leveling operation is completed, the washing machine is controlled to enter the spin-drying state. When the relative eccentricity is less than or equal to the first threshold, the inner tub is controlled to accelerate to the target speed. Thus, by first determining the relative eccentricity of the load, and then selecting to perform a leveling operation before spin-drying or directly accelerate spin-drying based on the comparison between the relative eccentricity and the first threshold, high-speed rotation under large eccentricity conditions can be adaptively avoided, thereby effectively reducing spin-drying vibration and noise, improving spin-drying efficiency, and extending the overall machine lifespan. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic flowchart of a washing machine spin-drying control method provided in an embodiment of this application; Figure 2 This is a schematic diagram of a specific embodiment of determining relative eccentricity provided in this application; Figure 3 This is a schematic diagram of a specific embodiment of the control of inner barrel acceleration provided in this application; Figure 4 This is a schematic diagram of a specific embodiment of the washing machine spin-drying control method provided in this application; Figure 5 This is a schematic diagram of another specific embodiment of determining the relative eccentricity provided in one embodiment of this application; Figure 6 This is a schematic diagram of another specific embodiment of the control of inner barrel acceleration provided in one embodiment of this application; Figure 7 This is a schematic diagram of the structure of a washing machine spin-drying control device provided in one embodiment of this application; Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0023] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0024] It's important to note that after washing and rinsing, the washing machine needs to enter the spin-drying stage to remove moisture from the clothes. During spin-drying, the high-speed rotation of the inner drum generates centrifugal force, causing water to be ejected from the clothes. However, uneven distribution of clothes within the drum is common, leading to an unbalanced load on the inner drum. When this unbalance is significant, the high-speed rotation generates a huge unbalanced centrifugal force, causing severe vibration and impact noise throughout the machine. In severe cases, it can even cause the outer drum to collide with the machine body (commonly known as "drum impact"), affecting the user experience and potentially damaging structural components and shortening the product's lifespan.

[0025] Most related technologies employ fixed program flows, such as setting fixed acceleration curves and fixed spin-drying speeds. This control method cannot detect the actual eccentricity of the current load. When the eccentricity is large, it cannot effectively identify and actively intervene, directly entering high-speed spin-drying, resulting in excessive vibration and noise. Although some high-end models have eccentricity detection functions, they are usually only used as safety protection (such as stopping spin-drying and sounding an alarm when excessive eccentricity is detected), lacking an active, adaptive adjustment mechanism.

[0026] Furthermore, related technologies typically do not consider the impact of eccentricity on dehydration efficiency. Under eccentric conditions, the centrifugal force is unevenly distributed, making it difficult to reduce the moisture content of clothing in some areas. This results in a higher overall residual moisture content after dehydration, increasing the burden on subsequent drying or air-drying processes.

[0027] To address the problems of high noise and low efficiency in washing machine spin cycles, this application aims to provide a washing machine spin cycle control method. By determining the relative eccentricity of the load within the inner drum after the washing machine enters the spin cycle, the method can level the load when the relative eccentricity exceeds a first threshold. After leveling, the washing machine is controlled to enter the spin cycle again. When the relative eccentricity is less than or equal to the first threshold, the inner drum is controlled to accelerate to the target speed. This adaptively avoids high-speed rotation under large eccentricity conditions, effectively reducing spin cycle vibration and noise, improving spin cycle efficiency, and extending the overall machine lifespan.

[0028] The following sections provide detailed descriptions of each example. It should be noted that the order in which the embodiments are described is not intended to limit the priority of the embodiments.

[0029] Figure 1The illustration shows a schematic flowchart of a washing machine spin-drying control method according to an embodiment of this application. The executing entity of this washing machine spin-drying control method can be a washing machine spin-drying control device, which can be integrated into any electronic device with data processing, network communication, and program execution functions. This electronic device can be a server or a terminal, etc.

[0030] The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, network acceleration services (Content Delivery Network, CDN), as well as big data and artificial intelligence platforms.

[0031] The terminal can be a washing machine, mobile phone, tablet computer, laptop computer, desktop computer, smart home device, wearable smart device, or in-vehicle computer, but is not limited to these. The terminal and server can be connected directly or indirectly through wired or wireless communication, which is not limited herein.

[0032] In this embodiment, the description will be from the perspective of the washing machine spin-drying control device, which can be integrated into a server or terminal. To facilitate the explanation of the washing machine spin-drying control method of this application, the following will describe the washing machine spin-drying control device integrated into the washing machine, that is, the washing machine will be used as the execution subject for detailed explanation.

[0033] Reference Figure 1 The diagram shows a flow chart of a washing machine spin-drying control method according to this application. The method may specifically include steps S101 to S103, as follows: S101: After the washing machine enters the spin-drying state, determine the relative eccentricity of the load in the inner drum.

[0034] In this embodiment, after completing the washing or rinsing cycle, the washing machine will drain water. Once drainage is detected as complete, the washing machine will enter the spin-drying state. Specifically, the washing machine can enter the spin-drying state when the inner drum's rotational speed exceeds a target threshold. The target threshold can be set to 0 rpm or other lower speeds, such as 5 rpm or 10 rpm.

[0035] In this embodiment, an eccentricity detection process is performed before the washing machine begins its high-speed spin-drying process. Specifically, the washing machine controls the inner tub to rotate at a low speed (e.g., 30-50 rpm) at a constant speed, and collects target physical parameters in real time through sensors. Based on these target physical parameters, the relative eccentricity of the load in the inner tub is determined. The load refers to the objects in the inner tub, including clothes and washing water.

[0036] In this embodiment, the target physical parameter is a physical parameter that can reflect the uniformity of load distribution. The target physical parameter may include one or more of the following: the motor speed fluctuation value, the motor drive current fluctuation value, and the acceleration fluctuation value detected by the vibration sensor installed on the outer barrel or box.

[0037] In this embodiment, because load eccentricity generates a periodic unbalanced force in each rotation cycle, the target physical parameters exhibit a fluctuation component with the same frequency as the rotation frequency. The washing machine can filter and perform spectrum analysis on the acquired signal to extract the amplitude of the fluctuation component. Then, based on the amplitude and a pre-calibrated first mapping relationship, the relative eccentricity is determined. This first mapping relationship is used to characterize the correspondence between the amplitude and the relative eccentricity.

[0038] In this embodiment, relative eccentricity is a quantitative index used to characterize the degree of deviation of the load's mass distribution from the rotation axis of the inner tub. Relative eccentricity is a dimensionless parameter, and its value is positively correlated with the degree of imbalance caused by load eccentricity: the larger the relative eccentricity, the more uneven the load distribution, and the greater the unbalanced centrifugal force generated during rotation; the smaller the relative eccentricity, the closer the load distribution is to uniformity.

