Washing machine to produce three-dimensional motion
A method for driving a washing machine that includes a main body, a tub disposed within the main body, a main drum rotatably mounted in the tub, a sub drum mounted in the main drum to be relatively rotatable with respect to the main drum, a driving motor, and a control unit to control operations of the driving motor includes producing a three-dimensional motion of laundry in the washing machine by moving the laundry in a circumferential direction and an axial direction simultaneously by relative motions of the main drum and the sub drum to perform the washing process while supplying washing water and detergent.
1. A method for controlling a washing machine that includes a main body defining an outer appearance, a tub disposed within the main body, a main drum rotatably mounted in the tub, a sub drum mounted in the main drum to be relatively rotatable with respect to the main drum, a outer shaft for rotating the main drum, an inner shaft for rotating the sub drum, being disposed inside the outer shaft, a driving motor having a stator, an outer rotor connected to the inner shaft and rotatable outside the stator, and an inner rotor connected to the outer shaft and rotatable inside the stator, and a control unit to control operations of the outer rotor and the inner rotor, the method comprising:
initially operating the driving motor with the same starting RPM smaller than target RPMs of the outer rotor and the inner rotor; and
operating the outer rotor and the inner rotor with the respective target RPMs when a predetermined time lapses after initially-operating the driving motor.
2. The method of claim 1 , further comprising:
comparing torques of the outer rotor and the inner rotor,
firstly initial-operating one rotor having a larger torque and then initial-operating another rotor having a smaller torque based on a comparison result,
operating the outer rotor and the inner rotor with respective target RPMs if a predetermined time lapses after the driving motor has started to operate, and
detecting a laundry amount.
3. The method of claim 1 , further comprising:
detecting a temperature of the outer rotor or the inner rotor, and
controlling the outer rotor and the inner rotor to rotate with the same RPM when the temperature is more than a reference temperature.
4. A method for driving a washing machine that includes a main body defining an outer appearance, a tub disposed within the main body, a main drum rotatably mounted in the tub, a sub drum mounted in the main drum to be relatively rotatable with respect to the main drum, a hollow outer shaft connected to the main drum, an inner shaft connected to the sub drum upon insertion into the outer shaft, a driving motor having a stator, an outer rotor connected to the inner shaft and rotatable outside the stator, and an inner rotor connected to the outer shaft and rotatable inside the stator, and a control unit to control operations of the outer rotor and the inner rotor, the method comprising:
supplying washing water and a detergent;
supplying rinsing water;
discharging rinsing water and performing a dehydrating process;
separating laundry from the main drum and the sub drum by producing a three-dimensional motion of the laundry within the main drum and the sub drum to release an entangled state of the laundry after the dehydration process; and
performing a drying process to dry the laundry, wherein the laundry arranging step is performed prior to the drying step.
5. The method of claim 4 , wherein separating the laundry from the main drum and the sub drum comprises separating the laundry from inner surfaces of the main drum and the sub drum in response to the relative motions between the main drum and the sub drum, and wherein the laundry is released from the entangled state by relative motions of the main drum and the sub drum by moving the main drum and the sub drum in a circumferential direction and an axial direction.
6. The method of claim 5 , further comprising drawing the laundry to the outside by relative motions of the main drum and the sub drum.
7. The method of claim 5 , further comprising:
driving, by the driving motor, the main drum and the sub drum to perform the relative motions to separate the laundry from the inner surfaces of the main drum and the sub drum after draining rinsing water and performing a dehydration process;
driving, by the driving motor, the main drum and the sub drum to perform the relative motions such that the entangled state of the laundry can be released by rotating and moving in a circumferential direction and an axial direction; and
driving, by the driving motor, the main drum and the sub drum to perform relative motions so that the laundry may be discharged to the outside of a door of the washing machine after the door has opened.
8. A method for driving a washing machine that includes a main body defining an outer appearance, a tub disposed within the main body, a main drum rotatably mounted in the tub, a sub drum mounted in the main drum to be relatively rotatable with respect to the main drum, a hollow outer shaft connected to the main drum, an inner shaft connected to the sub drum upon insertion into the outer shaft, a driving motor having a stator, an outer rotor connected to the inner shaft and rotatable outside the stator, and an inner rotor connected to the outer shaft and rotatable inside the stator, and a control unit to control operations of the outer rotor and the inner rotor, the method comprising producing a three-dimensional motion of laundry in the washing machine by moving the laundry in a circumferential direction and an axial direction simultaneously by relative motions of the main drum and the sub drum to perform the washing process while supplying washing water and detergent.
9. The method of claim 8 , wherein producing the three-dimensional motion comprises driving, by the driving motor, the main drum and the sub drum to relatively rotate such that the laundry can rotate and move in the circumferential and axial direction according to a laundry amount in the washing machine.
