Control method of washing machine and washing machine

Abstract

The present application relates to the technical field of clothes processing, and particularly provides a control method of a washing machine and the washing machine, aiming at solving the problem of poor washing effect of the washing machine. To this end, the washing machine comprises a box body, an outer drum and an inner drum installed in the box body, the inner drum is rotatably installed in the outer drum, a plurality of water stirring blades are arranged in the inner drum, the water stirring blades are provided with a plurality of spray holes, and the control method comprises: after the water inlet stage of the washing machine is completed, rotating the inner drum at a plurality of different rotating speeds, and obtaining a rotating angle R1 of the inner drum at each rotating speed; determining an optimal rotating speed of the inner drum according to the obtained plurality of rotating angles R1 and a preset rotating angle R2 corresponding to each rotating speed; and rotating the inner drum at the optimal rotating speed, so that water in the water stirring blades is sprayed out of the spray holes at an optimal angle. Through the above method, the optimal rotating speed of the inner drum can be determined, so that the spraying angle of the water in the water stirring blades is optimized, and the washing effect is improved.

Description

Technical Field

[0001] This invention relates to the field of clothing processing technology, specifically providing a control method for a washing machine and a washing machine. Background Technology

[0002] Improving washing performance has always been a key focus in the current washing machine technology industry. Traditional washing machines, in their control process, take relatively limited consideration of factors such as the characteristics of the clothes, the operating status of the inner drum, and the dynamics of water flow, resulting in inconsistent washing performance.

[0003] Regarding water intake control, most washing machines only use a preset program to add a fixed amount of water, failing to fully consider the differences in water absorption caused by the weight and material of different clothes. This can result in the water level being too high or too low during actual washing, affecting washing efficiency and results. In determining the washing spin speed, traditional methods often use a fixed spin speed mode, unable to dynamically adjust based on the actual distribution and movement of the clothes in the drum. During washing, clothes will shift off-center due to centrifugal force. If the spin speed is not adjusted in time, it will not only increase the vibration and noise of the washing machine, but may also lead to problems such as clothes tangling and uneven washing.

[0004] Therefore, a new technical solution is needed in this field to solve the above problems. Summary of the Invention

[0005] The present invention aims to solve the above-mentioned technical problem, namely, to solve the problem of poor washing effect of existing washing machines.

[0006] In a first aspect, the present invention provides a control method for a washing machine, the washing machine comprising a casing and an outer drum and an inner drum installed in the casing, the inner drum being rotatably installed in the outer drum, the inner drum being provided with a plurality of water-repelling blades, the water-repelling blades having a plurality of spray holes, the control method comprising:

[0007] S100: After the water inlet stage of the washing machine is completed, the inner drum is rotated at multiple different speeds, and the rotation angle R1 of the inner drum at each speed is obtained;

[0008] S200: Determine the optimal rotational speed of the inner cylinder based on the multiple obtained rotational angles R1 and the preset rotational angle R2 corresponding to each rotational speed;

[0009] S300: Rotate the inner cylinder at the optimal rotation speed so that the water in the water-repellent blades is sprayed out from the spray hole at the optimal angle.

[0010] In the preferred embodiment of the above control method, step S100, "obtaining the rotation angle R1 of the inner cylinder at each rotational speed," specifically includes:

[0011] Obtain the angular velocity ω of the inner cylinder;

[0012] Obtain the eccentricity variation frequency F of the clothes in the inner drum;

[0013] The rotation angle R1 of the inner cylinder is calculated based on ω and F.

[0014] In the preferred embodiment of the above control method, the step of "calculating the rotation angle R1 of the inner cylinder based on ω and F" specifically includes:

[0015] R1 = K × F × ω;

[0016] Where K is a constant.

[0017] In the preferred embodiment of the above control method, the step of "obtaining the angular velocity ω of the inner cylinder" specifically includes:

[0018] Obtain the angular velocity of the motor that drives the inner cylinder to rotate;

[0019] The angular velocity ω of the inner cylinder is calculated based on the angular velocity of the motor.

[0020] In the preferred embodiment of the above control method, step S200 specifically includes:

[0021] Calculate the absolute value of the angle difference Δr = |R1-R2| between each rotation angle R1 and its corresponding preset rotation angle R2;

[0022] The multiple Δr values ​​are compared to determine the Δr with the smallest value.

[0023] The rotational speed corresponding to the smallest Δr value is determined as the optimal rotational speed.

