CN106357183B - A kind of resonant frequency tracking and controlling method of linear vibration motor - Google Patents
A kind of resonant frequency tracking and controlling method of linear vibration motor Download PDFInfo
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- CN106357183B CN106357183B CN201610842155.9A CN201610842155A CN106357183B CN 106357183 B CN106357183 B CN 106357183B CN 201610842155 A CN201610842155 A CN 201610842155A CN 106357183 B CN106357183 B CN 106357183B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
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Abstract
The invention discloses a kind of resonant frequency tracking and controlling methods of linear vibration motor, mover current signal and mover displacement signal are detected first, then current signal and displacement signal are respectively connected to the input of Second Order Generalized Integrator, orthogonal signal generator, the orthogonal to that signal of output current signal are controlled through second order improper integral；Similarly, the orthogonal to that signal of output voltage signal；Frequency locking ring output current frequency signal and voltage-frequency signal are controlled by second order improper integral.Above-mentioned output signal is passed through into Park coordinate transforms, output current direct current signal and displacement direct current signal respectively, select the q shaft currents of current output signal as feedback control signal, the d axial displacements of output signal of displacement are as given value of current signal, PI feedback controls, final output frequency control signal are carried out to above-mentioned signal.The resonant frequency tracking and controlling method of linear vibration motor provided by the invention, implementation process is simple, and tracking frequency is quick, strong antijamming capability, and control accuracy is high.
Description
Technical field
It is that one kind carrying second order Generalized Product the present invention relates to a kind of resonant frequency tracking and controlling method of linear vibration motor
Divide lock facies-controlled resonant frequency tracking and controlling method, belongs to electric machines control technology.
Background technology
Linear compressor has compared to traditional electric rotating machine without intermediate transmission mechanisms such as crank mechanism, cam mechanisms
It is simple in structure, control it is easy, with small vibration, efficient the advantages that.Linear compressor system mutually ties linear motor with mechanical spring
The resonator system formed is closed, when being consistent according to the working frequency of mechanical resonance principle linear vibration motor and resonant frequency,
System effectiveness highest.With the transformation of gas load, using linear compressor, there are clearance is excessive and hit the potential hazards such as cylinder.It adopts
With suitable effective control mode, ensure that suitable stroke and higher efficiency become the main target of linear compressor control.
In the case where ensureing that linear motor control stroke is stablized, in load change, control system can track well
Mechanical resonant frequency becomes a hot spot of linear compressor control research.According at resonance point, electric current is minimum, displacement and
The characteristics of electric current differs 90 °, someone carry out compressor efficiency maximum using the method for command displacement and the average value of amp product
Change control, but this method has used multiplier, improves the requirement to main control chip, while when the electric current detected and position letter
Number interference when, reduce control performance；Someone sets 90 ° of phase angle, by giving using the Phase angle control between detection displacement and electric current
Determine and feed back into PI controllers or fuzzy controller is crossed, realizes that efficiency maximizes, which exists in phase-angle detection
The problem of zero passage detection error.Displacement AC signal and electric current AC signal are passed through into second order generalized integral controller, it is defeated respectively
Go out the orthogonal to that signal of the signal, and the of ac of control is changed into the direct current for being more prone to control by Park transformation controls
Semaphore, control is simple, and intrinsic filtering and the phase-locked function, filter out electric current and position well in being controlled due to second order improper integral
The interference signal in sampling process is set, its control accuracy is improved.
Invention content
Goal of the invention：Equivalent mechanical frequency changes when in order to overcome gas load existing in the prior art to change, to
The problem of caused linear compressor efficiency reduces, the present invention provides a kind of resonance with Second Order Generalized Integrator and coordinate transform
Frequency tracing control method, this method can effectively track equivalent mechanical resonant frequency, realize that linear vibration motor efficiency is maximum
Change control；This method implementation process is simple, and control accuracy is high.