[0039] In this embodiment, after determining the relative eccentricity, the washing machine compares the calculated relative eccentricity with a preset first threshold. The first threshold can be an empirical value obtained through experimental calibration. When the relative eccentricity is less than or equal to the first threshold, the vibration and noise generated by the inner tub being directly accelerated to the target spin-drying speed under this eccentric state are acceptable and will not damage the washing machine structure. When the eccentricity is higher than the threshold, if high-speed spin-drying is performed directly, there is a significant risk of tub collision or excessive noise.

[0040] S102: When the relative eccentricity is greater than the first threshold, the load is leveled. After the leveling operation is completed, the washing machine is controlled to enter the spin-drying state.

[0041] In this embodiment, if the determination result is that the relative eccentricity is greater than the first threshold, that is, the eccentricity is too large, the washing machine will temporarily not enter the high-speed spin-drying stage, but will start the leveling program to level the load. This leveling operation is used to make the load evenly distributed in the inner drum.

[0042] In this embodiment, the leveling operation can be performed as follows: The inner tub is stopped from rotating, and then a certain amount of water is injected into the tub through the water inlet valve, causing the clothes to float or loosen again. Subsequently, the inner tub is controlled to rotate alternately forward and reverse at a low speed, pausing after each certain angle. Utilizing the friction between the clothes and the tub wall, as well as gravity, the clothes gathered on one side are gradually dispersed and evenly distributed around the circumference of the inner tub. This process lasts for a preset period of time (e.g., 30 seconds to 2 minutes). After leveling is complete, the washing machine performs a drainage operation again, and then the washing machine is controlled to re-enter the spin-drying state. Through the above leveling and re-spin-drying, the actual eccentricity can be effectively reduced, avoiding severe vibrations under large eccentricity conditions.

[0043] S103: When the relative eccentricity is less than or equal to the first threshold, control the inner barrel to accelerate to the target speed.

[0044] In this embodiment, if the determination result is that the relative eccentricity is less than or equal to the first threshold, i.e., the eccentricity is within an acceptable range, the washing machine does not need to perform leveling intervention and directly controls the inner tub to gradually increase from the current speed to the target speed. During acceleration, the motor driver outputs the corresponding drive torque according to the given speed command, so that the inner tub can smoothly increase its speed.

[0045] In this embodiment, after detecting that the inner drum speed has reached the target speed, the machine will maintain that target speed for a preset spin-drying time (e.g., 5-10 minutes) to allow the water in the clothes to be fully expelled under centrifugal force. After the spin-drying time is completed, the washing machine controls the inner drum to decelerate and stop, completing the entire spin-drying process.

[0046] By adopting the technical solution of this application embodiment, by first determining the relative eccentricity of the inner drum load, and then selectively performing dehydration after leveling or directly accelerating dehydration based on the comparison result of the relative eccentricity and the first threshold, it is possible to adaptively avoid high-speed rotation under large eccentricity, thereby effectively reducing dehydration vibration and noise, while avoiding unnecessary leveling time and energy consumption, and improving dehydration efficiency and the service life of the whole machine.

[0047] In one feasible implementation, refer to Figure 2 The step of determining the relative eccentricity of the load in the inner barrel in S101 may specifically include steps S201~S203, as follows: S201: Control the inner tub to accelerate to a first speed and maintain it for a first preset time period, and determine the first moment of inertia based on the motor speed of the washing machine motor during the first preset time period.

[0048] In this embodiment, the first speed is a preset low speed value, such as 60~120 rpm. The first speed is used to ensure that the inner tub rotates smoothly at this speed and does not vibrate violently due to eccentricity.

[0049] In this embodiment, the washing machine uses a drive motor to accelerate the inner tub from a stationary or low-speed state to a preset first speed (e.g., 100 rpm). Once the first speed is reached, the washing machine maintains this speed and starts a timer for a first preset time period (e.g., 5 seconds). During this first preset time period, the washing machine collects the motor speed in real time at a high sampling frequency (e.g., once every 10 milliseconds) to obtain a set of motor speed sequences. By analyzing the motor speed sequences, a first moment of inertia is obtained.

[0050] In practical implementation, because load eccentricity causes several speed fluctuations within each rotation cycle—for example, two changes in resistance torque within one cycle may cause two speed fluctuations—the washing machine can digitally filter the motor speed sequence to extract fluctuation feature values ​​related to the rotational frequency and its harmonics. Then, based on these fluctuation feature values, the first moment of inertia is determined. The fluctuation feature values ​​characterize the degree of motor speed fluctuation. These fluctuation feature values ​​may include at least one of the following: the peak value of the motor speed fluctuation, the speed difference between the peak and trough values, the variance of the motor speed, and the standard deviation of the motor speed.

[0051] In this embodiment, the first moment of inertia can be determined based on the wave characteristic value and the preset second mapping relationship, wherein the second mapping relationship is used to characterize the correspondence between the wave characteristic value and the first moment of inertia.

[0052] In this embodiment, the fluctuation feature value can also be input into a preset first prediction model, and the first prediction model outputs a first moment of inertia. The first prediction model can be obtained based on multiple training samples, each training sample including the sample fluctuation feature value and the corresponding first moment of inertia label. Specifically, the first prediction model can be trained as follows: inputting the sample fluctuation feature value into a first model to be trained, outputting the first predicted moment of inertia through the first model to be trained, determining a target loss function value based on the first predicted moment of inertia and the first moment of inertia label, updating the first model to be trained based on the target loss function value, until a first training cutoff condition is met, thus obtaining the first prediction model.

[0053] In this embodiment, the first moment of inertia is the moment of inertia calculated based on the motor speed fluctuation during the constant-speed rotation phase. This first moment of inertia is not the total load moment of inertia, but rather a measure of the degree of influence of the eccentric load on the motor speed fluctuation. Specifically, when the load is eccentric, the eccentric mass will generate a periodic change in resistance torque in each rotation cycle, causing periodic fluctuations in the motor speed. The more severe the eccentricity, the greater the amplitude of the speed fluctuation, and the larger the calculated first moment of inertia.

[0054] S202: Control the inner tub to decelerate from the first speed to the second speed according to the target motor torque, and obtain the deceleration time from the first speed to the second speed. Based on the deceleration time, determine the second moment of inertia.

[0055] In this embodiment, the target motor torque refers to the constant electromagnetic braking torque (negative value) output by the motor driver during the deceleration phase. This target motor torque can be a pre-calibrated fixed value or a torque value determined based on the load weight.

