Method and system for determining a washing machine load unbalance
View Patent ↗A clothes washing machine system including a method of detecting a load unbalance. The washing machine system includes a cabinet having a drum rotatably mounted therein. A motor is coupled to the drum for rotating the drum within the cabinet. A memory device is accessible by a processor, such as a digital signal processor (DSP). The memory contains program code for implementing a method that includes determining the motor torque ripple, determining the motor speed, and determining the load unbalance mass based on the motor torque and speed.
1. A motor control device for determining a load unbalance mass contained in a spinning washing machine drum driven by the motor, the motor control device comprising:
a processor; and
a memory accessible by the processor and storing a mathematical model of the washing machine drum load describing the relationship between motor torque and the load unbalance mass, wherein coefficients of the mathematical model are determined using a parameter estimator;
the processor configured to
determine a motor torque ripple;
determine a motor speed;
determine a washing machine drum angular position;
determine the load unbalance mass based on the motor torque ripple and motor speed; and
determine a combined inertia of the washing machine drum and the unbalance mass.
2. The motor control device of claim 1 , further configured to determine the motor voltage and current.
3. The motor control device of claim 1 , further configured to run the motor through a predetermined speed profile.
4. The motor control device of claim 1 , further configured to run the motor at a first predetermined speed and to accelerate the motor to a second predetermined speed.
5. The motor control device of claim 1 , further configured to run the motor at a predetermined speed for a predetermined time period.
6. The motor control device of claim 1 , further configured to fluctuate the motor speed about a predetermined speed value.
7. The motor control device of claim 6 , further configured to apply a speed demand signal to a speed controller and to apply a dither signal to the speed demand signal.
8. The motor control device of claim 1 , further configured to determine the motor torque and speed at a plurality of sample points.
9. The motor control device of claim 1 , further configured to determine the motor acceleration.
10. The motor control device of claim 1 , further configured to determine the washing machine drum angular position based on the motor speed.
11. The motor control device of claim 1 , wherein the processor is further configured to determine the load unbalance mass when the washing machine drum is spinning at or above the minimum plaster speed.
12. A clothes washing machine system, comprising:
a cabinet;
a drum rotatably mounted within the cabinet;
a motor operably coupled to the drum for rotating the drum within the cabinet; and
a motor control device comprising
a processor; and
a memory accessible by the processor and storing a mathematical model of the washing machine drum load describing the relationship between motor torque and the load unbalance mass, wherein coefficients of the mathematical model are determined using a parameter estimator;
the processor configured to
determine a motor torque ripple;
determine a motor speed;
determine a washing machine drum angular position;
determine the load unbalance mass based on the motor torque ripple and motor speed; and
determine a combined inertia of the washing machine drum and the unbalance mass.
13. The clothes washing machine system of claim 12 , further comprising a device for measuring the drum rotation speed.
14. The clothes washing machine system of claim 12 , wherein the motor control device is further configured to determine the motor current and voltage, and to determine the washing machine drum angular position based on the motor current and voltage.
15. The clothes washing machine system of claim 12 , wherein the motor control device is further configured to compensate the determined motor torque for the combined inertia.