Technical solution：To achieve the above object, the technical solution adopted by the present invention is：
A kind of resonant frequency tracking and controlling method of linear vibration motor, first to mover current signal i and mover displacement
Signal x is detected；Then mover current signal i is accessed into Second Order Generalized Integrator, filtering through Second Order Generalized Integrator and
The phase-locked function exports noiseless current signal i' and its orthogonal signalling qi' and phase angle signal θi, to noiseless current signal i' and
Its orthogonal signalling qi' and phase angle signal θiPark transformation is carried out, q shaft current direct current signals i is obtainedqWith d shaft current direct current signals
id；Mover displacement signal x is accessed into Second Order Generalized Integrator simultaneously, the filtering through Second Order Generalized Integrator and the phase-locked function output
Noiseless displacement signal x' and its orthogonal signalling qx' and phase angle signal θx, to noiseless displacement signal x' and its orthogonal signalling qx'
With phase angle signal θxPark transformation is carried out, q axial displacement direct current signals x is obtainedqWith d axial displacement direct current signals xd；Select q shaft currents
Direct current signal iqAs feedback control signal, d axial displacement direct current signals x is selecteddAs given value of current signalIt feeds back and controls through PI
Device output frequency processed controls signal f, realizes resonant frequency tracing control.
Specifically, the structure of the Second Order Generalized Integrator is：Remember that the input signal of Second Order Generalized Integrator is v, output
Signal is v', and the orthogonal signalling of output signal v' are qv', and wherein input signal v is sinusoidal signal；Input signal v believes with output
Error signal e=v-v' that number v' subtracts each other, error signal e output error after the first proportional controller control signal ke,
The difference of error controling signal ke and orthogonal signalling qv' obtains output signal v', output signal v' warps through first integral controller
Second integral controller obtains orthogonal signalling qv'；Wherein the proportionality coefficient of the first proportional controller is k, first integral controller
Integral coefficient with second integral controller is that 1, k is positive number.
Specifically, in the Second Order Generalized Integrator, error signal e is multiplied to obtain frequency error letter with orthogonal signalling qv'
Number ef, frequency error signal efAfter the second proportional controller, third integral controller frequently with the nominal operation of linear vibration motor
Rate ωcSuperposition, obtains the centre frequency ω ' of Second Order Generalized Integrator；Centre frequency ω ' the output phases after the 4th integral controller
Angle signal θ；Wherein the proportionality coefficient of the second proportional controller is-γ, the product of third integral controller and the 4th integral controller
It is positive number to divide coefficient to be 1, γ.
Specifically, being detected to mover current signal i using current transformer, using eddy current sensor to mover displacement
Signal x is detected.
Specifically, the PI feedback controllers Finite Amplitude output.
Advantageous effect：The resonant frequency tracking and controlling method of linear vibration motor provided by the invention, the second order of use are wide
Adopted integral controller can inhibit current sample interference and displacement sampling interference, while real on the basis of Second Order Generalized Integrator
The locking phase of existing electric current and displacement signal becomes of ac of changing commanders by Park and is converted to DC quantity, can realize zero steady state error control；This
The implementation process of invention is simple, tracking frequency is quick, control accuracy is high.
Description of the drawings
Fig. 1 is the control block diagram of the present invention；
Fig. 2 is the orthogonal signal generator functional block diagram of Second Order Generalized Integrator；
Fig. 3 is the locking phase controller principle block diagram of Second Order Generalized Integrator；
Fig. 4 is single order frequency locking ring principle；
Fig. 5 is the functional block diagram of PI feedback controllers；
Fig. 6 is the control polar plot of linear vibration motor, and 6 (a) is ω ＜ ωmSituation, 6 (b) are ω=ωmSituation, 6 (c)
For ω ＞ ωmSituation；Wherein ω is the working frequency of linear vibration motor, ωmLinear vibration motor mechanical angular frequency.
Specific implementation mode
The present invention is further described below in conjunction with the accompanying drawings.
It is a kind of resonant frequency tracking and controlling method of linear vibration motor as shown in Figure 1, specifically comprises the following steps：
(1) mover current signal i is detected using current transformer, using eddy current sensor to mover displacement signal
X is detected；
(2) mover current signal i is accessed into Second Order Generalized Integrator, the filtering through Second Order Generalized Integrator and the phase-locked function
Export noiseless current signal i' and its orthogonal signalling qi' and phase angle signal θi, to noiseless current signal i' and its orthogonal letter
Number qi' and phase angle signal θiPark transformation is carried out, q shaft current direct current signals i is obtainedqWith d shaft current direct current signals id；
(3) mover displacement signal x is accessed into Second Order Generalized Integrator, the filtering through Second Order Generalized Integrator and the phase-locked function
Export noiseless displacement signal x' and its orthogonal signalling qx' and phase angle signal θx, to noiseless displacement signal x' and its orthogonal letter
Number qx' and phase angle signal θxPark transformation is carried out, q axial displacement direct current signals x is obtainedqWith d axial displacement direct current signals xd；
(4) selection q shaft current direct current signals iqAs feedback control signal, d axial displacement direct current signals x is selecteddAs electric current
Setting signalSignal f is controlled through PI feedback control output frequencies, realizes resonant frequency tracing control.