[0056] It should be noted that "constant torque" control, rather than "constant acceleration" control, is used here. This means the motor outputs a constant reverse torque, causing the inner tub to decelerate differently under varying load inertia, resulting in different deceleration times. The magnitude of this target motor torque is typically determined through no-load testing to ensure a smooth deceleration process without causing excessive vibration.

[0057] In this embodiment, after detecting the first moment of inertia, the washing machine immediately switches the motor's operating mode from constant speed control to constant torque braking control. Specifically, the washing machine outputs a constant electromagnetic braking torque command (i.e., the target motor torque, for example -0.5 N·m) to the motor driver, causing the motor to generate a reverse drag force, and the inner tub begins to decelerate from the first speed. Simultaneously, a timer is started. When the inner tub's speed decreases to a preset second speed, the timer stops, and the deceleration time is recorded.

[0058] In this embodiment, the second speed is a preset value lower than the first speed, such as 30-50 rpm, and is used as the termination speed of the deceleration phase. Both the first and second speeds are fixed parameters and are pre-stored in the control unit of the washing machine.

[0059] In this embodiment, the step of determining the second moment of inertia based on the deceleration time may specifically include: dividing the product of the target braking torque and the deceleration time by the target speed change to obtain the second moment of inertia; wherein, the target braking torque is the sum of the target motor torque and the preset system friction torque, and the target speed change is determined based on the first speed and the second speed. Specifically, since the braking torque M total (Including the target motor torque and system friction torque) is approximately constant during deceleration. Based on the first speed V1 and the second speed V2, the velocity change Δω = (V1 - V2) × 2π / 60 is a known constant. According to the rotational law M... total =J2×α avg By combining the deceleration time t2, the average angular deceleration α can be calculated. avg =Δω / t2, so J2=M total ×t2 / Δω.

[0060] In this embodiment, the step of determining the second moment of inertia based on the deceleration time may specifically include: determining the second moment of inertia based on the deceleration time, and a pre-calibrated empty barrel moment of inertia and no-load deceleration time. Specifically, in the absence of knowledge of the system's friction torque, to avoid the need to precisely know M... total The absolute value can be obtained using the no-load calibration ratio method: Perform the same deceleration process under empty barrel conditions beforehand, and measure the no-load deceleration time t. empty Given the moment of inertia J of the empty bucket empty J empty =M total ·t empty / Δω, then J2=J under actual load empty ×(t2 / t empty This proportional method eliminates M. total The specific values ​​of Δω are simple to implement and the required accuracy is met.

[0061] In this embodiment, the second moment of inertia refers to the total moment of inertia of the load calculated based on the deceleration time. Unlike the first moment of inertia, the second moment of inertia reflects the overall inertia level of the load, including the combined contribution of the bucket's own inertia, the weight of the clothing, and its distribution. The second moment of inertia is sensitive to the total mass but relatively insensitive to the degree of eccentricity; that is, as long as the total mass is the same, whether the distribution is uniform or not has little impact on the second moment of inertia.

[0062] S203: The ratio of the first moment of inertia to the second moment of inertia is determined as the relative eccentricity.

[0063] In this embodiment, after calculating the first moment of inertia J1 and the second moment of inertia J2, the washing machine calculates the ratio x = J1 / J2 and uses this ratio as the relative eccentricity of the current load. This relative eccentricity is a dimensionless number. The relative eccentricity eliminates the influence of the total load mass and solely characterizes the relative magnitude of the eccentricity. When the load distribution is uniform, J1 is close to zero (or a very small reference value), and the relative eccentricity x is close to 0; when the eccentricity is severe, J1 increases significantly, while J2 does not change much, and the relative eccentricity x increases accordingly. By comparing the relative eccentricity x with a first threshold, it can be determined whether the eccentricity is acceptable.

[0064] In this embodiment, two different physical mechanisms are used to extract the first and second moments of inertia of the load, respectively. The ratio of these two moments eliminates the influence of mass, resulting in a more accurate relative eccentricity. During the constant speed phase, rotational speed fluctuations are mainly caused by the periodic resistance torque resulting from the eccentric mass, and the fluctuation amplitude is proportional to the eccentricity and the eccentric mass. Therefore, J1 is sensitive to eccentricity but not to the total mass (if the total mass increases uniformly, the fluctuation does not increase significantly). During the constant torque deceleration phase, the deceleration time is determined by the total moment of inertia, which includes the inertia of the bucket, the mass of the clothing, and the additional inertia caused by the distribution. However, the contribution of uneven distribution to the total inertia is relatively small (the eccentric mass moving away from the axis does increase J2, but this increase is usually smaller than J1 and can be further eliminated by the ratio). The relative eccentricity is equivalent to the proportion of the eccentric component in the total inertia; a larger proportion indicates a more severe eccentricity.

[0065] In this embodiment, the first moment of inertia sensitive to eccentricity is calculated by the speed fluctuation during the constant speed segment, and the second moment of inertia of the total load is calculated by the time of the constant torque deceleration segment. The ratio of the two is used as the relative eccentricity, which can effectively eliminate the interference of the total load mass on the eccentricity judgment and achieve accurate quantification of the degree of eccentricity. This method does not require additional hardware costs and can be completed using only the speed feedback of the motor itself. It has the advantages of simple implementation and strong robustness, and provides a reliable decision basis for subsequent adaptive dehydration control.

[0066] In one feasible implementation, after determining the second moment of inertia based on the deceleration time, the washing machine spin-drying control method may further include: when the number of data points for the second moment of inertia is less than a preset number or the fluctuation range of the second moment of inertia is greater than a second threshold, controlling the inner tub to accelerate to a first speed and executing the step of controlling the inner tub to decelerate from the first speed to the second speed according to the target motor torque; when the number of data points for the second moment of inertia is greater than or equal to a preset number and the fluctuation range of the second moment of inertia is less than or equal to the second threshold, executing the step of determining the ratio of the first moment of inertia and the second moment of inertia as a relative eccentricity.

[0067] In this embodiment, the number of second moment of inertia data refers to the number of second moment of inertia values ​​corresponding to the number of effective decelerations successfully collected and recorded during the deceleration measurement process. Each time a complete deceleration process from the first speed V1 to the second speed V2 is performed, a second moment of inertia value J2 can be calculated. This number of data points is used to measure whether a sufficient number of samples have been accumulated for statistical judgment.

[0068] In this embodiment, the preset number is a pre-defined integer threshold, such as 2, 3, or other numbers, indicating the minimum number of valid second moment of inertia samples that need to be collected. This preset number can be determined comprehensively based on the system's requirements for measurement stability and the actual control cycle length. A larger preset number results in more reliable judgment results, but it will prolong the overall detection time.

