阅读说明：本技术 滚筒洗衣机的电机控制方法、电机控制装置及滚筒洗衣机 (Motor control method and motor control device of drum washing machine and drum washing machine ) 是由 任艳华 唐婷婷 潘军 王声纲 杨正 朱绯 于 2020-06-09 设计创作，主要内容包括：本发明提供了一种滚筒洗衣机的电机控制方法,包括当滚筒洗衣机的电机处于运行状态时,确定电机的运行模式；若电机的运行模式为洗涤模式,则设置洗涤速度环PI参数值和洗涤电流环PI参数值,并设置洗涤速度环PI输出的最大值为电机运行时的最大电流值,并根据电机在洗涤过程中是否降速调整电机的控制参数,以使滚筒洗衣机根据所述控制参数洗涤衣物；若电机的运行模式为脱水模式,根据d轴参考电流是否为0确定电机的控制参数,以使滚筒洗衣机根据所述控制参数脱水运行。本发明的方案能够减小滚筒洗衣机的电机抖动和噪音,提高了洗衣机的驱动性能和洗涤效果。(The invention provides a motor control method of a drum washing machine, which comprises the steps of determining the operation mode of a motor when the motor of the drum washing machine is in an operation state; if the operation mode of the motor is a washing mode, setting a washing speed loop PI parameter value and a washing current loop PI parameter value, setting the maximum value output by the washing speed loop PI as the maximum current value when the motor operates, and adjusting the control parameter of the motor according to whether the motor is decelerated in the washing process so that the drum washing machine washes clothes according to the control parameter; and if the operation mode of the motor is the dehydration mode, determining the control parameter of the motor according to whether the d-axis reference current is 0 or not so as to enable the drum washing machine to perform dehydration operation according to the control parameter. The scheme of the invention can reduce the motor vibration and noise of the drum washing machine and improve the driving performance and washing effect of the washing machine.)

1. The motor control method of the drum washing machine is characterized by comprising the following steps:

when a motor of the drum washing machine is in a running state, determining a running mode of the motor;

if the operation mode of the motor is a washing mode, setting a washing speed loop PI parameter value and a washing current loop PI parameter value, setting the maximum value output by the washing speed loop PI as the maximum current value when the motor operates, and adjusting the control parameter of the motor according to whether the motor is decelerated in the washing process so that the drum washing machine washes clothes according to the control parameter;

and if the operation mode of the motor is the dehydration mode, determining the control parameter of the motor according to whether the d-axis reference current is 0 or not so as to enable the drum washing machine to perform dehydration operation according to the control parameter.

2. The motor control method of claim 1, wherein the adjusting a control parameter of the motor according to whether the motor is decelerated during the washing process so that the drum washing machine washes the laundry according to the control parameter comprises:

if the motor is in the speed reduction process, respectively adjusting the minimum value of the washing speed loop PI output and the minimum value of the q-axis current loop PI output to be 0;

and if the motor is in a non-deceleration process, respectively adjusting the minimum range of the washing speed loop PI output and the minimum range of the q-axis current loop PI output to be 0-2 amperes and 1-50 volts.

3. The motor control method of claim 1, wherein determining a control parameter of the motor according to whether the d-axis reference current is 0, such that the drum washing machine performs a dehydration operation according to the control parameter comprises:

if the d-axis reference current is 0, determining a q-axis current limit value and a minimum value of a dehydration speed ring PI output according to the real-time rotating speed of the motor and the set rotating speed interval of the motor so as to enable the drum washing machine to perform dehydration operation according to the determined motor control parameter value;

if the d-axis reference current is not 0, determining a q-axis current limit value according to the real-time rotating speed of the motor, the real-time current of the q-axis or the maximum torque limit value, so that the drum washing machine can perform dehydration operation according to the determined motor control parameter value.

4. The motor control method of claim 1, wherein if the operation mode of the motor is a washing mode, setting a washing speed loop PI parameter value and a washing current loop PI parameter value, further comprising:

setting the PI parameters of a washing speed loop to be 5 and 0.2 respectively, setting the PI parameters of a washing d-axis reference current loop to be 10 and 0.1 respectively, and setting the PI parameters of a washing q-axis current loop to be 20 and 1 respectively.