It is illustrated in figure 2 the orthogonal signal generator of Second Order Generalized Integrator, structure is：Remember Second Order Generalized Integrator
Input signal is v, and the orthogonal signalling of output signal v', output signal v' are qv', and wherein input signal v is sinusoidal signal；It is defeated
Enter error signal e=v-v' that signal v and output signal v' subtracts each other, error signal e exports after the first proportional controller
The difference of error controling signal ke, error controling signal ke and orthogonal signalling qv' obtain output signal through first integral controller
V', output signal v' obtain orthogonal signalling qv' through second integral controller；Wherein the proportionality coefficient of the first proportional controller is k,
The integral coefficient of first integral controller and second integral controller is that 1, k is positive number.
As shown in Fig. 2, the transmission function involved in the orthogonal signal generator of Second Order Generalized Integrator includes：
Wherein：SOGI (s) is the output error transmission function of Second Order Generalized Integrator, and D (s) is Second Order Generalized Integrator
Output-transfer function, Q (s) are the orthogonal output-transfer function of Second Order Generalized Integrator, and E (s) is the mistake of Second Order Generalized Integrator
Difference input transmission function, ω ' are the centre frequency of Second Order Generalized Integrator.
By formula (2) and formula (3) it is found that the Second Order Generalized Integrator exports two orthogonal signalling for having 90 ° of phase shifts,
Middle output signal v' is consistent with the phase sequence of input signal v, and orthogonal signalling qv' lags v90 ° of input signal；Corresponding one of D (s) is certainly
Bandpass filter is adapted to, for being filtered to input signal v；E (s) corresponds to a second order trapper, locates in centre frequency ω '
Gain is zero, when the frequency of input signal v is from when slightly above centre frequency ω ' is changed into slightly below centre frequency ω ', output
180 ° of saltus steps can occur for phase angle signal θ, to realize the locking phase to input signal v.
It is illustrated in figure 3 the locking phase controller of Second Order Generalized Integrator, structure is：Error signal e and orthogonal signalling qv'
Multiplication obtains frequency error signal ef, frequency error signal efIt shakes with straight line after the second proportional controller, third integral controller
Swing the rated operation frequency ω of motorcSuperposition, obtains the centre frequency ω ' of Second Order Generalized Integrator；Centre frequency ω ' is through the 4th
Phase angle signal θ is exported after integral controller；Wherein the proportionality coefficient of the second proportional controller be-γ, third integral controller and
The integral coefficient of 4th integral controller is 1, and γ is positive number.
As shown in figure 3, the locking phase controller of Second Order Generalized Integrator is equivalent to the single order frequency locking ring in Fig. 4, single order frequency locking
The transmission function of ring is：
Wherein：When the system is stable, centre frequency ω ' is equal to the input frequency of input signal v, and V is input
The amplitude of signal v.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (3)
1. a kind of resonant frequency tracking and controlling method of linear vibration motor, it is characterised in that：First to mover current signal i and
Mover displacement signal x is detected；Then mover current signal i is accessed into Second Order Generalized Integrator, through Second Order Generalized Integrator
Filtering and the phase-locked function export noiseless current signal i' and its orthogonal signalling qi' and phase angle signal θi, to noiseless electric current
Signal i' and its orthogonal signalling qi' and phase angle signal θiPark transformation is carried out, q shaft current direct current signals i is obtainedqIt is straight with d shaft currents
Flow signal id；Mover displacement signal x is accessed into Second Order Generalized Integrator, the filtering through Second Order Generalized Integrator and locking phase work(simultaneously
Noiseless displacement signal x' and its orthogonal signalling qx' and phase angle signal θ can be exportedx, to noiseless displacement signal x' and its orthogonal
Signal qx' and phase angle signal θxPark transformation is carried out, q axial displacement direct current signals x is obtainedqWith d axial displacement direct current signals xd；Select q
Shaft current direct current signal iqAs feedback control signal, d axial displacement direct current signals x is selecteddAs given value of current signalIt will be electric
