CN104113253B - The suppressing method of velocity perturbation, control device and compressor control system - Google Patents
The suppressing method of velocity perturbation, control device and compressor control system Download PDFInfo
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- CN104113253B CN104113253B CN201410312964.XA CN201410312964A CN104113253B CN 104113253 B CN104113253 B CN 104113253B CN 201410312964 A CN201410312964 A CN 201410312964A CN 104113253 B CN104113253 B CN 104113253B
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Abstract
The present invention discloses a kind of suppressing method of the velocity perturbation of permagnetic synchronous motor, and it is comprised the following steps：Obtain the rotating speed of target ω of permagnetic synchronous motor_ref, feedback rotating speed, fluctuation rotating speed Δ ω, q axle inductance LqAnd permanent magnet flux linkagePI regulations are carried out to Δ ω to obtain q axle reference currents Iq_ref, and according to Iq_ref、ω_ref, Δ ω andObtain q axle target voltages Ud *；According to Ud *PI controls are carried out to q axles virtual voltage to obtain q axles compensation electric current Iq_add；According to Iq_ref、Iq_add、ω_ref, Δ ω and LqObtain d axle target voltages Ud *, and according to Ud *PI controls are carried out to d axles virtual voltage to obtain d axles compensation electric current Id_add；By Iq_addWith Iq_refIt is superimposed to carry out feedforward compensation to q shaft currents, and by Id_addIt is superimposed with d axle reference currents to carry out feedforward compensation with to d shaft currents.The suppressing method can by carrying out feedforward compensation to realize running permagnetic synchronous motor to d shaft currents and q shaft currents when velocity perturbation effectively suppressed.Invention additionally discloses the control device and a kind of compressor control system of a kind of permagnetic synchronous motor.
Description
Technical field
The present invention relates to PMSM (Permanent Magnet Synchronous Motor, permagnetic synchronous motor) control skills
Art field, more particularly to a kind of suppressing method of the velocity perturbation of permagnetic synchronous motor, a kind of control dress of permagnetic synchronous motor
Put and a kind of compressor control system of the control device with the permagnetic synchronous motor.
Background technology
When permagnetic synchronous motor is controlled, it is necessary to suppress velocity perturbation when permagnetic synchronous motor runs, suppress speed wave
It is dynamic relatively to suppress noise and vibration, the comfortableness that client uses is improved, while being also possible to prevent motor in shock load
Or the situation of motor desynchronizing when unloading load of dashing forward occurs.
In correlation technique, there is problems with the control technology of permagnetic synchronous motor：
1st, speed loop bandwidth is relatively low, impact, it is prominent unload load in easy step-out, and velocity perturbation is big, it is necessary to very long one section
Time speed could be stablized, inapplicable for some special occasions such as Serve Motor Control.And current common practice in the industry is just
The loop bandwidth that builds up speed, but bring be exactly speed ripple big, the easy overshoot of speed, and neither one bandwidth be adapted to it is complete
Frequency range and various loading condictions；
2nd, periodic load can cause motor speed to fluctuate, if velocity perturbation is not subject to caused by such as compressor load
Suppress, vibration will be produced, air-conditioning longtime running easily produces the danger for splitting pipe in the case where vibration is larger, for air-conditioning matter
Amount has a strong impact on.
Accordingly, it would be desirable to be improved to the control technology of permagnetic synchronous motor.
The content of the invention
The purpose of the present invention is intended at least solve above-mentioned technological deficiency to a certain extent.
Therefore, first purpose of the invention is to propose a kind of suppressing method of the velocity perturbation of permagnetic synchronous motor,
Can by carrying out feedforward compensation to realize running permagnetic synchronous motor to d shaft currents and q shaft currents when velocity perturbation enter
Row effectively suppresses.
The second object of the present invention is to propose a kind of control device of permagnetic synchronous motor.3rd purpose of the invention exists
In a kind of compressor control system of proposition.