5. The motor control method according to claim 3, wherein if the d-axis reference current is 0, determining a motor control parameter value according to the set motor rotation speed interval, the q-axis current limit value corresponding to the rotation speed interval, and the minimum value of the PI output of the dehydration speed loop, so that the drum washing machine performs dehydration operation according to the motor control parameter value further comprises:

and when the real-time rotating speed of the motor is smaller than the threshold value of the rotating speed interval of the motor, setting the value range of the q-axis current according to the motor parameters.

6. The motor control method of claim 3, wherein if the d-axis reference current is not 0, determining a q-axis current limit value according to a real-time rotation speed of the motor, a real-time current of the q-axis, or a maximum torque limit value, so that the drum washing machine performs a dehydration operation according to the determined motor control parameter value further comprises:

when the real-time rotating speed of the motor is less than or equal to the motor rotating speed interval threshold value, setting a q-axis current limiting value to be 1.1 times of q-axis real-time current, and when the obtained q-axis current limiting value is greater than a maximum dehydration current value, setting the q-axis current limiting value as the maximum dehydration current value;

when the real-time rotating speed of the motor is greater than the threshold value of the rotating speed interval of the motor, the maximum torque limit value is-0.75 (the real-time rotating speed of the motor-the threshold value of the rotating speed interval of the motor)/256 of the maximum dehydration current value, and the q-axis current limit value is set as the maximum torque limit value;

and when the maximum torque limit value is less than 0, making the maximum torque limit value equal to 0.

7. The motor control method of claim 1, wherein if the operation mode of the motor is the dehydration mode, determining the control parameter of the motor according to whether the d-axis reference current is 0, so that the drum washing machine performs the dehydration operation according to the control parameter further comprises:

and when the real-time rotating speed of the motor rises to the range of the eccentric detection rotating speed, performing dehydration eccentric detection on the drum washing machine according to the set eccentric detection speed ring PI, the eccentric detection current ring PI, the intelligent weighing speed ring PI and the intelligent weighing current ring PI.

8. The motor control method according to claim 7, wherein the eccentricity detection rotation speed range is 90 to 100 RPM.

9. A motor control device of a drum washing machine, comprising: at least one memory and at least one processor;

the at least one memory to store a machine readable program;

the at least one processor, configured to invoke the machine readable program, to perform the method of any of claims 1 to 8.

10. A drum washing machine characterized by comprising the motor control device of claim 9.

Technical Field

The invention relates to the technical field of household appliance control, in particular to a motor control method and a motor control device of a drum washing machine and the drum washing machine.

Background

During operation of the drum washing machine, especially under heavy load, problems such as large jitter and large noise may occur during operation of the motor due to an error in control of a speed loop and a current loop PI (Proportional integral controller) in FOC (Field oriented control) vector control and an unreasonable selection of PI control parameters.

In the prior art, subtraction of bisection is used, and a subtractor which runs at high speed is used for realizing the function of division, so that rotating speed information is obtained, rotating speed error information is further obtained, and the running of a motor is controlled. The method can ensure the stable operation of the motor aiming at the conventional motor control system, but can cause the problems of large jitter, large noise and the like in the operation process of the motor aiming at the roller washing machine with large load change and complex control logic.

Disclosure of Invention

The embodiment of the invention provides a motor control method and a motor control device of a drum washing machine and the drum washing machine.

In one aspect, an embodiment of the present invention provides a motor control method for a drum washing machine, including:

when a motor of the drum washing machine is in a running state, determining a running mode of the motor;

if the operation mode of the motor is a washing mode, setting a washing speed loop PI parameter value and a washing current loop PI parameter value, setting the maximum value output by the washing speed loop PI as the maximum current value when the motor operates, and adjusting the control parameter of the motor according to whether the motor is decelerated in the washing process so that the drum washing machine washes clothes according to the control parameter;

and if the operation mode of the motor is the dehydration mode, determining the control parameter of the motor according to whether the d-axis reference current is 0 or not so as to enable the drum washing machine to perform dehydration operation according to the control parameter.

Optionally, the adjusting a control parameter of the motor according to whether the motor is decelerated during the washing process so that the drum washing machine washes the laundry according to the control parameter includes:

if the motor is in the speed reduction process, respectively adjusting the minimum value of the washing speed loop PI output and the minimum value of the q-axis current loop PI output to be 0;

and if the motor is in a non-deceleration process, respectively adjusting the minimum range of the washing speed loop PI output and the minimum range of the q-axis current loop PI output to be 0-2 amperes and 1-50 volts.