[0024] In a preferred embodiment of the above control method, during the water intake stage, the control method includes:

[0025] Obtain the weight of the clothes in the inner drum;

[0026] The water level of the washing machine is determined based on the weight of the clothes in the inner drum;

[0027] The preset water inflow rate is determined based on the water level value;

[0028] The water intake of the washing machine ends when the water volume reaches the preset water volume.

[0029] In the preferred embodiment of the above control method, step S100, "rotating the inner cylinder at multiple different speeds," specifically includes:

[0030] The rotational speed of the inner cylinder is gradually increased from low to high.

[0031] In the preferred embodiment of the above control method, the step of "gradually increasing the rotational speed of the inner cylinder from low to high" specifically includes:

[0032] The rotational speed of the inner cylinder is gradually increased at a rate of 50 r / min every 5 seconds.

[0033] In the preferred embodiment of the above control method, the water-repelling blade includes two oppositely arranged S-shaped side plates. The surface of the side plate is an arc-shaped surface, and along the length direction of the side plate, one end of the side plate is concave inward and the other end of the side plate is convex outward. A plurality of spray holes are opened at the concave end of the side plate.

[0034] In a second aspect, the present invention also provides a washing machine, the washing machine including a controller configured to perform the control method described above.

[0035] Those skilled in the art will understand that the technical solution of the present invention provides a control method for a washing machine. The washing machine includes a cabinet and an outer drum and an inner drum installed in the cabinet. The inner drum is rotatably installed in the outer drum. Multiple water-repelling blades are provided in the inner drum, and the water-repelling blades have multiple spray holes. The control method includes: S100: After the water inlet stage of the washing machine ends, the inner drum rotates at multiple different speeds, and the rotation angle R1 of the inner drum at each speed is obtained; S200: Based on the obtained multiple rotation angles R1 and a preset rotation angle R2 corresponding to each speed, the optimal speed of the inner drum is determined; S300: The inner drum rotates at the optimal speed so that water in the water-repelling blades is sprayed out from the spray holes at the optimal angle. By adopting the above technical solution, the present invention can improve the washing effect of the washing machine. Specifically, by performing a multi-speed rotation test after the water inlet stage of the inner drum ends, obtaining rotation angle data, and comparing it with a preset rotation angle, the optimal speed of the inner drum is determined, thereby optimizing the spray angle of water in the water-repelling blades and improving the washing effect.

[0036] Furthermore, in step S100, the step of "obtaining the rotation angle R1 of the inner drum at each rotation speed" specifically includes: obtaining the angular velocity ω of the inner drum; obtaining the eccentric variation frequency F of the clothes in the inner drum; and calculating the rotation angle R1 of the inner drum based on ω and F. By monitoring and calculating the angular velocity ω and the eccentric variation frequency F in real time, the rotation state of the inner drum can be obtained more accurately, thereby improving the accuracy of the calculation of the rotation angle R1.

[0037] Furthermore, in this invention, the step of "obtaining the angular velocity ω of the inner drum" specifically includes: obtaining the angular velocity of the motor driving the inner drum to rotate; and calculating the angular velocity ω of the inner drum based on the angular velocity of the motor. During the operation of the washing machine, by obtaining the motor angular velocity in real time and calculating the inner drum angular velocity ω, the dynamic changes in the inner drum angular velocity can be reflected, providing timely and accurate data support for subsequent control.

[0038] Furthermore, in this invention, step S200 specifically includes: calculating the absolute value Δr = |R1-R2| of the angle difference between each rotation angle R1 and its corresponding preset rotation angle R2; comparing the obtained multiple Δr values ​​to determine the Δr with the smallest value; and determining the rotation speed corresponding to the Δr with the smallest value as the optimal rotation speed. By setting this method, the rotation angle of the inner drum can be made closer to the preset rotation angle, thereby optimizing the water flow and mechanical action during the washing process and improving the washing effect.

[0039] Furthermore, during the water intake phase, the control method includes: obtaining the weight of the clothes in the inner drum; determining the water level of the washing machine based on the weight of the clothes in the inner drum; determining the preset water intake volume based on the water level; and stopping the water intake when the water intake volume of the washing machine reaches the preset water intake volume. Intelligently determining the water level and preset water intake volume based on the weight of the clothes in the inner drum ensures that the washing machine can effectively clean clothes while saving water and energy during the washing process.