To reach above-mentioned purpose, a kind of velocity perturbation of permagnetic synchronous motor that first aspect present invention embodiment is proposed
Suppressing method, comprises the following steps：The rotating speed of target and feedback rotating speed of permagnetic synchronous motor are obtained, and according to the rotating speed of target
With the fluctuation rotating speed that feedback rotating speed obtains the permagnetic synchronous motor；Obtain the q axle inductances and permanent magnetism of the permagnetic synchronous motor
Body magnetic linkage；The fluctuation rotating speed is carried out speed ring PI regulations to obtain q axle reference currents, and according to the q axles reference current,
The rotating speed of target, the fluctuation rotating speed and the permanent magnet flux linkage obtain q axle target voltages；According to the q axles target voltage
PI controls are carried out to q axles virtual voltage to obtain q axles compensation electric current；According to the q axles reference current, the q axles compensation electric current,
The rotating speed of target, the fluctuation rotating speed and the q axle inductances obtain d axle target voltages, and according to the d axles target voltage pair
D axles virtual voltage carries out PI controls to obtain d axles compensation electric current；Q axles compensation electric current is stacked with the q axles reference current
It is subject to carry out q shaft currents feedforward compensation, and d axles compensation electric current is superimposed with to d shaft currents with d axle reference currents
Carry out feedforward compensation.
The suppressing method of the velocity perturbation of permagnetic synchronous motor according to embodiments of the present invention, obtains permanent magnet synchronous electric first
The rotating speed of target of machine and the q axle inductances and permanent magnet flux linkage of feedback rotating speed and permagnetic synchronous motor, and turned according to the target
Speed and feedback rotating speed obtain the fluctuation rotating speed of the permagnetic synchronous motor, then carry out speed ring PI regulations to the fluctuation rotating speed
To obtain q axle reference currents, and according to the q axles reference current, the rotating speed of target, the fluctuation rotating speed and the permanent magnet
Magnetic linkage obtains q axle target voltages, carries out PI controls to q axles virtual voltage to obtain q axles benefit then according to the q axles target voltage
Electric current is repaid, while according to the q axles reference current, q axles compensation electric current, the rotating speed of target, the fluctuation rotating speed and institute
State q axle inductances and obtain d axle target voltages, and PI controls are carried out to d axles virtual voltage to obtain d according to the d axles target voltage
Axle compensates electric current, and finally by q axles compensation, electric current is superimposed with the q axles reference current carries out feedforward benefit with to q shaft currents
Repay, and d axles compensation electric current is carried out into feedforward compensation with d axle reference currents are superimposed with to d shaft currents.Therefore, this hair
The suppressing method of the velocity perturbation of the permagnetic synchronous motor of bright embodiment carries out feedforward compensation by d shaft currents and q shaft currents,
So as to realize the regulation to q shaft voltages and d shaft voltages, velocity perturbation when being realized running permagnetic synchronous motor has
Effect suppresses, and reduces the generation of vibration, and electromagnetic torque does not track loading moment and leads when preventing periodic load or load changing
Situations such as motor desynchronizing of cause, occurs, it is ensured that permagnetic synchronous motor stable operation.
According to one embodiment of present invention, the q axles target voltage is obtained according to below equation：
Wherein, Uq *It is the q axles target voltage, Iq_refIt is the q axles reference current, R is phase resistance, ω_refFor described
Rotating speed of target, Δ ω is the fluctuation rotating speed,It is the permanent magnet flux linkage.
According to one embodiment of present invention, the d axles target voltage is obtained according to below equation：
Ud *=(Iq_ref+Iq_add)×(ω_ref-lowpass(Δω))×(-Lq)
Wherein, Ud *It is the d axles target voltage, Iq_refIt is the q axles reference current, Iq_addFor the q axles compensate electricity
Stream, ω_refIt is the rotating speed of target, Δ ω is the fluctuation rotating speed, LqIt is q axle inductances.
In an embodiment of the present invention, when the q axles target voltage or the d axles target voltage is obtained, with d axle targets
Electric current is the 0 control permagnetic synchronous motor.
To reach above-mentioned purpose, a kind of control device of permagnetic synchronous motor that second aspect present invention embodiment is proposed,
Including：Acquisition module, rotating speed of target and feedback rotating speed for obtaining permagnetic synchronous motor, and according to the rotating speed of target and instead
Feedback rotating speed obtains the fluctuation rotating speed of the permagnetic synchronous motor, and obtains the q axle inductances and permanent magnetism of the permagnetic synchronous motor
Body magnetic linkage；Q axles compensate current calculation module, for carrying out speed ring PI regulations to obtain q axles with reference to electricity to the fluctuation rotating speed
Stream, and q axle targets are obtained according to the q axles reference current, the rotating speed of target, the fluctuation rotating speed and the permanent magnet flux linkage
Voltage, and carry out PI controls to q axles virtual voltage according to the q axles target voltage to obtain q axles compensation electric current；D axles are compensated
Current calculation module, for being turned according to the q axles reference current, q axles compensation electric current, the rotating speed of target, the fluctuation
Fast and described q axle inductances obtain d axle target voltages, and according to the d axles target voltage d axles virtual voltage is carried out PI controls with
Obtain d axles compensation electric current；Q shaft current compensating modules, for by the q axles compensation electric current be added to the q axles reference current with
Feedforward compensation is carried out to q shaft currents；D shaft current compensating modules, for d axles compensation electric current to be added to d axle reference currents
Feedforward compensation is carried out with to d shaft currents.