Optionally, determining a control parameter of the motor according to whether the d-axis reference current is 0, such that the drum washing machine performs a dehydration operation according to the control parameter, includes:

if the d-axis reference current is 0, determining a q-axis current limit value and a minimum value of a dehydration speed ring PI output according to the real-time rotating speed of the motor and the set rotating speed interval of the motor so as to enable the drum washing machine to perform dehydration operation according to the determined motor control parameter value;

if the d-axis reference current is not 0, determining a q-axis current limit value according to the real-time rotating speed of the motor, the real-time current of the q-axis or the maximum torque limit value, so that the drum washing machine can perform dehydration operation according to the determined motor control parameter value.

Optionally, if the operation mode of the motor is a washing mode, setting a washing speed loop PI parameter value and a washing current loop PI parameter value, further comprising:

setting the PI parameters of a washing speed loop to be 5 and 0.2 respectively, setting the PI parameters of a washing d-axis reference current loop to be 10 and 0.1 respectively, and setting the PI parameters of a washing q-axis current loop to be 20 and 1 respectively.

Optionally, if the d-axis reference current is 0, determining a motor control parameter value according to the set motor rotation speed interval, the q-axis current limit value corresponding to the rotation speed interval, and the minimum value output by the dehydration speed loop PI, so that the drum washing machine performs dehydration operation according to the motor control parameter value further includes:

and when the real-time rotating speed of the motor is smaller than the threshold value of the rotating speed interval of the motor, setting the value range of the q-axis current according to the motor parameters.

Optionally, if the d-axis reference current is not 0, determining a q-axis current limit value according to the real-time rotation speed of the motor, the real-time current of the q-axis or the maximum torque limit value, so that the drum washing machine performs the dehydration operation according to the determined motor control parameter value further includes:

when the real-time rotating speed of the motor is smaller than or equal to the motor rotating speed interval threshold value, setting the q-axis current limiting value to be 1.1 times of the q-axis real-time current, and when the obtained q-axis current limiting value is larger than the maximum dehydration current value, setting the q-axis current limiting value as the maximum dehydration current value.

When the real-time rotating speed of the motor is greater than the threshold value of the rotating speed interval of the motor, the maximum torque limit value is-0.75 (the real-time rotating speed of the motor-the threshold value of the rotating speed interval of the motor)/256 of the maximum dehydration current value, and the q-axis current limit value is set as the maximum torque limit value;

and when the maximum torque limit value is less than 0, making the maximum torque limit value equal to 0.

Optionally, if the operation mode of the motor is the dehydration mode, determining a control parameter of the motor according to whether the d-axis reference current is 0, so that the drum washing machine performs dehydration operation according to the control parameter further includes:

and when the real-time rotating speed of the motor rises to the range of the eccentric detection rotating speed, performing dehydration eccentric detection on the drum washing machine according to the set eccentric detection speed ring PI, the eccentric detection current ring PI, the intelligent weighing speed ring PI and the intelligent weighing current ring PI.

Optionally, the eccentricity detection rotating speed range is 90-100 RPM.

In another aspect, the present invention further provides a motor control apparatus for a drum washing machine, including: to

At least one memory and at least one processor;

the at least one memory to store a machine readable program;

the at least one processor is used for calling the machine readable program to execute the motor control method.

In still another aspect, the present invention further provides a drum washing machine including the motor control device.

In summary, the embodiment of the invention firstly judges the working mode of the drum washing machine in the working state, and then sets and adjusts the motor parameter value according to the working mode obtained by judgment, so that the motor jitter and noise of the washing machine are reduced in the clothes washing and dehydration states, and the driving performance and the washing effect of the washing machine are improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a flowchart illustrating a motor control method of a drum washing machine according to an embodiment of the present invention;

fig. 2 is a second flowchart of a motor control method of a drum washing machine according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a motor control device of a drum washing machine according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.

