Method for estimating the amount of laundry loaded in a rotating drum of a laundry washing machine
A method to control a laundry machine. The method includes: controlling an electric motor to rotate a drum to change the rotational speed according to a prefixed reference speed profile comprising an acceleration ramp from a low speed to a prefixed high speed and a constant speed phase at the high speed, sampling first torque values generated by the motor during the acceleration ramp according to a first sample time, sampling second torque values generated by the motor during the constant speed phase according to a second sample time, calculating a third value indicative of an average torque being calculated on the basis of the second torque values, determining a fourth value by performing an integral function with respect to the first torque values less the third value, and determining the amount of laundry load on the basis of the fourth value.
1. A method for determining a laundry load (QL) of a laundry treating machine having an outer casing, a laundry treating group which is placed inside said outer casing and comprises, in turn, a rotatable drum structured for housing the laundry to be treated, and an electric motor for rotating said drum, wherein said method comprises:
controlling the electric motor to cause said drum to change the rotational speed according to a prefixed reference speed profile comprising at least an acceleration ramp (Ra(i)), wherein the drum is accelerated from a low speed (B1) to a prefixed high speed (B2) and at least a constant speed phase S(k) wherein the drum speed is maintained about said high speed (B2),
sampling first torque values (Ti) generated by said electric motor during said acceleration ramp Ra(i) according to a prefixed first sample time (Δta),
sampling second torque values (Tj) generated by said motor during said constant speed phase S(k) according to a prefixed second sample time (Δtb),
calculating a third value (TU), which is indicative of an average torque being calculated, in turn, on the basis of said second torque values (Tj), wherein TU is torque needed to overcome friction,
determining a fourth value (Torque_int) by performing an integral function with respect to said first torque values (Ti) and the third value (TU), and
determining the amount of laundry load (QL) on the basis of at least said fourth value (Torque_int).
2. The method according to claim 1 , wherein said prefixed reference speed profile further comprises a deceleration ramp (Rd(k)) wherein said drum is decelerated from said high speed (B2) to said low speed (B1); said constant speed phase S(k) being performed Immediately after said acceleration ramp (Ra(i)) and immediately before said deceleration ramp (Rd(k)).
3. The method according to claim 2 , wherein said reference speed profile comprises a sequence of drum speed commutations (SCP(k)), wherein each drum speed commutation (SCP(k)) comprises said acceleration ramp (Ra(i)), said deceleration ramp ((Rd(k)) and said constant speed phase (S(k)); and
for each of said drum speed commutation (SCP(k)), the method comprises the steps of:
sampling said first torque values (Ti) generated by said motor during said acceleration ramp (Ra(i)) according to said first sample time (Δta),
sampling said second torque values (Tj) generated by said motor during said constant speed phase (S(k)) according to said second sample time (Δtb),
calculating said third value (TU), which is indicative of an average torque being calculated, in turn, on the basis of said second torque values (Tj), and
determining said fourth value by performing an integral function with respect to said first torque values (Ti) and the third value (TU); and
the method further comprises:
calculating a fifth value which is indicative of the arithmetic mean of said fourth values; and
determining the amount of laundry load (QL) on the basis of differential values (Torque_diff), calculated by subtracting said fifth value from said fourth values (Torque_int(k)).
4. The method according to claim 3 , wherein said fourth value is determined by performing said integral function with respect to said first torque values (Ti) subtracted of said the third value (TU).
5. The method according to claim 3 , wherein said fifth value is calculated according to the following equation:
(1/ W )*[Σ k=1 W Torque_int( k )]
wherein W is the number of speed commutations SCP(k), Torque_int(k) are the fourth values associated with the respective commutation phases SCP(k).
6. The method according to claim 5 , wherein said differential values (Torque_diff(k)) are calculated according to the following equation:
Torque_diff( k )=Torque_int( k )−(1/ W )*[(Σ k=1 W Torque_int( k )]
wherein W is the number of speed commutations SCP(k), Torque_int(k) are fourth values associated with the commutation phases SCP(k).