[0040] Furthermore, in step S100, the step of "rotating the inner cylinder at multiple different speeds" specifically includes: gradually increasing the speed of the inner cylinder from low to high. This method helps to systematically explore the influence of different speeds on the rotational state of the inner cylinder, thereby more accurately finding the optimal speed. Attached Figure Description

[0041] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0042] Figure 1 This is a schematic diagram of the structure of the water-repelling blade of the present invention;

[0043] Figure 2 This is a flowchart illustrating the control method of the present invention;

[0044] Figure 3 This is a flowchart illustrating an embodiment of the control method of the present invention.

[0045] List of reference numerals in the attached diagram:

[0046] 1. Water deflector; 11. Side plate; 12. Spray nozzle. Detailed Implementation

[0047] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the invention and are not intended to limit the scope of protection of the invention. For example, although the following embodiments are described in conjunction with a washing machine, the washing machine control method provided by the present invention is equally applicable to other products that need to solve the problem of poor washing performance.

[0048] It should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly, for example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] Based on the problem of poor washing performance in existing washing machines pointed out in the background art, the present invention provides a control method for a washing machine, which aims to effectively solve the problem of poor washing performance by rotating the inner drum at an optimal speed so that water in the deflector blades is sprayed out from the spray holes at an optimal angle.

[0050] This invention provides a washing machine, which includes a casing and an outer drum and an inner drum installed in the casing. The inner drum is rotatably installed in the outer drum, and a plurality of water-dispelling blades 1 (e.g., Figure 1 As shown), the water-repellent blade 1 has multiple spray holes 12.

[0051] The washing machine provided by this invention, when the inner drum rotates, the water-repellent blades 1 rotate together with the inner drum, spraying water onto the clothes at a certain pressure and speed through the spray holes 12, forming a direct impact on the clothes, which helps to remove stubborn stains from the clothes. In addition, the design of the spray holes 12 promotes water circulation, so that the washing liquid can be more evenly distributed on the clothes, improving the uniformity and efficiency of washing.

[0052] Preferably, such as Figure 1 As shown, the water-repellent blade 1 includes two oppositely arranged S-shaped side plates 11. The surface of the side plate 11 is an arc-shaped surface, and along the length direction of the side plate 11, one end of the side plate 11 is recessed inward and the other end of the side plate 11 is protruding outward. A plurality of spray holes 12 are opened at the recessed end of the side plate 11.

[0053] The water-repelling blade 1 is composed of two opposing S-shaped side plates 11. This design not only enhances the structural strength of the water-repelling blade 1, but also allows the water flow to generate a more complex flow path when passing through, thereby enhancing the washing effect.

[0054] The side plate 11 of the water deflector 1 has a curved surface. This design helps to reduce water flow resistance, allowing water to flow more smoothly through the water deflector 1, while increasing the contact area between the water flow and the clothes, thus improving washing efficiency.

[0055] Along the length of the side plate 11 of the water-repellent blade 1, one end is concave inward and the other end is convex outward. This concave-convex structure can guide the water flow to form a specific flow pattern, which helps to push the clothes towards the center or edge of the inner drum, achieving a more even washing.

[0056] Multiple spray holes 12 are located at the recessed end of the side plate 11 of the water-repellent blade 1. This arrangement allows the water flow to form a more concentrated jet force when passing through the spray holes 12, directly impacting the clothes and improving the cleaning ability.

[0057] In addition, such as Figure 2 As shown, the present invention also provides a control method for a washing machine, the method comprising:

[0058] S100: After the water inlet stage of the washing machine is completed, the inner drum rotates at multiple different speeds and the rotation angle R1 of the inner drum at each speed is obtained;

[0059] S200: Determine the optimal rotation speed of the inner cylinder based on the multiple rotation angles R1 obtained and the preset rotation angle R2 corresponding to each rotation speed;

[0060] S300: Rotate the inner cylinder at the optimal speed so that the water in the water-repellent blade 1 is sprayed out from the spray hole 12 at the optimal angle.

[0061] After the washing machine finishes its water intake phase, the inner drum rotates at multiple different speeds. This allows us to obtain the rotation angle R1 of the inner drum at each speed, and this data will be used to determine the optimal speed. Through multi-speed testing, we can comprehensively understand the movement state of the inner drum at different speeds, providing data support for determining the optimal speed.

[0062] By comparing and analyzing the multiple rotation angles R1 obtained and the preset rotation angles R2 corresponding to each rotation speed, the optimal rotation speed of the inner drum can be determined, so that the water in the water-repellent blades 1 can be sprayed onto the clothes in the best way, thereby improving the washing effect.

