Laundry treating appliance and methods of operation
Methods of reducing a likelihood of contact between a rotating laundry-container, such as a basket or drum, located within a tub of a laundry treating appliance where the method includes rotating the drum during a measurement period, determining a torque, speed, acceleration, and position of the drum, using a parameter estimator to estimate the position of a mass relative to an imbalance of laundry and accelerating the rotation of the drum when the mass is determined to be angularly spaced from the relative position of the imbalance of laundry.
1. A laundry treating appliance comprising:
a drum at least partially defining a treating chamber for receiving a laundry load for treatment according to a cycle of operation;
a motor operably coupled with the drum to rotate the drum at least during a measurement period;
at least one balance ring mounted to the drum and defining an internal annular cavity in which a mass is located;
a controller for determining, during the measurement period, at least one of a torque of the motor, an acceleration of the drum, a rotational speed of the drum, and an angular position of the drum; and
a processor operably coupled with the controller and having a parameter estimator to repeatedly estimate a relative position of the mass and a relative position of the laundry load based upon at least one of the torque, acceleration, speed, and angular position of the drum as the drum rotates;
wherein the processor signals the controller to accelerate the rotational speed of the drum during the cycle of operation when the relative position of the mass is determined to be angularly spaced from the relative position of the laundry load.
2. The laundry treating appliance of claim 1 wherein the parameter estimator repeatedly estimates, during the measurement period, a magnitude of the mass and a magnitude of an imbalance of laundry, based on at least one of the torque, acceleration, speed, and angular position of the drum.
3. The laundry treating appliance of claim 1 wherein the mass is a plurality of balance balls.
4. The laundry treating appliance of claim 1 wherein the parameter estimator is operated continuously throughout the measurement period.
5. The laundry treating appliance of claim 2 wherein the relative position of the mass is a raw value.
6. The laundry treating appliance of claim 5 wherein the relative position of the imbalance of laundry is a raw value.