The control device of permagnetic synchronous motor according to embodiments of the present invention, permagnetic synchronous motor is obtained by acquisition module
Rotating speed of target and feedback rotating speed and the permagnetic synchronous motor q axle inductances and permanent magnet flux linkage, and according to the target
Rotating speed and feedback rotating speed obtain the fluctuation rotating speed of the permagnetic synchronous motor, and then compensating current calculation module by q axles obtains q
Axle compensates electric current, electric current is compensated while compensating current calculation module by d axles and obtaining d axles, finally by q shaft current compensating modules
Q axles compensation electric current is added to the q axles reference current to carry out feedforward compensation to q shaft currents, and is mended by d shaft currents
Repay module carries out feedforward compensation by the d axles compensation electric current d axles reference current that is added to d shaft currents.Therefore, the present invention is real
The control device for applying the permagnetic synchronous motor of example carries out feedforward compensation by d shaft currents and q shaft currents, so as to realize to q axles
The regulation of voltage and d shaft voltages, velocity perturbation when being realized running permagnetic synchronous motor is effectively suppressed, and reduction is shaken
Dynamic generation, electromagnetic torque does not track motor desynchronizing etc. caused by loading moment when preventing periodic load or load changing
Situation occurs, it is ensured that permagnetic synchronous motor stable operation.
According to one embodiment of present invention, the q axles compensation current calculation module obtains the q axles according to below equation
Target voltage：
Wherein, Uq *It is the q axles target voltage, Iq_refIt is the q axles reference current, R is phase resistance, ω_refFor described
Rotating speed of target, Δ ω is the fluctuation rotating speed,It is the permanent magnet flux linkage.
According to one embodiment of present invention, the d shaft currents compensating module obtains the d axles target according to below equation
Voltage：
Ud *=(Iq_ref+Iq_add)×(ω_ref-lowpass(Δω))×(-Lq)
Wherein, Ud *It is the d axles target voltage, Iq_refIt is the q axles reference current, Iq_addFor the q axles compensate electricity
Stream, ω_refIt is the rotating speed of target, Δ ω is the fluctuation rotating speed, LqIt is q axle inductances.
In an embodiment of the present invention, the q axles target voltage or described is obtained in q axles compensation current calculation module
When d axles compensation current calculation module obtains the d axles target voltage, the control device is described as 0 control with d axles target current
Permagnetic synchronous motor.
Additionally, embodiments of the invention also proposed a kind of compressor control system, it includes above-mentioned permanent magnet synchronous electric
The control device of machine.
Compressor control system according to embodiments of the present invention, is realized to permanent magnetism by the control device of permagnetic synchronous motor
The d shaft currents and q shaft currents of synchronous motor carry out feedforward compensation, so as to realize the regulation to q shaft voltages and d shaft voltages, carry out
Velocity perturbation when realization runs to permagnetic synchronous motor is effectively suppressed, and reduces the generation of vibration, prevents periodic load
Or occur situations such as electromagnetic torque does not track motor desynchronizing caused by loading moment during load changing, it is ensured that permanent magnet synchronous electric
Machine stable operation.Therefore, the compressor control system of the embodiment of the present invention is by suppressing the velocity perturbation of permagnetic synchronous motor, from
And reducing the generation of vibration, it is to avoid air-conditioning longtime running splits pipe hidden danger caused by the case that vibration is larger, it is ensured that air-conditioning
Quality, also improve the comfortableness that user uses.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by practice of the invention.