As shown in fig. 1, an embodiment of the present invention provides a motor control method for a drum washing machine, including:

s100: when a motor of the drum washing machine is in a running state, determining a running mode of the motor;

s200: if the operation mode of the motor is a washing mode, setting a washing speed loop PI parameter value and a washing current loop PI parameter value, setting the maximum value output by the washing speed loop PI as the maximum current value when the motor operates, and adjusting the control parameter of the motor according to whether the motor is decelerated in the washing process so that the drum washing machine washes clothes according to the control parameter;

s300: and if the operation mode of the motor is the dehydration mode, determining the control parameter of the motor according to whether the d-axis reference current is 0 or not so as to enable the drum washing machine to perform dehydration operation according to the control parameter.

In the embodiment of the invention, when the drum washing machine is in the working state, firstly, whether the motor operates in the washing state or the dehydration state is judged, namely, the operation mode of the motor is determined. The judgment mode can be judged according to the type of the mode control instruction received by the upper computer, for example, if the latest mode control instruction received by the upper computer is washing, the current motor is judged to be in a washing state, the specific washing mode is not limited, and when a user clicks keys for standard washing, wool washing, immersion washing and the like, the mode control instruction is considered to be washing; and if the latest mode control instruction received by the upper computer is dehydration, judging that the motor is in a dehydration state at present. Of course, other determination methods may be used as long as the operation state of the motor can be correctly determined, and the determination method is not particularly limited herein.

When the drum washing machine is judged to be in a washing state, a washing speed ring PI parameter value and a washing current ring PI parameter value are preset, the maximum value output by the washing speed ring is the maximum current value when the drum washing machine is in the washing state, and furthermore, each preset parameter value is adjusted according to whether the speed is reduced in the washing process, so that the drum washing machine can carry out forward and backward rotation operation to wash clothes according to a certain washing beat under the condition of reducing motor vibration and noise.

When the drum washing machine is judged to be in a dehydration state, firstly, whether the d-axis reference current is 0 or not is judged, if the d-axis reference current is 0, the value range of the q-axis current is determined according to the real-time rotating speed of the motor and the set rotating speed interval of the motor, namely, the limiting value of the q-axis current and the minimum value of the output of a dehydration speed loop PI are determined. When the d-axis reference current is 0, the motor is in a non-flux weakening state, and the stator current can be completely added to the q-axis, so that the q-axis current limit value can be determined according to the set motor rotating speed interval and the real-time rotating speed of the motor, and the motor can work under the determined q-axis current limit value. If the d-axis reference current is not 0, the motor is in a field weakening state at the moment, and the q-axis current limit value can be determined according to the real-time current or the maximum torque limit value of the q-axis.

In summary, the embodiment of the invention adjusts the q-axis current in the FOC control of the drum washing machine differently according to different states of the motor, so that the shaking and noise of the motor can be reduced under the condition of ensuring normal clothes washing and dehydration of the drum washing machine no matter the drum washing machine operates in a washing state or a dehydration state.

Further, when the washing machine operates in a washing state, if the motor is in a speed reduction process, respectively adjusting the minimum value of the washing speed loop PI output and the minimum value of the q-axis current loop PI output to be 0; and if the motor is in a non-deceleration process, respectively adjusting the minimum range of the washing speed loop PI output and the minimum range of the q-axis current loop PI output to be 0-2 amperes and 1-50 volts.

The minimum value of the washing speed loop PI output is the q-axis current minimum value, the minimum value of the q-axis current loop PI output is the q-axis voltage minimum value, if the motor is in the speed reduction process, the rotating speed of the motor is generally not too high, and in the speed reduction process, the required q-axis current value is smaller and smaller, so that the minimum value of the washing speed loop PI output and the minimum value of the q-axis current loop PI output can be set to be 0. If the motor is in a non-deceleration process, the acceleration of the motor needs q-axis current, and the minimum value of the output of the washing speed loop PI cannot be set to be 0, according to debugging experience of an inventor, the minimum value range of the output of the speed loop PI and the minimum value range of the output of the q-axis current loop PI can be set to be 0-2 amperes and 1-50 volts respectively.

Also, taking a drum washing machine with a washing capacity of 10 kg as an example, when the motor is in a non-deceleration process, the minimum value of the output of the washing speed loop PI may be 0.04 a, and the minimum value of the output of the q-axis current loop PI may be 10 v.