7. The method according to claim 5 , comprising the steps of:
determining a load index value (IDX) based on said fourth values and said differential values; and
determining the amount of the laundry load based on said index value (IDX).
8. The method according to claim 7 , comprising the steps of: comparing said laundry load index (IDX) with one or more prefixed thresholds (Thi)(Ghi) associated with respective amounts of laundry (QLi); and determining the laundry amount (QL) based on the comparison results.
9. The method according to claim 1 , wherein said fourth value (Torque_int) is determined by performing said integral function with respect to said first torque values (Ti) subtracted of said the third value (TU).
10. The method according to claim 1 , wherein said fourth value (Torque_int) is calculated according to the following equation:
Torque_int=[Σ i=1 N ( Ti−TU )]*Δ ta
wherein T i are the torque values sampled during said acceleration ramp (Ra(k)) at instants i, N is the number of torque values (Ti) sampled during said acceleration ramp (Ra(k)), TU is the average torque calculated during said constant speed phase, and Δta is the first sample time.
11. The method according to claim 1 , wherein said fourth value (Torque_int) is calculated according to the following equation:
Torque_int=[(Σ i=1 N Ti )−( TU*N ))]*Δ ta
wherein T i are the torque values sampled during said acceleration ramp (Ra(k)), N is the number of torque values (Ti) sampled during said acceleration ramp (Ra(k)), TU is the average torque calculated during said constant speed phase, Δta is the first sample time.
12. The method according to claim 1 , wherein the method further comprises:
determining a load index value (IDX) based on said fourth value (Torque_int); and
determining the amount (QL) of the laundry load based on said index value (IDX).
13. The method according to claim 12 , wherein said load index value (IDX) is determined based on the following equation:
IDX= A 1*Torque_int
wherein A1 is a constant parameter experimentally calculated and Torque_int is said fourth value (Torque_int).
14. The method according to claim 12 , comprising: the steps of comparing said laundry load Index (IDX) with one or more prefixed thresholds (Thi)(Ghi) associated with respective amounts of laundry (QLi); and determining the laundry amount (QL) based on the comparison results.
15. The method according to claim 1 , wherein said second sample time (Δtb) of said second torque values (Tj) generated by said electric motor ( 16 ) during said constant speed phase (S(k)) is between about 0.1*10 −3 s and about 50*10 −3 s.
16. The method according to claim 1 , wherein said second sample time (Δtb) of said second torque values (Tj) generated by said electric motor ( 16 ) during said constant speed phase (S(k)) is about 10*10 −3 s.
17. The method according to claim 1 , wherein said first sample time (Δta) of said first torque values (Ti) generated by said electric motor during said acceleration ramp (Ra(k)) Is between about 0.1*10 −3 s and 20*10 −3 s.
18. A laundry treatment machine comprising:
an outer casing;
a laundry treating group which is placed inside said outer casing and comprises, in turn, a rotatable drum structured for housing the laundry to be treated;
an electric motor for rotating said drum and
an electronic control circuit configured to:
control the electric motor to cause said drum to change the rotational speed according to a prefixed reference speed profile comprising at least an acceleration ramp (Ra(i)), wherein said drum is accelerated from a low speed (B1) to a prefixed high speed (B2) and at least a constant speed phase (S(k)) wherein the drum speed is maintained about said high speed (B2);
sample first torque values (Ti) generated by said motor during said acceleration ramp Ra(i) according to a prefixed first sample time (Δta);
sample second torque values (Tj) generated by said motor during said constant speed phase according to a prefixed second sample time (Δtb);
calculate a third value (TU), which is indicative of an average torque being calculated, in turn, on the basis of said second torque values (Tj), wherein TU is torque needed to overcome friction;
determine a fourth value by performing an integral function with respect to said first torque values (Ti) and said third value (TU); and
determine the amount of laundry load (QL) on the basis of at least said fourth value (Torque_int).