Washing machine and control method thereof

1. A control method of a washing machine including a tub provided within a cabinet, a drum rotatably provided within the tub, and a plurality of balancing units provided on the drum and independently movable relative to the drum by a motor driving the plurality of balancing units, the control method comprising:

sensing the weight of laundry to be washed while rotating a drum and maintaining angles in a circumferential direction of the drum to be identical between the plurality of balancing units while rotating the drum;

moving at least one of the plurality of balancing units simultaneously with rotation of the drum to reduce eccentricity of the drum after sensing the weight of the laundry; and

charging a capacitor provided in the plurality of balancing units while rotating the drum.

2. The control method according to claim 1 , wherein the charging of the capacitor provided in the plurality of balancing units is performed between the sensing of the weight of the laundry and the moving at least one of the plurality of balancing units.

3. The control method according to claim 1 , wherein the sensing of the weight of the laundry is performed in at least one cycle of a washing cycle, a rinsing cycle and a spin-drying cycle.

4. The control method according to claim 1 , wherein the charging of the capacitor provided in the plurality of balancing units is performed in at least one cycle of a washing cycle and a rinsing cycle of the washing machine.

5. The control method according to claim 4 , wherein, in the sensing of the weight of the laundry and the charging of the capacitor provided in the plurality of balancing units, the plurality of balancing units are rotated in connection with the drum.

6. The control method according to claim 1 , wherein, in the charging of the plurality of balancing units, one of the angles between the plurality of balancing units is minimized.

7. The control method according to claim 6 , wherein:

the washing machine further includes a housing provided on the drum and providing a path along which the plurality of balancing units move, and a wireless charging device provided at a designated position of the housing; and

if the drum and the housing are rotated in the charging of the capacitor provided in the plurality of balancing units, the plurality of balancing units are located at the lower portion of the drum due to the self weight of the plurality of balancing units and are charged.

8. The control method according to claim 1 , wherein the moving at least one of the plurality of balancing units is performed in a spin-drying cycle of the washing machine.

9. The control method according to claim 8 , wherein the moving at least one of the plurality of balancing units includes maintaining the angles between the plurality of balancing units when the spin-drying cycle has been completed.

10. The control method according to claim 1 , wherein, in the moving at least one of the plurality of balancing units, the at least one of the plurality of balancing units is moved relative to the drum.

11. The control method according to claim 10 , the moving at least one of the plurality of balancing units includes:

moving the plurality of balancing units for minimizing one of the angles between the plurality of balancing units;

sensing eccentricity of the drum while moving the at least one of the plurality of balancing units relative to the drum;

stopping movement of the at least one of the plurality of balancing units at a first position where a first minimum value of eccentricity of the drum is sensed, wherein the first minimum value of eccentricity is sensed while the at least one of the plurality of balancing units rotates along an outer circumferential surface of the drum.

12. The control method according to claim 11 , further comprising:

sensing eccentricity of the drum while moving the at least one of the plurality of balancing units from the first position; and

stopping movement of the at least one of the plurality of balancing units at a second position where a second minimum value of eccentricity of the drum smaller than the first minimum value is sensed, wherein the second minimum value of eccentricity is sensed while the at least one of the plurality of balancing units rotates along an outer circumferential surface of the drum.

13. The control method according to claim 12 , wherein, the plurality of balancing units are respectively moved in a same direction.

14. The control method according to claim 13 , the plurality of balancing units are moved in opposite directions.

15. The control method according to claim 1 , wherein the plurality of balancing units includes a pair of balancers, and an angle between the balances of the pair is 180°.