Brief description of the drawings
The above-mentioned and/or additional aspect of the present invention and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and be readily appreciated that, wherein：
Fig. 1 is control principle of the vector control system of existing permagnetic synchronous motor in d axle target current Id*=0
Block diagram；
Fig. 2 is velocity perturbation schematic diagram caused by frequency-changeable compressor load；
Fig. 3 is the flow chart of the suppressing method of the velocity perturbation of the permagnetic synchronous motor according to the embodiment of the present invention；
Fig. 4 is the theory diagram controlled according to the q shaft voltages of one embodiment of the invention；
Fig. 5 is to compensate electric current I according to the acquisition q axles of one embodiment of the inventionq_addTheory diagram；
Fig. 6 is the principle frame of the suppressing method of the velocity perturbation of the permagnetic synchronous motor according to one embodiment of the invention
Figure；
Fig. 7 is to compensate electric current I according to the acquisition d axles of one embodiment of the inventiond_addTheory diagram；
Fig. 8 is the velocity wave form schematic diagram that velocity perturbation suppression is carried out according to one periodic load of example of the present invention；
Fig. 9 is the velocity wave form for carrying out velocity perturbation suppression when smaller according to the speed loop bandwidth of another example of the invention
Schematic diagram；And
Figure 10 is the block diagram of the control device of the permagnetic synchronous motor according to the embodiment of the present invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, is only used for explaining the present invention, and is not construed as limiting the claims.
Following disclosure provides many different embodiments or example is used for realizing different structure of the invention.For letter
Change disclosure of the invention, hereinafter the part and setting to specific examples are described.Certainly, they are only merely illustrative, and
Purpose does not lie in the limitation present invention.Additionally, the present invention can in different examples repeat reference numerals and/or letter.It is this heavy
It is again the relation between itself not indicating discussed various embodiments and/or setting for purposes of simplicity and clarity.This
Outward, the invention provides various specific technique and material example, but those of ordinary skill in the art can be appreciated that
The use of the applicable property and/or other materials of other techniques.In addition, fisrt feature described below second feature it
" on " structure can include that the first and second features be formed as the embodiment of directly contact, it is also possible to including other feature shape
Into the embodiment between the first and second features, such first and second feature may not be directly contact.
In the description of the invention, it is necessary to explanation, unless otherwise prescribed and limit, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be mechanically connect or electrical connection, or two connections of element internal, can
Being to be joined directly together, it is also possible to be indirectly connected to by intermediary, for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
First, the vector control system of permagnetic synchronous motor in the prior art is briefly described first.Existing permanent magnetism
Control principle block diagram of the vector control system of synchronous motor in d axle target current Id*=0 is as shown in figure 1, rotor-position is seen
Survey device to be typically extended from extension counter electromotive force method, due to being double-closed-loop control, so requiring the bandwidth of inner ring needs far
More than outer shroud, outer shroud is speed ring slower with regard to relative adjustment, if increasing (1.5NM) periodic sinusoidal in every Machine cycle
Carrier load, velocity perturbation is as shown in Figure 2, it can be seen that velocity perturbation is for target velocity in ± 500rpm/min or so
The permagnetic synchronous motor of 1600rpm/min, such velocity perturbation cannot substantially receive.Accordingly, it would be desirable to same to permanent magnetism
Velocity perturbation during step motor operation is suppressed.
When d shaft currents are 0, controlling electromagnetic torque equation is permagnetic synchronous motor：
Wherein, TeIt is the electromagnetic torque of permagnetic synchronous motor, PnIt is the number of pole-pairs of permagnetic synchronous motor,It is permanent magnet magnetic
Chain, IqIt is q shaft currents.
Also, the voltage equation of permagnetic synchronous motor is：
Wherein, R is phase resistance, and p is differential operator, and ω is angular rate, LqIt is quadrature axis inductance, LdIt is d-axis inductance, Ud is
Direct-axis voltage, Uq is quadrature-axis voltage.
The output power of motor of permagnetic synchronous motor is：
P=TPnω (3)
Wherein, P is output power of motor, and T is Te for the electromagnetic torque of permagnetic synchronous motor.
Can be released by the formula (2) and (3) when d shaft currents are 0：
Therefore, can be obtained from formula (4), when the timing of speed one of permagnetic synchronous motor, UqIt is basic to determine, UdWith negative
Carrying increases and increases, and is based on this, and the application carries out feedforward compensation to realize to permanent magnetism by d shaft currents and q shaft currents
Velocity perturbation when synchronous motor runs effectively is suppressed, so as to prevent electricity when periodic load (compressor) or load changing
Magnetic torque is not tracked situations such as loading moment causes motor desynchronizing to be occurred.
