Laundry treating appliance and method of control

1. A method for operating a laundry treating appliance having a drum at least partially defining a treating chamber for receiving laundry for treatment, a motor operably coupled to and rotating the drum, a controller coupled to and controlling the motor, and a user interface operably coupled to the controller, wherein the controller controls the motor according to a cycle of operation selected via the user interface, the method comprising:

establishing a desired movement of the laundry within the treating chamber;

controlling the speed of the motor to control the rotational speed of the drum by the controller providing a speed control signal to the motor;

receiving by the controller a torque signal indicative of the torque of the motor;

monitoring by the controller of an amplitude and a frequency of a ripple in the torque signal;

determining by the controller a category of movement of the laundry from a predetermined group of movement categories by comparing the monitored amplitude and frequency to corresponding pairs of amplitude and frequency reference values for each of the movement categories, the movement categories selected from the group consisting of sliding, rolling, tumbling, and satellizing; and

controlling by the controller the speed of the motor until the determined category of movement of the laundry satisfies the desired movement of the laundry.

2. The method of claim 1 wherein establishing the desired movement of the laundry is based on an amount of mechanical action to be imparted to the laundry.

3. The method of claim 2 wherein establishing the amount of mechanical action is based on a cycle of operation selected via the user interface or a fabric type of the laundry.

4. The method of claim 3 wherein establishing the amount of mechanical action is based on both of a cycle of operation selected via the user interface and a fabric type of the laundry.

5. The method of claim 1 wherein establishing the desired movement is based on a cycle of operation selected via the user interface or a fabric type of the laundry.

6. The method of claim 5 wherein establishing the desired movement is based on a cycle of operation selected via the user interface and at least one of a fabric type of the laundry, an amount of laundry, an amount of laundry and absorbed liquid, or combinations thereof.

7. The method of claim 1 wherein the movement categories comprise at least three of sliding, rolling, tumbling, or satellizing.

8. The method of claim 7 wherein the movement categories comprise at least sliding, rolling, tumbling, and satellizing.

9. The method of claim 7 wherein the rolling movement category has a greater amplitude and a greater frequency than the sliding movement category.

10. The method of claim 9 wherein the tumbling movement category has a greater amplitude and a greater frequency than the rolling movement category.

11. The method of claim 10 wherein the satellizing movement category has a lower amplitude and a lower frequency than the sliding movement category.