[0069] In this embodiment, after each deceleration measurement and calculation of the second moment of inertia, the washing machine does not immediately calculate the ratio of the first moment of inertia to the second moment of inertia, but instead stores it in a circular buffer. Subsequently, the washing machine checks whether the following two conditions are met: Condition 1: Is the number of second moment of inertia data collected so far less than the preset number? Condition 2: If the number of data has reached or exceeded the preset number, then further calculate the fluctuation range (e.g., range or standard deviation) of these second moments of inertia, and determine whether the fluctuation range is greater than the second threshold.

[0070] If either of the above two conditions is true (i.e., insufficient data, or sufficient data but excessive fluctuations), the washing machine determines that the current measurement result is unreliable and needs to be measured again. That is, it controls the inner tub to accelerate to the first speed and re-executes the step of controlling the inner tub to decelerate from the first speed to the second speed according to the target motor torque. If both conditions are false (i.e., sufficient data and fluctuations within the allowable range), the measurement result is determined to be stable and reliable, and the step of determining the ratio of the first moment of inertia and the second moment of inertia as the relative eccentricity is executed.

[0071] In this embodiment, the acceleration process of controlling the inner tub to the first speed can adopt a constant acceleration or constant torque acceleration method, as long as it can smoothly reach the first speed V1. After reaching the first speed V1, the washing machine measures the new deceleration time t3 again and calculates the new second moment of inertia J2. The newly obtained second moment of inertia J2 is added to the data buffer. Then, the data quantity and fluctuation amplitude are judged again, and the process is repeated until the stability condition is met.

[0072] In this embodiment, when the washing machine confirms that it has collected a sufficient number (≥ a preset number) of second moments of inertia, and the fluctuation range between the second moments of inertia is less than or equal to a second threshold, the current measurement result is considered stable and reliable. At this time, the most recently acquired second moment of inertia can be determined as the final second moment of inertia, or a set of second moments of inertia can be taken from the buffer, and the average or median of the most recent N measurements of second moments of inertia can be used as the final second moment of inertia. Then, the ratio of the previously calculated first moment of inertia to the final second moment of inertia is determined as the relative eccentricity.

[0073] In this embodiment, by performing dual verification on the amount and fluctuation range of the second moment of inertia data before calculating the relative eccentricity, and automatically repeating the deceleration measurement when the conditions are not met, the influence of accidental measurement errors and instantaneous load disturbances on eccentricity judgment can be effectively filtered out, significantly improving the reliability and robustness of eccentricity detection, avoiding incorrect leveling or improper spin-drying due to misjudgment, thereby further improving the spin-drying performance and user experience of the washing machine.

[0074] In one feasible implementation, refer to Figure 3 The step of controlling the inner barrel to accelerate to the target speed in S103 may specifically include steps S301 to S304, as follows: S301: When the inner tub speed is less than the target speed, control the inner tub to accelerate, and after the inner tub speed increment reaches the target speed increment, control the inner tub to maintain the current inner tub speed for a second preset time period, and determine the third moment of inertia based on the motor speed of the washing machine motor during the second preset time period.

[0075] In this embodiment, the target speed refers to the preset high speed value that the washing machine will eventually reach during the spin-drying stage, such as 800 rpm, 1200 rpm or higher. The specific value is determined according to the model, type of clothing or program selected by the user.

[0076] In this embodiment, the washing machine obtains the inner drum rotation speed in real time (e.g., through a motor Hall sensor or back EMF detection) and compares it with a preset target speed V. x Compare. If the inner drum rotation speed ≥ V x This indicates that the acceleration process has been completed, and the washing machine has exited the acceleration cycle and entered the spin-drying maintenance or braking stage; if the inner drum speed... <V x If so, the segmented acceleration process will be executed.

[0077] In this embodiment, the washing machine determines the target speed increment V0 for this segmented acceleration. Then, it sends an acceleration command to the motor driver to increase the inner tub speed to the current speed + V0 using constant torque or constant acceleration. The acceleration process should be smooth, avoiding any shocks. Acceleration stops once the new speed value is reached. Here, the target speed increment V0 refers to the speed increase in each segment during acceleration, which is a preset fixed step size, such as an increase of 20 rpm or 50 rpm each time. Using segmented, gradual acceleration instead of continuous acceleration facilitates observation of load changes at each speed plateau.

[0078] In this embodiment, the second preset time period refers to the duration during which the inner tub maintains a stable rotational speed after completing one speed increment, for example, 3 to 10 seconds. This time period is used to collect motor speed data to assess the load's moment of inertia at the current speed.

[0079] In this embodiment, during the second preset time period, the washing machine collects the motor speed in real time at a high sampling frequency (e.g., once every 10 milliseconds) to obtain a set of motor speed sequences, and obtains the second moment of inertia by analyzing the motor speed sequences.

[0080] It should be noted that the specific implementation process for determining the third moment of inertia based on the motor speed of the washing machine motor in the second preset time period is the same as the specific implementation process for determining the first moment of inertia based on the motor speed of the washing machine motor in the first preset time period, and will not be repeated here.

[0081] S302: Determine the difference in inertia between the historical moment of inertia and the third moment of inertia.

[0082] In this embodiment, the historical moment of inertia is determined based on the motor speed during the previous second preset time period. That is, the historical moment of inertia is the third moment of inertia value calculated from the previous speed maintenance platform. During the initial acceleration (before the previous platform is reached), the historical moment of inertia can be initialized to 0 or a default value.

[0083] In this embodiment, the difference in rotational inertia can be an algebraic value of the historical rotational inertia minus the third rotational inertia, or it can be an absolute value. This difference in rotational inertia reflects the changing trend of the load's rotational inertia between two adjacent velocity platforms. Since water is continuously ejected from the clothing during acceleration, the total load mass decreases, and the distribution of the clothing may change, the rotational inertia usually shows a decreasing trend. If the difference in rotational inertia is a large positive value (i.e., a sudden increase in rotational inertia), it may indicate a sudden large amount of water seepage or redistribution of clothing leading to increased eccentricity.

[0084] S303: When the difference in rotational inertia is greater than the third threshold, execute the step of controlling the inner tub to maintain the current inner tub rotation speed for a second preset time period.

[0085] In this embodiment, the third threshold is a preset upper limit value for the change in rotational inertia, used to determine whether the load state under the current speed platform is stable.

[0086] In this embodiment, when the difference in rotational inertia exceeds the third threshold, it indicates a significant change in the load state, possibly in an unfavorable direction (e.g., a sudden large influx of water causing increased eccentricity). At this point, the washing machine considers the load not yet stable at the current speed, and continued acceleration may cause vibration or noise. Therefore, it does not perform acceleration but continues to maintain the current speed for the next second preset time period, re-detecting the third rotational inertia and recalculating the difference from the previous third rotational inertia, until the difference in rotational inertia is less than or equal to the third threshold. This cycle ensures that the load state is fully stable at each speed platform before proceeding to the next acceleration stage.