Optionally, determining a control parameter of the motor according to whether the d-axis reference current is 0, such that the drum washing machine performs a dehydration operation according to the control parameter, includes:

if the d-axis reference current is 0, determining a q-axis current limit value and a minimum value of a dehydration speed ring PI output according to the real-time rotating speed of the motor and the set rotating speed interval of the motor so as to enable the drum washing machine to perform dehydration operation according to the determined motor control parameter value;

if the d-axis reference current is not 0, determining a q-axis current limit value according to the real-time rotating speed of the motor, the real-time current of the q-axis or the maximum torque limit value, so that the drum washing machine can perform dehydration operation according to the determined motor control parameter value.

Further, if the d-axis reference current is 0, determining a motor control parameter value according to the set motor rotation speed interval, the q-axis current limit value corresponding to the rotation speed interval, and the minimum value of the dehydration speed loop PI output, so that the drum washing machine performs dehydration operation according to the motor control parameter value further includes:

and when the real-time rotating speed of the motor is smaller than the threshold value of the rotating speed interval of the motor, setting the value range of the q-axis current according to the motor parameters.

For example, the maximum value of the q-axis current may be set as the maximum dehydration current value, and the minimum value may be a number greater than 0, for example, for a washing machine with a washing capacity of 10 kg, the maximum value of the q-axis current may be set to 3 amperes, and the minimum value may be set to 0.05 amperes, that is, the minimum value of the output of the dehydration speed loop PI is 0.05.

In the specific implementation process, it is also mentioned above that when the d-axis reference current is 0, the stator current may be completely added to the q-axis, and when the real-time rotation speed of the motor is greater than 75RPM, the required q-axis current is set to be greater and greater as the rotation speed increases, but the maximum current of the q-axis increase must be less than or equal to the maximum current of dehydration. And when the real-time rotating speed of the motor is less than 75RPM, the required q-axis current is small because the rotating speed is small, and the maximum current for dehydration cannot be reached. Since the maximum current of q-axis rising must be less than or equal to the maximum current for dehydration when the real-time rotation speed of the motor is greater than 75RPM, a q-axis current limit value is set, where the q-axis current limit value is set as the maximum current for dehydration, and if the maximum current for dehydration is 3 amps, the q-axis current limit value is 3 amps, and the minimum value of the output of the dehydration speed loop PI is 0.05.

Further, if the d-axis reference current is not 0, determining a q-axis current limit value according to the real-time rotation speed of the motor, the real-time current of the q-axis or the maximum torque limit value, so that the drum washing machine performs the dehydration operation according to the determined motor control parameter value further includes:

when the real-time rotating speed of the motor is smaller than or equal to the motor rotating speed interval threshold value, setting the q-axis current limiting value to be 1.1 times of the q-axis real-time current, and when the obtained q-axis current limiting value is larger than the maximum dehydration current value, setting the q-axis current limiting value as the maximum dehydration current value.

When the real-time rotating speed of the motor is larger than the motor rotating speed interval threshold, the maximum torque limiting value is-0.75 (the real-time rotating speed of the motor-the motor rotating speed interval threshold)/256 of the dehydration maximum current value, and the q-axis current limiting value is set to be the maximum torque limiting value.

When the d-axis reference current is not 0, the motor is in a field weakening state, when the real-time rotating speed of the motor is smaller than or equal to the motor rotating speed interval threshold value, the q-axis current limiting value is set to be 1.1 times of the q-axis real-time current, and when the obtained q-axis current limiting value is larger than the maximum dehydration current value, the q-axis current limiting value is set to be the maximum dehydration current value. Assuming that the maximum dehydration current value is 3 amperes and the initial q-axis real-time current value is 1.5 amperes, the q-axis current limit value is 1.5 × 1.1 amperes to 1.65 amperes, and the q-axis real-time current is continuously increased along with the increase of the motor speed, and when the q-axis real-time current value is 2.73 amperes, the q-axis current limit value is 2.73 × 1.1 amperes to 3.003 amperes, and at this time, the q-axis current limit value exceeds the maximum dehydration current value by 3 amperes, 3 amperes can be taken as the q-axis current limit value. When the real-time rotating speed of the motor is larger than the motor rotating speed interval threshold, the maximum torque limit value is-0.75 × the maximum dehydration current value (the real-time rotating speed of the motor-the motor rotating speed interval threshold)/256, and the q-axis current limit value is set as the maximum torque limit value. For example, when the motor speed interval threshold is 460RPM, assuming that the maximum torque limit value is 3-0.75 (15000-; and when the calculated maximum torque limit value is larger than 0, directly assigning the maximum torque limit value to the q-axis current limit value.

