Rotational motion control of a washing machine using electrorheological clutches and brakes

In this work, a rotational motion control of a washing machine featuring an electro-rheological (ER) clutch/brake actuators is investigated. After analysing the field-dependent transmission and braking torques of the actuator on the basis of Bingham model, two sets of ER clutch/brake actuators are manufactured. The dynamic model of the actuators is then formulated by considering time constants. Subsequently, the actuators are applied to a small-sized pulsator type washing machine for rotational motion control. The control system model represented by spin-basket and pulsator motions is established and PID controllers are designed for two motions. The controllers are experimentally realized for washing and dehydrating motions under various loads. In addition, durability test for the washing motion control has been undertaken to demonstrate practical feasibility.