Flow Setting signalWith feedback control signal iqDifference through PI feedback controller output frequencies control signal f, realize resonant frequency with
Track controls；
The structure of the Second Order Generalized Integrator is：Remember that the input signal of Second Order Generalized Integrator is v, output signal v', it is defeated
The orthogonal signalling for going out signal v' are qv', and wherein input signal v is sinusoidal signal；Input signal v subtracts each other to obtain with output signal v'
Error signal e=v-v', error signal e after the first proportional controller output error control signal ke, error controling signal
The difference of ke and orthogonal signalling qv' obtains output signal v' through first integral controller, and output signal v' is controlled through second integral
Device obtains orthogonal signalling qv'；Wherein the proportionality coefficient of the first proportional controller is k, first integral controller and second integral control
The integral coefficient of device processed is that 1, k is positive number；
In the Second Order Generalized Integrator, error signal e is multiplied to obtain frequency error signal e with orthogonal signalling qv'f, frequency error
Signal efAfter the second proportional controller, third integral controller with the rated operation frequency ω of linear vibration motorcSuperposition, obtains
To the centre frequency ω ' of Second Order Generalized Integrator；Centre frequency ω ' exports phase angle signal θ after the 4th integral controller；Wherein
The proportionality coefficient of second proportional controller is-γ, and the integral coefficient of third integral controller and the 4th integral controller is 1,
γ is positive number.
2. the resonant frequency tracking and controlling method of linear vibration motor according to claim 1, it is characterised in that：Use electricity
Current transformer is detected mover current signal i, is detected to mover displacement signal x using eddy current sensor.
3. the resonant frequency tracking and controlling method of linear vibration motor according to claim 1, it is characterised in that：The PI
Feedback controller Finite Amplitude exports.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108155823B (en) * | 2017-06-12 | 2019-12-24 | 中国石油大学(华东) | No-dead-zone half-cycle modulation method based on SOGI-FLL |
| CN108054976B (en) * | 2017-12-18 | 2020-03-20 | 浙江水利水电学院 | Resonant frequency tracking control method of linear compressor |
| CN108512475B (en) * | 2018-04-24 | 2021-09-21 | 湘潭大学 | Rotor position detection method based on pulse vibration high-frequency voltage injection method |
| CN108880379B (en) * | 2018-07-06 | 2021-10-08 | 西南交通大学 | Speed estimation method for linear traction motor speed sensorless control system |
| CN110912483B (en) * | 2019-11-04 | 2021-03-26 | 华中科技大学 | Resonant frequency identification and control method of linear oscillation motor |
| CN111404438B (en) * | 2020-02-25 | 2021-05-18 | 华中科技大学 | Method and system for tracking and controlling resonant frequency of linear oscillation motor |
| CN111564995B (en) * | 2020-05-25 | 2021-11-19 | 华中科技大学 | Linear oscillation motor control method based on self-adaptive full-order displacement observer |
| CN113311226B (en) * | 2021-04-30 | 2022-06-21 | 歌尔股份有限公司 | Resonance frequency detection method and device of vibration motor, terminal equipment and storage medium |
| CN113452302B (en) * | 2021-06-09 | 2022-07-05 | 华中科技大学 | Linear oscillation motor resonant frequency tracking method and system based on double-correlation algorithm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1463486A (en) * | 2001-05-18 | 2003-12-24 | 松下电器产业株式会社 | Linear compressor drive device |
| CN105137278A (en) * | 2015-09-24 | 2015-12-09 | 国网山东省电力公司莱芜供电公司 | SOGI-based single-phase transformer short-circuit parameter on-line real-time identification method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100739165B1 (en) * | 2006-04-13 | 2007-07-13 | 엘지전자 주식회사 | Driving control apparatus and method for linear compressor |
| US8860381B2 (en) * | 2012-07-16 | 2014-10-14 | Sunpower, Inc. | Balancing vibrations at harmonic frequencies by injecting harmonic balancing signals into the armature of a linear motor/alternator coupled to a Stirling machine |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1463486A (en) * | 2001-05-18 | 2003-12-24 | 松下电器产业株式会社 | Linear compressor drive device |
| CN105137278A (en) * | 2015-09-24 | 2015-12-09 | 国网山东省电力公司莱芜供电公司 | SOGI-based single-phase transformer short-circuit parameter on-line real-time identification method |
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