[0063] The inner drum rotates at a predetermined optimal speed. At this optimal speed, the water-repellent blade 1 can more effectively guide water flow onto the clothes, improving cleaning power while reducing water waste.

[0064] This invention performs multi-speed rotation tests after the inner drum is filled with water to obtain rotation angle data, and compares it with a preset rotation angle to determine the optimal speed of the inner drum, thereby optimizing the spray angle of water in the water-dispensing blades and improving the washing effect.

[0065] Preferably, such as Figure 3 As shown, step S100, the step of "rotating the inner cylinder at multiple different speeds" specifically includes:

[0066] The rotation speed of the inner cylinder is gradually increased from low to high.

[0067] Starting the test at low speed helps to systematically explore the impact of different speeds on the rotation state of the inner cylinder, thus finding the optimal speed more accurately. In addition, it can also avoid the shock and instability that may result from starting directly at high speed.

[0068] Preferably, the step of "gradually increasing the rotational speed of the inner cylinder from low to high" specifically includes:

[0069] The rotation speed of the inner cylinder is gradually increased by 50 r / min every 5 seconds.

[0070] For example, the initial rotational speed of the inner drum is set to the minimum permissible speed of the washing machine or slightly above zero, such as 50 rpm or 100 rpm, depending on the washing machine's design parameters. Then, the inner drum rotational speed is gradually increased by 50 rpm every 5 seconds; for example, starting at an initial speed of 100 rpm, increasing to 150 rpm after 5 seconds, then to 200 rpm after another 5 seconds, and so on. By gradually increasing the speed, the rotation angle R1 of the inner drum at different rotational speeds is systematically tested, providing comprehensive data for subsequent analysis.

[0071] It should be noted that the rotational speed of the inner cylinder can also be gradually increased at other speeds. For example, it can be increased by 60 r / min every 5 seconds, or by 50 r / min every 10 seconds, etc. The present invention does not make specific limitations here.

[0072] Preferably, step S200, the step of "obtaining the rotation angle R1 of the inner cylinder at each rotation speed" specifically includes:

[0073] Obtain the angular velocity ω of the inner cylinder;

[0074] Obtain the eccentricity variation frequency F of the clothes in the inner drum;

[0075] Calculate the rotation angle R1 of the inner cylinder based on ω and F.

[0076] Angular velocity ω is a physical quantity describing the speed of rotation of the inner drum and is one of the important parameters for calculating the rotation angle R1. For example, the washing machine of this invention has a built-in speed sensor that can monitor the rotation speed of the inner drum in real time and convert it into angular velocity ω. Accurately obtaining the angular velocity ω helps in the subsequent precise calculation of the rotation angle R1, thereby more accurately determining the optimal rotation speed.

[0077] The eccentricity variation frequency F refers to the frequency at which the center of mass (or center of gravity) of the inner drum periodically shifts relative to its geometric center due to uneven distribution of clothes within the drum during washing machine operation. This shift causes additional vibrations and unbalanced forces during drum rotation, thus affecting the washing machine's operational stability and washing performance.

[0078] For example, the washing machine of the present invention is equipped with a balance sensor or a vibration sensor. Utilizing this sensor, the present invention can monitor the eccentric changes caused by uneven distribution of clothes during the rotation of the inner drum and calculate its frequency F. By taking the frequency F of the eccentric changes of the clothes into account when calculating the rotation angle R1 of the inner drum, it helps to more comprehensively understand the actual state of the inner drum during rotation, providing a more accurate basis for determining the optimal rotation speed.

[0079] Based on the acquired angular velocity ω and eccentricity variation frequency F, the rotation angle R1 of the inner cylinder at each rotational speed is calculated using a preset algorithm or formula. Rotation angle R1 is a crucial indicator for evaluating the rotational state of the inner cylinder and a key basis for determining the optimal rotational speed. Accurate calculation of rotation angle R1 facilitates subsequent comparative analysis with the preset rotation angle R2, thereby determining the optimal rotational speed.

[0080] Preferably, the step of "obtaining the angular velocity ω of the inner cylinder" specifically includes:

[0081] Obtain the angular velocity of the motor driving the inner cylinder to rotate;

[0082] The angular velocity ω of the inner cylinder is calculated based on the angular velocity of the motor.

[0083] For example, the present invention utilizes the motor sensor built into the washing machine to monitor the angular velocity of the motor that drives the inner drum to rotate in real time. The angular velocity of the motor is the direct power source for driving the inner drum to rotate, and obtaining the angular velocity of the motor provides basic data for subsequent calculation of the angular velocity of the inner drum.