The suppression of the velocity perturbation of the permagnetic synchronous motor of proposition according to embodiments of the present invention is just described with reference to below
The compressor control system of method processed, the control device of permagnetic synchronous motor and the control device with the permagnetic synchronous motor
System.
Fig. 3 is the flow chart of the suppressing method of the velocity perturbation of the permagnetic synchronous motor according to the embodiment of the present invention.Such as Fig. 3
Shown, the suppressing method of the velocity perturbation of the permagnetic synchronous motor is comprised the following steps：
S1, obtains the rotating speed of target and feedback rotating speed of permagnetic synchronous motor, and is obtained according to rotating speed of target and feedback rotating speed
The fluctuation rotating speed of permagnetic synchronous motor.
Wherein, fluctuation rotating speed Δ ω (i.e. velocity error speederror) is equal to rotating speed of target ω_refSubtract feedback rotating speed.
The feedback rotating speed of permagnetic synchronous motor can be detected by rotor-position observer and obtained.
S2, obtains the q axle inductances and permanent magnet flux linkage of permagnetic synchronous motor.
S3, speed ring PI regulations are carried out to obtain q axle reference currents, and according to q axles reference current, target to fluctuation rotating speed
Rotating speed, fluctuation rotating speed and permanent magnet flux linkage obtain q axle target voltages.
According to one embodiment of present invention, the q axles target voltage is obtained according to below equation：
Wherein, Uq *It is the q axles target voltage, Iq_refIt is the q axles reference current, R is phase resistance, ω_refFor described
Rotating speed of target, Δ ω is the fluctuation rotating speed,It is the permanent magnet flux linkage.
S4, carries out PI controls to q axles virtual voltage to obtain q axles compensation electric current according to q axles target voltage.
As shown in figure 4, the output according to speed ring obtains q axle reference currents Iq_ref, the output acquisition q axles according to electric current loop
Virtual voltage Uq.Also, as shown in figure 5, rotating speed of target ω_refSubtract carries out low-pass filtering treatment by a low pass filter
Velocity error speederror, be then multiplied by permanent magnet flux linkageAlong with Iq_refThe pressure drop of × R obtains desired q axles
Voltage is q axle target voltages Uq *, finally by Uq *Bring PI rings, i.e. Pi (U intoq *- Uq)=Iq_add, you can to obtain q axles compensation electric current
Iq_add。
S5, d axle targets are obtained according to q axles reference current, q axles compensation electric current, rotating speed of target, fluctuation rotating speed and q axle inductances
Voltage, and carry out PI controls to d axles virtual voltage according to d axles target voltage to obtain d axles compensation electric current.
According to one embodiment of present invention, the d axles target voltage is obtained according to below equation：
Ud *=(Iq_ref+Iq_add)×(ω_ref-lowpass(Δω))×(-Lq) (6)
Wherein, Ud *It is the d axles target voltage, Iq_refIt is the q axles reference current, Iq_addFor the q axles compensate electricity
Stream, ω_refIt is the rotating speed of target, Δ ω is the fluctuation rotating speed, LqIt is q axle inductances.
As shown in fig. 6, the output according to speed ring obtains the given electric current I of q axlesq_ref+Iq_add, according to the output of electric current loop
Obtain d axle virtual voltages Ud.Also, as shown in fig. 7, rotating speed of target ω_refSubtract carries out low pass by a low pass filter
The velocity error speederror of filtering process, is then multiplied by negative q axle inductances (- Lq), multiplied by with Iq_ref+Iq_addAnd obtain
Desired d shaft voltages are d axle target voltages Ud *, finally by Ud *Bring PI rings, i.e. Pi (U intod *- Ud)=Id_add, you can to obtain
D axles compensation electric current Id_add。
S6, q axles compensation electric current and q axle reference currents is superimposed to carry out feedforward compensation to q shaft currents, and by d axles
Compensation electric current carries out feedforward compensation with d axle reference currents are superimposed with to d shaft currents.That is, step S4 and S5 are obtained into q
Axle compensation electric current Iq_add, d axles compensation electric current Id_addIt is fed forward to respectively in corresponding current loop, realizes to permagnetic synchronous motor
Velocity perturbation suppressed.