10. The method of claim 8 , wherein producing the three-dimensional motion comprises driving, by the driving motor, the main drum and the sub drum to integrally rotate each other such that the laundry can move only in the circumferential direction according to a laundry amount in the washing machine.
11. The method of claim 8 , wherein producing the three-dimensional motion comprises rotating, by the driving motor, the main drum and the sub drum, in opposite directions when a laundry amount is less than ⅓ of the maximum load of the driving motor, in the same direction with different speeds when a laundry amount is more than ⅓ and less than ⅔ of the maximum load of the driving motor, and in the same direction when a laundry amount is more than ⅔ of the maximum load of the driving motor.
12. The method of claim 8 , further comprising detecting a laundry amount in the washing machine by:
initially driving the inner rotor and the outer rotor;
braking the inner rotor and the outer rotor when the inner rotor and the outer rotor reach particular RPMs; and
detecting a first laundry amount inside the main drum and a second laundry amount inside the sub drum based on braking times of the inner rotor and the outer rotor.
13. The method of claim 12 , wherein initially driving the inner rotor and the outer rotor comprises initially driving the inner rotor by a master controller and initially driving the outer rotor by a slave controller,
wherein braking the inner rotor and the outer rotor when the inner rotor and the outer rotor reach particular RPMs comprises braking the inner rotor and the outer rotor by the master controller, when the inner rotor and the outer rotor reach particular RPMs, and
wherein detecting a first laundry amount inside the main drum and a second laundry amount inside the sub drum comprises detecting a first laundry amount inside the main drum and a second laundry amount inside the sub drum by the master controller and the slave controller.
14. A washing machine comprising:
a main body defining an outer appearance;
a tub disposed within the main body;
a main drum rotatably mounted in the tub;
a sub drum mounted in the main drum to be relatively rotatable with respect to the main drum;
a outer shaft for rotating the main drum;
an inner shaft for rotating the sub drum, being disposed inside the outer shaft;
a driving motor having a stator, an outer rotor connected to the inner shaft and rotatable outside the stator, and an inner rotor connected to the outer shaft and rotatable inside the stator; and
a control unit to control operations of the outer rotor and the inner rotor.
15. The washing machine of claim 14 , wherein the control unit operates the outer rotor and the inner rotor with starting RPM smaller than or the same as each target RPM of the outer rotor and the inner rotor, upon initially operating the driving motor.
16. The washing machine of claim 14 , wherein the control unit controls the driving motor to sequentially drive the outer and inner rotors, starting from one rotor having a large torque.
17. The washing machine of claim 14 , further comprising:
a laundry amount detection unit configured to detect a laundry amount, wherein the control unit controls a rotation direction or an RPM of each of the outer rotor and the inner rotor according to a laundry amount, if a predetermined time lapses after the driving motor has started to operate.
18. The washing machine of claim 14 , wherein the control unit causes the main drum and the sub drum to rotate by driving the outer rotor and the inner rotor in opposite directions, when a laundry amount is less than a reference laundry amount, and the control unit causes the outer rotor and the inner rotor to rotate in the same direction, when a laundry amount is more than the reference laundry amount.
19. The washing machine of claim 14 , wherein the control unit causes the outer rotor and the inner rotor to rotate in opposite directions, when a laundry amount is less than a first reference laundry amount, and wherein the control unit causes the outer rotor and the inner rotor to rotate in the same direction, when a laundry amount is more than a second reference laundry amount greater than the first reference laundry amount.
20. The washing machine of claim 19 , wherein the control unit controls rotation directions or RPMs of the outer rotor and the inner rotor according to a heat generation amount or torque of the driving motor, when a laundry amount is more than the first reference laundry amount and less than the second reference laundry amount.
21. The washing machine of claim 14 , wherein the washing machine further comprises a temperature detection unit provided at the outer rotor or the inner rotor, and configured to detect a temperature, wherein, the control unit controls the outer rotor and the inner rotor to rotate with the same RPM, when a temperature is more than a reference temperature.
22. The washing machine of claim 14 , wherein the control unit drives the inner rotor and the outer rotor into particular RPMs, respectively, and applies a braking command to the inner rotor and the outer rotor, wherein the control unit detects a first laundry amount inside the main drum and a second laundry amount inside the sub drum based on braking times of the inner and outer rotors.
23. The washing machine of claim 22 , wherein the control unit comprises:
a master controller configured to drive the inner rotor, and to detect the first laundry amount based on the braking time of the inner rotor; and
a slave controller connected to the master controller, configured to drive the outer rotor, and to detect the second laundry amount based on the braking time of the outer rotor.
24. The washing machine of claim 23 , wherein the master controller generates a braking command for the outer rotor, and transmits the braking command to the slave controller, and the master controller generates a braking command for the inner rotor after a particular time has lapsed.
25. The washing machine of claim 14 , wherein the washing machine further comprises a current detector configured to detect a first current and a second current applied to the inner rotor and the outer rotor, respectively.