[0084] It should be noted that the motor sensor can be an encoder, a Hall sensor, or other types of angular velocity sensor, which can accurately measure the rotational speed of the motor. This invention does not impose any specific limitations on this.

[0085] The angular velocity ω of the inner cylinder can be calculated from the angular velocity of the motor by analyzing the transmission relationship between the motor and the inner cylinder, including but not limited to the transmission ratio, the transmission efficiency of belts or gears, etc. Based on the transmission relationship, the angular velocity of the motor can be converted into the angular velocity ω of the inner cylinder.

[0086] Preferably, the step of "calculating the rotation angle R1 of the inner cylinder based on ω and F" specifically includes:

[0087] R1 = K × F × ω;

[0088] Where K is a constant.

[0089] This formula combines two key factors—angular velocity ω (in radians or degrees) and eccentricity variation frequency F (in Hertz)—through a constant K to calculate the rotation angle R1 (in radians per second). Angular velocity ω reflects the speed of the inner drum's rotation, while eccentricity variation frequency F reflects the influence of clothing distribution on the inner drum's rotational stability. The constant K is used to adjust the combined effect of these two factors to obtain an accurate rotation angle R1.

[0090] By employing a simplified calculation formula, the rotation angle R1 can be calculated in real time more easily, improving the response speed of the control method. The formula simultaneously considers two key factors: angular velocity and eccentricity variation frequency, ensuring that the calculated rotation angle R1 more comprehensively reflects the actual rotation state of the inner drum. Furthermore, by adjusting the value of the constant K, it is possible to adapt to changes in different washing machine design parameters and washing requirements, enhancing the flexibility and adaptability of the control method.

[0091] It should be noted that the constant K is related to the washing machine's design parameters, experimental data, and washing requirements. Therefore, the value of K needs to be determined experimentally or empirically to ensure that the calculated rotation angle R1 accurately reflects the actual rotation state of the inner drum. This invention does not limit the specific value of K.

[0092] Preferably, such as Figure 3 As shown, step S200 specifically includes:

[0093] Calculate the absolute value of the angle difference Δr = |R1-R2| between each rotation angle R1 and its corresponding preset rotation angle R2;

[0094] The multiple Δr values ​​are compared to determine the Δr with the smallest value.

[0095] The speed corresponding to the smallest Δr value is determined as the optimal speed.

[0096] For each test rotation speed, the difference between the obtained rotation angle R1 and the preset rotation angle R2 is calculated and the absolute value is taken, i.e., Δr=|R1-R2|. Δr reflects the deviation between the actual rotation angle and the preset rotation angle and is an important indicator for evaluating the suitability of the rotation speed. By calculating Δr, the degree of closeness between the inner cylinder rotation angle and the ideal state at each rotation speed can be quantified.

[0097] By comparing multiple Δr values, the minimum value is found, which determines which rotation angle is closest to the preset rotation angle at which rotation speed.

[0098] The optimal speed is determined by the speed corresponding to the smallest value of Δr. This allows the selection of the speed that makes the inner drum rotation angle closest to the preset rotation angle, thereby achieving the best washing effect and improving washing efficiency and quality.

[0099] It should be noted that R2 is a preset target rotation angle, representing the theoretical angle at which the water-dispensing blade 1 sprays water in the optimal manner at a specific rotation speed. Specifically, since the water-facing surface of the water-dispensing blade 1 is curved, the flow velocity of water entering the inner drum through the spray hole 12 is constrained by the rotation speed of the water-dispensing blade 1. Therefore, at different rotation speeds, R2 will vary to ensure that the water is sprayed in the optimal manner and achieves a better washing effect. The setting of R2 needs to comprehensively consider the design of the water-dispensing blade 1, the rotation speed, the water flow characteristics, and the washing objectives. For example, a dynamic mapping relationship between rotation speed and R2 can be established through experimental calibration, numerical simulation, or machine learning methods to achieve precise control of water spraying. This invention does not specifically limit the value of the preset rotation angle R2.

[0100] Preferably, such as Figure 3 As shown, during the water intake phase, the control methods include:

[0101] Get the weight of the clothes in the inner drum;

[0102] Determine the water level of the washing machine based on the weight of the clothes in the inner drum;

[0103] The preset water inflow rate is determined based on the water level value;

[0104] The washing machine stops filling with water when the preset water level is reached.