Specifically, in an embodiment of the present invention, current q shaft voltages Uq is obtained, one electricity of design can be extended by formula (4)
Pressure feedforward closed-loop system, i.e.,
Wherein, when Uq stabilizations, ω must also stablize, and so by PI rings q shaft currents Iq can be controlled to reach control q axles
The purpose of voltage Uq, so as to realize controlling the velocity-stabilization of permagnetic synchronous motor.Say, current q shaft voltages Uq is obtained, by PI
Control Uq*-Uq=0, output q axle compensation electric current Iq_add, on the Iq that is added to (speed ring output), it is achieved thereby that q shaft voltages
The regulation of Uq, suppresses the error voltage on q axles and reaches the purpose for suppressing velocity of wave motion.
Similarly, current d shaft voltages Ud is obtained, one electric voltage feed forward closed-loop system of design can be equally extended by formula (4),
I.e.
Wherein, when Uq stabilizations, the I exported by speed ringq_ref1=Iq_ref+Iq_add, it is also a relative stationary value, this
Sample can control d shaft currents Id to reach the purpose of control d shaft voltages Ud by PI rings, so as to realize controlling permagnetic synchronous motor
Velocity-stabilization.Comparatively, feedover q shaft voltage PI_loop bandwidth>Feedforward d shaft voltage PI_loop bandwidth, is achieved in that loop
Stability contorting, that is, set Ud *=(Iq_ref+Iq_add)×(ω_ref-lowpass(Δω))×(-Lq), then bring Ud* into PI rings,
That is Pi (Ud*-Ud)=Id_add, you can to obtain d axles compensation electric current Id_add, realize Ud voltage-regulations, and then realize speed
The suppression of fluctuation.
In an embodiment of the present invention, when the q axles target voltage or the d axles target voltage is obtained, with d axle targets
Electric current is the 0 control permagnetic synchronous motor.
Specifically, an example of the invention, as shown in figure 8, when motor load is periodic load, before 1S
Velocity perturbation of the suppressing method to motor not over the velocity perturbation of the permagnetic synchronous motor of the embodiment of the present invention presses down
System, and pass through velocity perturbation of the suppressing method of the velocity perturbation of the permagnetic synchronous motor of the embodiment of the present invention to motor after 1S
Suppressed, it can be seen that the velocity perturbation of permagnetic synchronous motor substantially is suppressed.
Another example of the invention, as shown in figure 9, when speed loop bandwidth is smaller, during starting velocity perturbation compared with
Greatly, 0.5S shock loads, velocity perturbation is larger, and the velocity perturbation of the permagnetic synchronous motor for passing through the embodiment of the present invention in 0.8S
Velocity perturbation of the suppressing method to motor suppress, it can be seen that velocity perturbation is significantly suppressed.
The suppressing method of the velocity perturbation of permagnetic synchronous motor according to embodiments of the present invention, obtains permanent magnet synchronous electric first
The rotating speed of target of machine and the q axle inductances and permanent magnet flux linkage of feedback rotating speed and permagnetic synchronous motor, and turned according to the target
Speed and feedback rotating speed obtain the fluctuation rotating speed of the permagnetic synchronous motor, then carry out speed ring PI regulations to the fluctuation rotating speed
To obtain q axle reference currents, and according to the q axles reference current, the rotating speed of target, the fluctuation rotating speed and the permanent magnet
Magnetic linkage obtains q axle target voltages, carries out PI controls to q axles virtual voltage to obtain q axles benefit then according to the q axles target voltage
Electric current is repaid, while according to the q axles reference current, q axles compensation electric current, the rotating speed of target, the fluctuation rotating speed and institute
State q axle inductances and obtain d axle target voltages, and PI controls are carried out to d axles virtual voltage to obtain d according to the d axles target voltage
Axle compensates electric current, and finally by q axles compensation, electric current is superimposed with the q axles reference current carries out feedforward benefit with to q shaft currents
Repay, and d axles compensation electric current is carried out into feedforward compensation with d axle reference currents are superimposed with to d shaft currents.Therefore, this hair
The suppressing method of the velocity perturbation of the permagnetic synchronous motor of bright embodiment carries out feedforward compensation by d shaft currents and q shaft currents,
So as to realize the regulation to q shaft voltages and d shaft voltages, velocity perturbation when being realized running permagnetic synchronous motor has
Effect suppresses, and reduces the generation of vibration, and electromagnetic torque does not track loading moment and leads when preventing periodic load or load changing
Situations such as motor desynchronizing of cause, occurs, it is ensured that permagnetic synchronous motor stable operation.