[0087] S304: When the difference in rotational inertia is less than or equal to the third threshold, execute the step of controlling the inner tub to accelerate until the inner tub rotation speed is greater than or equal to the target speed.

[0088] In this embodiment, when the difference in rotational inertia is less than or equal to the third threshold, it indicates that the change in rotational inertia is within the allowable range and the load state is stable (or has tended to stabilize). At this time, the washing machine controls the inner tub to accelerate again to perform the next round of segmented acceleration until the inner tub speed is greater than or equal to the target speed, at which point the acceleration process ends.

[0089] In this embodiment, by accelerating in stages during the acceleration process and detecting changes in rotational inertia at each speed platform, acceleration continues only when the difference in rotational inertia between adjacent platforms does not exceed a third threshold; otherwise, the current speed is maintained until it stabilizes. This effectively avoids vibration and noise caused by a large amount of instantaneous water seepage (drying with water) or sudden load changes, achieving a smooth and quiet acceleration process while improving dehydration efficiency and protecting the washing machine structure.

[0090] In one feasible implementation, the steps of leveling the load may specifically include: controlling the inner tub to stop rotating and refilling with water; determining the target leveling time as the sum of the historical leveling time and the target leveling time; and controlling the inner tub to rotate alternately according to a preset forward and reverse rhythm based on the target leveling time.

[0091] In this embodiment, the washing machine first sends a stop command to the motor, causing the inner tub to slow down until it comes to a complete stop. Then, the washing machine opens the water inlet valve, filling the inner tub with water until a preset leveling water level is reached. This preset water level is typically a low level (e.g., just submerging the bottom of the clothes), the purpose of which is to keep the clothes floating or semi-floating in the water, reducing friction and tangling between the clothes, making it easier for subsequent forward and reverse rotations to shake them apart and redistribute them. After water filling is complete, the water inlet valve is closed. Simultaneously, the sum of the historical leveling time and the target leveling time is determined as the target leveling time.

[0092] In this embodiment, before or after refilling with water, the washing machine determines the target balancing length as the sum of the historical balancing time and the target duration. The historical balancing time is the balancing time during the last time the load balancing operation was performed. In other words, the historical balancing time refers to the duration of the balancing operation already performed in the current spin-drying cycle. If this spin-drying cycle is the first time the balancing operation is performed, the historical balancing time can be an initial default value (e.g., 30 seconds) or the balancing time of the last successful spin-drying cycle in the previous entire washing cycle.

[0093] In this embodiment, the target duration can be a preset fixed duration. That is, each time the leveling operation is performed again, a fixed target duration can be added to the historical leveling duration to perform a new round of leveling operation.

[0094] In this embodiment, before determining the sum of the historical average length and the target duration as the target average length, the washing machine spin-drying control method may further include: determining the target duration based on the relative eccentricity; the target duration is proportional to the relative eccentricity.

[0095] In this embodiment, the washing machine can calculate the additional leveling time Δt required based on the detected relative eccentricity x. Specifically, Δt = k × x, where k is a proportionality coefficient (e.g., 30 seconds, meaning an increase of 3 seconds for every 0.1 increase in eccentricity). Alternatively, a piecewise linear function can be used, where Δt increases linearly with x after the relative eccentricity x exceeds a fourth threshold. The target duration Δt is directly proportional to the relative eccentricity; that is, the more severe the eccentricity, the longer the leveling operation is required to adjust the distribution of the clothes.

[0096] In this embodiment, by determining the additional target duration in a proportional relationship based on the magnitude of the relative eccentricity, and using the sum of the historical leveling duration and the target duration as the total duration of the current leveling operation, adaptive adjustment of the leveling duration is achieved. The larger the eccentricity, the longer the leveling time, and the smaller the eccentricity, the shorter the leveling time. This avoids repeated failures due to insufficient leveling when there is a large eccentricity, and also avoids wasting time and energy due to excessive leveling when there is a small eccentricity, thereby improving overall efficiency while ensuring the reliability of dehydration.

[0097] In this embodiment, after calculating the target duration Δt, the washing machine obtains the historical settling length t. history If the leveling operation has not been performed in this dehydration process (i.e., the first leveling), then t history The initial leveling time is t0 (e.g., 40 seconds); if leveling has already been performed once or multiple times, then t... history This represents the total time actually used for the previous leveling operation. The washing machine calculates the time for leveling the target position: t target =t history +Δt.

[0098] It's important to note that the reason for using an incremental approach is that if the eccentricity still exceeds the limit after the previous leveling test, it means the previous leveling time was insufficient to completely level the garment. Therefore, additional time needs to be added to the previous time, rather than starting from the initial value again. This gradually approximates the required leveling time, avoiding repeated leveling due to an initial value that is too small.

[0099] In this embodiment, after calculating the target leveling length, the washing machine starts a timer and controls the motor to drive the inner tub to rotate alternately according to a preset forward and reverse rhythm. For example, the inner tub rotates forward at 40 rpm for 3 seconds, then stops for 1 second, then rotates in the opposite direction at the same speed for 3 seconds, then stops for 1 second, and so on. During this process, the clothes are constantly tumbled and shaken in the water, and the clothes that were originally gathered on one side are gradually evenly distributed around the tub wall. The timer reaches the target leveling length t. target Afterward, the washing machine stops its forward and reverse rotation cycle and ends the leveling operation. Following this, the washing machine will re-enter the drainage and eccentricity detection process to reassess whether the eccentricity has been reduced to an acceptable range.

[0100] In this embodiment, by controlling the inner tub to stop rotating and refill with water, the sum of the historical leveling time and the target time is determined as the target leveling time. Based on this target leveling time, the inner tub is controlled to rotate alternately according to a preset forward and reverse rhythm. This allows the required time to be accumulated on the basis of the previous leveling time, avoiding repeated failures due to insufficient leveling time, and preventing unnecessary extensions caused by directly resetting the initial time. This progressive adjustment improves the reliability and efficiency of the leveling operation.

[0101] In one feasible implementation, the step of controlling the washing machine to enter the spin-drying state may specifically include: controlling the washing machine to drain water and obtaining the current water level of the inner tub; when the current water level is less than or equal to the target water level, controlling the inner tub to rotate so that the washing machine enters the spin-drying state.

[0102] In this embodiment, before the washing machine completes the leveling operation or enters the spin-drying state for the first time, the washing machine first sends a start command to the drain pump to begin draining the washing water or leveling water from the tub. The drain pump continues to operate, drawing water from the bottom of the outer tub and discharging it into the external sewer.