Further, if the operation mode of the motor is the dehydration mode, determining a control parameter of the motor according to whether the d-axis reference current is 0, so that the drum washing machine performs dehydration operation according to the control parameter further includes:

and when the real-time rotating speed of the motor rises to the range of the eccentric detection rotating speed, performing dehydration eccentric detection on the drum washing machine according to the set eccentric detection speed ring PI, the eccentric detection current ring PI, the intelligent weighing speed ring PI and the intelligent weighing current ring PI.

Optionally, the eccentricity detection rotating speed range is 90-100 RPM.

For example, the eccentricity detection is performed when the eccentricity detection rotation speed range is at 93 RPM.

Further, when the operation mode of the motor is a washing mode, setting a washing speed loop PI parameter value and a washing current loop PI parameter value further includes:

setting the PI parameters of a washing speed loop to be 5 and 0.2 respectively, setting the PI parameters of a washing d-axis reference current loop to be 10 and 0.1 respectively, and setting the PI parameters of a washing q-axis current loop to be 20 and 1 respectively.

As shown in fig. 2, the whole working process of the drum washing machine is that the motor of the washing machine operates according to a given motor speed, and determines whether the drum washing machine works in a washing state or a dewatering state, when the washing machine is determined to be in the washing state, a washing speed loop PI parameter, a washing current loop PI parameter and a speed loop output maximum value are set, a speed loop output minimum value and a current loop output minimum value are set according to whether the motor is decelerated, and the motor is controlled to rotate forward and backward to wash clothes according to a certain time beat according to the set speed loop output minimum value and the set current loop output minimum value; when the washing machine is in a dehydration state, firstly, whether the d-axis reference current is 0 or not is judged, if the d-axis reference current is 0, a rotating speed interval of the motor is set, and a q-axis current limit value and a dehydration speed ring output minimum value are set according to the relation between the real-time rotating speed of the motor and the rotating speed interval. And if the d-axis reference current is not 0 and the rotating speed is greater than the rotating speed interval threshold value, assigning the maximum torque limit to the q-axis current limit value. Whether the d-axis reference current is 0 or not 0, whether eccentricity detection is carried out or not needs to be judged in the period, when the eccentricity detection is needed, an eccentricity detection speed ring PI parameter and an intelligent weighing speed ring PI parameter are set, when the rotating speed of the motor reaches 90-100 RPM, the eccentricity detection is generally needed, and preferably, the eccentricity detection can be carried out when the rotating speed of the motor is 93 RPM.

As shown in fig. 3, an embodiment of the present invention provides a motor control apparatus for a drum washing machine, including at least one memory for storing a machine-readable program and at least one processor; the at least one processor is used for calling the machine readable program to execute the motor control method.

It is to be understood that the illustrated configuration of the embodiment of the present invention does not constitute a specific limitation to the motor control device. In other embodiments of the invention, the motor control apparatus may include more or fewer components than shown, or some components may be combined, some components may be separated, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

Because the information interaction, execution process, and other contents between the units in the device are based on the same concept as the method embodiment of the present invention, specific contents may refer to the description in the method embodiment of the present invention, and are not described herein again.

The present invention also provides a computer-readable medium storing instructions for causing a computer to execute the motor control method of a drum washing machine as described herein. Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.

In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.

Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.

Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion unit connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.

It should be noted that not all steps and modules in the above flows and system structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together.

In the above embodiments, the hardware unit may be implemented mechanically or electrically. For example, a hardware element may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. The hardware elements may also comprise programmable logic or circuitry, such as a general purpose processor or other programmable processor, that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.

While the invention has been shown and described in detail in the drawings and in the preferred embodiments, it is not intended to limit the invention to the embodiments disclosed, and it will be apparent to those skilled in the art that various combinations of the code auditing means in the various embodiments described above may be used to obtain further embodiments of the invention, which are also within the scope of the invention.