[0105] For example, the washing machine of the present invention has a built-in weighing sensor to accurately obtain the weight of the clothes in the inner drum. Accurately obtaining the weight of the clothes helps to achieve precise water intake, avoiding the adverse effects of too much or too little water intake on the washing effect.

[0106] Based on the obtained weight of the clothes, the water level value of the washing machine is determined. The water level value reflects the amount of water required by the washing machine during the washing process and is directly proportional to the weight of the clothes.

[0107] For example, the weight of clothing and water level in this invention have a corresponding relationship table, and the water level value under different weights of clothing can be determined through the corresponding relationship table.

[0108] Based on the determined water level, calculate the preset water intake volume of the washing machine. The preset water intake volume is the target value for the water intake stage of the washing machine, ensuring that the washing machine stops intake after reaching this water volume.

[0109] When the water intake reaches the preset water intake volume, close the water inlet valve in time to end the water intake stage, so as to avoid water waste and poor washing effect caused by excessive water intake, and at the same time prevent insufficient water intake from affecting the washing effect.

[0110] Furthermore, the washing machine provided by the present invention also includes a controller, which is configured to execute the above-described control method.

[0111] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A control method for a washing machine, characterized in that, The washing machine includes a casing and an outer drum and an inner drum installed in the casing. The inner drum is rotatably installed in the outer drum. The inner drum is provided with multiple water-repelling blades (1), and the water-repelling blades (1) have multiple spray holes (12). The control method includes: S100: After the water inlet stage of the washing machine is completed, the inner drum is rotated at multiple different speeds, and the rotation angle R1 of the inner drum at each speed is obtained; S200: Determine the optimal rotational speed of the inner cylinder based on the multiple obtained rotational angles R1 and the preset rotational angle R2 corresponding to each rotational speed; S300: Rotate the inner cylinder at the optimal speed so that the water in the water-repellent blade (1) is sprayed out from the spray hole (12) at the optimal angle.

2. The control method for a washing machine according to claim 1, characterized in that, In step S100, the step of "obtaining the rotation angle R1 of the inner cylinder at each rotational speed" specifically includes: Obtain the angular velocity ω of the inner cylinder; Obtain the eccentricity variation frequency F of the clothes in the inner drum; The rotation angle R1 of the inner cylinder is calculated based on ω and F.

3. The control method for a washing machine according to claim 2, characterized in that, The steps of "calculating the rotation angle R1 of the inner cylinder based on ω and F" specifically include: R1 = K × F × ω; Where K is a constant.

4. The control method for a washing machine according to claim 2, characterized in that, The steps for "obtaining the angular velocity ω of the inner cylinder" specifically include: Obtain the angular velocity of the motor that drives the inner cylinder to rotate; The angular velocity ω of the inner cylinder is calculated based on the angular velocity of the motor.

5. The control method for a washing machine according to claim 1, characterized in that, Step S200 specifically includes: Calculate the absolute value of the angle difference Δr = |R1-R2| between each rotation angle R1 and its corresponding preset rotation angle R2; The multiple Δr values ​​are compared to determine the Δr with the smallest value. The rotational speed corresponding to the smallest Δr value is determined as the optimal rotational speed.

6. The control method for a washing machine according to claim 1, characterized in that, During the water intake phase, the control method includes: Obtain the weight of the clothes in the inner drum; The water level of the washing machine is determined based on the weight of the clothes in the inner drum; The preset water inflow rate is determined based on the water level value; The water intake of the washing machine ends when the water volume reaches the preset water volume.

7. The control method for a washing machine according to claim 1, characterized in that, In step S100, the step of "rotating the inner cylinder at multiple different speeds" specifically includes: The rotational speed of the inner cylinder is gradually increased from low to high.

8. The control method for a washing machine according to claim 7, characterized in that, The step of "gradually increasing the rotational speed of the inner cylinder from low to high" specifically includes: The rotational speed of the inner cylinder is gradually increased at a rate of 50 r / min every 5 seconds.

9. The control method for a washing machine according to any one of claims 1 to 8, characterized in that, The water-repellent blade (1) includes two opposing S-shaped side plates (11). The surface of the side plate (11) is arc-shaped, and along the length direction of the side plate (11), one end of the side plate (11) is recessed inward and the other end of the side plate (11) is protruding outward. A plurality of spray holes (12) are opened at the recessed end of the side plate (11).

10. A washing machine, characterized in that, Includes a controller configured to perform the control method according to any one of claims 1 to 9.

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