[0103] In this embodiment, during the operation of the drain pump, the washing machine periodically (e.g., every 0.5 seconds) reads the detection value of the water level sensor to obtain the current water level of the inner tub. The water level sensor can be a pressure sensor (which calculates the water level by detecting the water pressure at the bottom of the tub) or a float-type water level switch. The washing machine compares the current water level with a preset target water level. The target water level refers to the maximum residual water level value that allows the inner tub to rotate. This value is typically set to 0 or a very small value very close to 0 (e.g., a state where the water level sensor cannot detect water).

[0104] In this embodiment, if the current water level is higher than the target water level, it indicates that there is still residual water in the tub and drainage is not yet complete. At this time, the washing machine continues to perform the drainage step and continues to monitor the water level until the water level drops below the target water level. If the current water level is less than or equal to the target water level, it indicates that the tub has been basically emptied and the safe start-up conditions are met. At this time, starting the inner tub to rotate will not cause motor overload due to water resistance, nor will it generate significant noise due to friction between water and the tub wall.

[0105] In this embodiment, once the water level is sufficient, the washing machine sends a start command to the motor, controlling the inner tub to begin rotating. The initial rotation speed is typically low (e.g., 30-50 rpm) to allow for subsequent eccentricity detection or gradual acceleration to the spin-drying speed. At this point, since there is no residual water in the tub, the inner tub's rotation is not hindered by water, the motor load is low, and there is no noise from water rubbing against the tub wall. The washing machine then officially enters the spin-drying operation state.

[0106] In this embodiment, by controlling the washing machine to drain and obtaining the current water level of the inner tub in real time, the inner tub is only controlled to rotate to enter the spin-drying state when the current water level is less than or equal to the target water level. This ensures that there is basically no residual water in the tub when it starts to rotate, thereby effectively avoiding water friction noise caused by rotating with water, while reducing the starting load of the motor and extending the service life of the motor and drain pump.

[0107] Reference Figure 4 The diagram illustrates a specific example flowchart of a washing machine spin-drying control method, which can be executed by the washing machine's control unit (such as a microcontroller MCU). The method includes the following steps: Step S1: After the washing machine finishes washing or rinsing, a preset water level is maintained.

[0108] After the washing or rinsing cycle is completed, the inner tub retains a preset washing or rinsing water level. At this time, the clothes are soaked in water, preparing for subsequent styling and spin-drying.

[0109] Step S2: Perform the leveling operation, with a leveling length of t1.

[0110] The control unit controls the inner drum to rotate alternately in a preset forward and reverse rhythm for a duration of t1 (e.g., 40 seconds) when initially leveled. The forward and reverse rhythm is, for example, 3 seconds forward, 1 second pause, 3 seconds reverse, 1 second pause, and this cycle repeats. The purpose of this operation is to disperse and initially distribute the clothes evenly in the water, reducing the degree of eccentricity during subsequent spin-drying.

[0111] Step S3: Drainage.

[0112] The control unit starts the drain pump to drain the washing or rinsing water from the tub.

[0113] Step S4: Detect the real-time water level in the tank and determine if the water level is zero.

[0114] The control unit detects the water level in the tank in real time using a water level sensor (such as a pressure sensor). If the current water level is not zero, it jumps back to step S3 to continue draining; if the current water level is zero (or lower than the preset target water level), it executes step S5.

[0115] Step S5: Rotate the inner drum and calculate the relative eccentricity x of the load inside the drum.

[0116] Reference Figure 5 The flowchart illustrates a specific embodiment for determining the relative eccentricity. The control unit controls the inner tub to rotate at a low speed and calculates the relative eccentricity x through the following sub-steps: Step S51: The inner barrel accelerates from an initial velocity of 0 to a first velocity V1.

[0117] The control unit drives the motor to accelerate the inner tub from a standstill to a preset first speed V1 (e.g., 100 rpm).

[0118] Step S52: The inner barrel maintains a speed of V1 for a time period t2.

[0119] The control unit maintains the inner drum rotating at a constant speed of V1 for a first preset time period t2 (e.g., 5 seconds). During this period, the motor speed data is collected at a high sampling frequency (e.g., once every 10 milliseconds).

[0120] Step S521: Obtain motor speed data within time period t2 in real time.

[0121] The collected rotational speed data is then compiled into a time series.

[0122] Step S522: Calculate the eccentric rotational inertia J1 based on the magnitude of the rotational speed fluctuation.

[0123] The rotational speed sequence is filtered to extract the amplitude (such as peak-to-peak value or standard deviation) of the fluctuation component with the same frequency as the rotational speed. This amplitude is then converted into the first moment of inertia J1 through a pre-calibrated mapping relationship. J1 reflects the degree of dynamic imbalance caused by the eccentric load.

[0124] Step S53: The inner tub decelerates to the second speed V2 according to the target motor torque.

[0125] The control unit switches the motor to constant torque braking mode, outputting a constant electromagnetic braking torque to decelerate the inner tub from a first speed V1 to a preset second speed V2 (e.g., 50 rpm). During deceleration, the braking torque remains constant.

[0126] Step S54: Obtain the deceleration time t2.

[0127] Record the time t2 elapsed from the start of deceleration (when the speed reaches V1) to the speed decreasing to V2.

[0128] Step S55: Calculate the load rotational inertia J2 based on the deceleration time t2.

[0129] Step S56: Determine if the J2 data is valid.

[0130] If the number of valid J2 data points collected is less than the preset number (e.g., 3), or the fluctuation range of J2 is greater than the second threshold (e.g., the range is greater than 0.03 kg·m²), then proceed to step S561; otherwise, proceed to step S57.

[0131] Step S561: The inner barrel accelerates to the first speed V1, then proceeds to step S53.

[0132] The control unit re-accelerates the inner tub to V1, performs the deceleration measurement again, obtains a new J2, and continues until the data stabilizes.

[0133] Step S57: Calculate the relative eccentricity x based on the ratio of J1 to J2.

[0134] Calculate x = J1 / J2, and use this ratio as the relative eccentricity of the current load.

[0135] Step S6: Determine whether the relative eccentricity x is greater than the first threshold X.

[0136] The control unit compares the calculated x with a preset first threshold X (e.g., 0.5). If x > X, then step S61 is executed; if x ≤ X, then step S7 is skipped.

[0137] Step S61: The inner tub stops rotating and water is added again to the preset water level.

[0138] The control unit stops the inner tub from rotating and opens the water inlet valve to fill the tub with water up to the preset leveling water level (low water level).

[0139] Step S62: Increase the leveling time to t1+Δt, where Δt is proportional to the relative eccentricity x, and proceed to step S2.

[0140] The control unit calculates the target duration Δt = k·x (where k is a proportionality coefficient, for example, 30 seconds) based on the current relative eccentricity x. It then adds the historical balancing duration (currently t1) to Δt to obtain the new target balancing duration. Finally, it jumps back to step S2 and re-executes the balancing operation with the new, longer balancing duration.

[0141] Step S7: Gradually accelerate to the inertial release speed V x .

[0142] Reference Figure 6The flowchart illustrates a specific embodiment of controlling the acceleration of the inner tub, in which the control unit accelerates the inner tub from its current speed to its inertial speed V in a segmented acceleration manner. x (For example, 1200rpm), the specific sub-steps are as follows: Step S71: Determine whether the current velocity is greater than or equal to the inertia velocity V. x .

[0143] If yes, proceed to step S8; otherwise, proceed to step S72.

[0144] Step S72: Set a certain acceleration interval V0 and accelerate.

[0145] The control unit increases the inner drum speed by a preset speed increment V0 (e.g., 30 rpm).

[0146] Step S73: Maintain the current speed for time period t4.

[0147] Once the new speed is reached, the control unit maintains the speed constant for a second preset time period t4 (e.g., 5 seconds).

[0148] Step S74: Obtain the motor speed within segment t4 in real time, and calculate the moment of inertia J3 based on the speed fluctuation.

[0149] Using the same method as in step S522, calculate the moment of inertia J3 at the current velocity platform.

[0150] Step S75: Calculate the difference in rotational inertia ΔJ = J3' - J3.

[0151] Where J3' is the moment of inertia calculated in the previous cycle (the previous velocity plateau).

[0152] Step S76: Preset a third threshold J0. If ΔJ>J0, proceed to S73; otherwise, proceed to S72.

[0153] If ΔJ is greater than the preset third threshold J0 (e.g., 0.05 kg·m²), it indicates an abnormal increase in the moment of inertia (which may be due to a sudden large amount of water seepage). In this case, the current speed is maintained to continue dehydration without further acceleration. Otherwise, the process returns to step S71 to determine whether the target speed has been reached. If the target speed has not been reached, step S72 is executed again to proceed with the next acceleration.

[0154] Step S8: Maintain the inertial velocity for a period of time T.

[0155] When the inner drum speed reaches the target dehydration speed V x Then, the control unit maintains the rotation speed for a preset dehydration time T (e.g., 8 minutes) to fully remove the water from the clothes under centrifugal force.

[0156] Step S9: The inner tub slows down until it stops, completing the dehydration process.

[0157] The control unit stops the motor output or applies the brake to make the inner tub decelerate smoothly to a stop, thus ending the dehydration process.

[0158] Through the above steps, the washing machine can adaptively adjust the leveling operation according to the size of the eccentricity, avoid noise caused by water during the acceleration process, and start the inner drum rotation only after the water is completely drained, thus achieving a low-noise and high-efficiency spin-drying process.

[0159] To facilitate better implementation of the washing machine spin-drying control method of this application, this application also provides a washing machine spin-drying control device based on the above-described washing machine spin-drying control method. The meanings of the terms used are the same as in the above-described washing machine spin-drying control method, and specific implementation details can be found in the descriptions of the method embodiments.

[0160] Based on the same inventive concept, and referring to Figure 7 This application provides a washing machine spin-drying control device 700, which includes: The first determining module 701 is used to determine the relative eccentricity of the load in the inner tub after the washing machine enters the spin-drying state. The first control module 702 is used to perform a leveling operation on the load when the relative eccentricity is greater than the first threshold, and to control the washing machine to enter the spin-drying state after the leveling operation is completed. The second control module 703 is used to control the inner barrel to accelerate to the target speed when the relative eccentricity is less than or equal to the first threshold.

[0161] In one embodiment, the first determining module 701 includes: The first determining submodule is used to control the inner tub to accelerate to a first speed and maintain it for a first preset time period, and to determine the first moment of inertia based on the motor speed of the washing machine motor during the first preset time period. The second determining submodule is used to control the inner barrel to decelerate from the first speed to the second speed according to the target motor torque, and to obtain the deceleration time from the first speed to the second speed, and to determine the second moment of inertia based on the deceleration time; The third determining submodule is used to determine the ratio of the first moment of inertia and the second moment of inertia as the relative eccentricity.

[0162] In one embodiment, the washing machine spin-drying control device 700 further includes: The third control module is used to control the inner tub to accelerate to the first speed when the number of data points of the second moment of inertia is less than the preset number or the fluctuation amplitude of the second moment of inertia is greater than the second threshold, and to execute the step of controlling the inner tub to decelerate from the first speed to the second speed according to the target motor torque. The fourth control module is used to determine the ratio of the first moment of inertia and the second moment of inertia as the relative eccentricity when the number of data points for the second moment of inertia is greater than or equal to a preset number and the fluctuation amplitude of the second moment of inertia is less than or equal to a second threshold.

[0163] In one embodiment, the second control module 703 includes: The fourth determining submodule is used to control the inner tub to accelerate when the inner tub speed is less than the target speed, and to control the inner tub to maintain the current inner tub speed for a second preset time period after the inner tub speed increment reaches the target speed increment, and to determine the third moment of inertia based on the motor speed of the washing machine motor during the second preset time period. The fifth determination submodule is used to determine the difference in rotational inertia between the historical rotational inertia and the third rotational inertia; the historical rotational inertia is determined based on the motor speed during the previous second preset time period. The first control submodule is used to execute the step of controlling the inner tub to maintain the current inner tub rotation speed for a second preset time period when the difference in rotational inertia is greater than the third threshold. The second control submodule is used to execute the step of controlling the inner tub to accelerate when the difference in rotational inertia is less than or equal to the third threshold, until the rotational speed of the inner tub is greater than or equal to the target speed.

[0164] In one embodiment, the first control module 702 includes: The third control submodule is used to control the inner tub to stop rotating and refill with water; The sixth determination submodule is used to determine the sum of the historical average length and the target average length as the target average length; the historical average length is the average length when the load was last leveled. The fourth control submodule is used to control the inner barrel to rotate alternately according to a preset forward and reverse rhythm based on the target horizontal length.

[0165] In one embodiment, the washing machine spin-drying control device 700 further includes: The fifth control module is used to control the washing machine's drainage and obtain the current water level in the inner tub; The sixth control module is used to control the inner tub to rotate when the current water level is less than or equal to the target water level, so that the washing machine enters the spin-drying state.

[0166] By adopting the technical solution of this application embodiment, by first determining the relative eccentricity of the inner drum load, and then selectively performing dehydration after leveling or directly accelerating dehydration based on the comparison result of the relative eccentricity and the first threshold, it is possible to adaptively avoid high-speed rotation under large eccentricity, thereby effectively reducing dehydration vibration and noise, while avoiding unnecessary leveling time and energy consumption, and improving dehydration efficiency and the service life of the whole machine.

[0167] Specific limitations regarding the washing machine spin-drying control device 700 can be found in the above description of the washing machine spin-drying control method, and will not be repeated here. Each module in the aforementioned washing machine spin-drying control device 500 can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0168] In addition, this application also provides an electronic device, such as Figure 8 As shown, it illustrates the structural diagram of the electronic device involved in this application, specifically: The electronic device may include components such as a processor 801 with one or more processing cores and a memory 802 with one or more computer-readable storage media. Those skilled in the art will understand that... Figure 8 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein: The processor 801 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 802, and by calling data stored in the memory 802, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Optionally, the processor 801 may include one or more processing cores; preferably, the processor 801 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 801.

[0169] The memory 802 can be used to store software programs and modules. The processor 801 executes various functional applications and data processing by running the software programs and modules stored in the memory 802. The memory 802 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 802 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 802 may also include a memory controller to provide the processor 801 with access to the memory 802.

[0170] In one feasible implementation, the electronic device further includes a power supply 803 that supplies power to the various components. Preferably, the power supply 803 can be logically connected to the processor 801 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 803 may also include one or more DC or AC power supplies, recharging systems, power equipment debugging circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0171] In one feasible implementation, the electronic device may further include an input unit 804, which can be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0172] Although not shown, the electronic device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 801 in the electronic device loads the executable files corresponding to the processes of one or more application programs into the memory 802 according to the following instructions, and the processor 801 runs the application programs stored in the memory 802, thereby implementing the steps in any of the washing machine spin-drying control methods provided in the embodiments of this application.

[0173] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0174] In one feasible implementation, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the methods described in any embodiment of this application.

[0175] In one feasible implementation, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the methods described in any embodiment of this application.

[0176] In one feasible implementation, a computer program product is also proposed, comprising a computer program or instructions that, when executed by a processor, implement the methods described in any embodiment of this application.

[0177] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0178] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0179] Therefore, this application provides a computer-readable storage medium storing a computer program that can be loaded by a processor to execute the steps in any of the washing machine spin-drying control methods provided in this application.

[0180] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0181] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0182] Since the instructions stored in the computer-readable storage medium can execute the steps in any of the washing machine spin-drying control methods provided in this application, the beneficial effects that any of the washing machine spin-drying control methods provided in this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0183] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0184] The foregoing provides a detailed description of a washing machine spin-drying control method, apparatus, electronic device, and computer-readable storage medium provided in this application. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for controlling the spin-drying process of a washing machine, characterized in that, The method includes: After the washing machine enters the spin-drying state, the relative eccentricity of the load in the inner tub is determined; When the relative eccentricity is greater than the first threshold, the load is leveled, and after the leveling operation is completed, the washing machine is controlled to enter the spin-drying state. When the relative eccentricity is less than or equal to the first threshold, the inner barrel is controlled to accelerate to the target speed.

2. The washing machine spin-drying control method according to claim 1, characterized in that, Determining the relative eccentricity of the load in the inner tank includes: The inner tub is controlled to accelerate to a first speed and maintained for a first preset time period, and a first moment of inertia is determined based on the motor speed of the washing machine motor during the first preset time period. The inner tub is controlled to decelerate from the first speed to the second speed according to the target motor torque, and the deceleration time from the first speed to the second speed is obtained. Based on the deceleration time, the second moment of inertia is determined. The ratio of the first moment of inertia to the second moment of inertia is determined as the relative eccentricity.

3. The washing machine spin-drying control method according to claim 2, characterized in that, After determining the second moment of inertia based on the deceleration time, the method further includes: When the number of data points for the second moment of inertia is less than a preset number or the fluctuation range of the second moment of inertia is greater than a second threshold, the inner tub is controlled to accelerate to the first speed, and the step of controlling the inner tub to decelerate from the first speed to the second speed according to the target motor torque is executed. When the number of data points for the second moment of inertia is greater than or equal to the preset number and the fluctuation range of the second moment of inertia is less than or equal to the second threshold, the step of determining the ratio of the first moment of inertia to the second moment of inertia as the relative eccentricity is executed.

4. The washing machine spin-drying control method according to claim 1, characterized in that, The control of the inner barrel to accelerate to the target speed includes: When the inner tub's rotational speed is less than the target speed, the inner tub is controlled to accelerate. After the inner tub's rotational speed increment reaches the target rotational speed increment, the inner tub is controlled to maintain the current inner tub rotational speed for a second preset time period. Based on the motor speed of the washing machine's motor during the second preset time period, a third moment of inertia is determined. Determine the difference in rotational inertia between the historical rotational inertia and the third rotational inertia; the historical rotational inertia is determined based on the motor speed of the motor in the previous second preset time period; When the difference in rotational inertia is greater than the third threshold, the step of controlling the inner tub to maintain the current inner tub rotational speed for a second preset time period is executed. When the difference in rotational inertia is less than or equal to the third threshold, the step of controlling the acceleration of the inner tub is executed until the rotational speed of the inner tub is greater than or equal to the target speed.

5. The washing machine spin-drying control method according to claim 1, characterized in that, The load leveling operation includes: Control the inner tub to stop rotating and allow water to refill; The sum of the historical leveling time and the target time is determined as the target leveling time; the historical leveling time is the leveling time when the step of leveling the load was last executed. Based on the target horizontal length, the inner barrel is controlled to rotate alternately in a preset forward and reverse rhythm.

6. The washing machine spin-drying control method according to claim 5, characterized in that, Before determining the sum of the historical average length and the target duration as the target average length, the method further includes: The target duration is determined based on the relative eccentricity; the target duration is proportional to the relative eccentricity.

7. The washing machine spin-drying control method according to claim 1, characterized in that, The control of the washing machine to enter the spin-drying state includes: Control the washing machine to drain water and obtain the current water level of the inner tub; When the current water level is less than or equal to the target water level, the inner tub is controlled to rotate so that the washing machine enters the spin-drying state.

8. A washing machine spin-drying control device, characterized in that, The device includes: The first determining module is used to determine the relative eccentricity of the load in the inner tub after the washing machine enters the spin-drying state. The first control module is used to perform a leveling operation on the load when the relative eccentricity is greater than a first threshold, and to control the washing machine to enter the spin-drying state after the leveling operation is completed. The second control module is used to control the inner barrel to accelerate to the target speed when the relative eccentricity is less than or equal to the first threshold.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the washing machine spin-dry control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the washing machine spin-drying control method as described in any one of claims 1 to 7.

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