Figure 10 is the block diagram of the control device of the permagnetic synchronous motor according to the embodiment of the present invention.Such as Figure 10 institutes
Show, the control device of the permagnetic synchronous motor includes：Acquisition module 101, q axles compensation current calculation module 102, d axles compensation electricity
Stream calculation module 103, q shaft currents compensating module 104 and d shaft currents compensating module 105.
Wherein, acquisition module 101 is used to obtain the rotating speed of target and feedback rotating speed of permagnetic synchronous motor, and according to the mesh
Mark rotating speed and feedback rotating speed obtain the fluctuation rotating speed of the permagnetic synchronous motor, and the q axles for obtaining the permagnetic synchronous motor
Inductance and permanent magnet flux linkage；Q axles compensation current calculation module 102 is used to that the fluctuation rotating speed to be carried out speed ring PI regulations to obtain
Q axle reference currents are obtained, and according to the q axles reference current, the rotating speed of target, the fluctuation rotating speed and the permanent magnet flux linkage
Q axle target voltages are obtained, and carries out PI controls to q axles virtual voltage according to the q axles target voltage to obtain q axles compensation electricity
Stream；D axles compensation current calculation module 103 is used to be turned according to the q axles reference current, q axles compensation electric current, the target
Fast, described fluctuation rotating speed and the q axle inductances obtain d axle target voltages, and according to the d axles target voltage to the actual electricity of d axles
Pressure carries out PI controls to obtain d axles compensation electric current；Q shaft currents compensating module 104 is used to be added to the q axles compensation electric current institute
Q axles reference current is stated to carry out q shaft currents feedforward compensation, and d shaft currents compensating module 105 is used for d axles compensation
Electric current is added to d axles reference current to carry out d shaft currents feedforward compensation, speed wave when realization runs permagnetic synchronous motor
It is dynamic effectively to be suppressed, so as to prevent electromagnetic torque when periodic load (compressor) or load changing from not tracking loading moment
Situations such as causing motor desynchronizing occurs.
According to one embodiment of present invention, the q axles compensation current calculation module obtains the q axles according to below equation
Target voltage：
Wherein, Uq *It is the q axles target voltage, Iq_refIt is the q axles reference current, R is phase resistance, ω_refFor described
Rotating speed of target, Δ ω is the fluctuation rotating speed,It is the permanent magnet flux linkage.
Also, concrete implementation block diagram is as shown in Figure 5.
According to one embodiment of present invention, the d shaft currents compensating module obtains the d axles target according to below equation
Voltage：
Ud *=(Iq_ref+Iq_add)×(ω_ref-lowpass(Δω))×(-Lq)
Wherein, Ud *It is the d axles target voltage, Iq_refIt is the q axles reference current, Iq_addFor the q axles compensate electricity
Stream, ω_refIt is the rotating speed of target, Δ ω is the fluctuation rotating speed, LqIt is q axle inductances.
Also, concrete implementation block diagram is as shown in Figure 7.
In an embodiment of the present invention, the q axles target voltage or described is obtained in q axles compensation current calculation module
When d axles compensation current calculation module obtains the d axles target voltage, the control device is described as 0 control with d axles target current
Permagnetic synchronous motor, it is specific as shown in fig. 6, Id*=0.
The control device of permagnetic synchronous motor according to embodiments of the present invention, permagnetic synchronous motor is obtained by acquisition module
Rotating speed of target and feedback rotating speed and the permagnetic synchronous motor q axle inductances and permanent magnet flux linkage, and according to the target
Rotating speed and feedback rotating speed obtain the fluctuation rotating speed of the permagnetic synchronous motor, and then compensating current calculation module by q axles obtains q
Axle compensates electric current, electric current is compensated while compensating current calculation module by d axles and obtaining d axles, finally by q shaft current compensating modules
Q axles compensation electric current is added to the q axles reference current to carry out feedforward compensation to q shaft currents, and is mended by d shaft currents
Repay module carries out feedforward compensation by the d axles compensation electric current d axles reference current that is added to d shaft currents.Therefore, the present invention is real
The control device for applying the permagnetic synchronous motor of example carries out feedforward compensation by d shaft currents and q shaft currents, so as to realize to q axles
The regulation of voltage and d shaft voltages, velocity perturbation when being realized running permagnetic synchronous motor is effectively suppressed, and reduction is shaken
Dynamic generation, electromagnetic torque does not track motor desynchronizing etc. caused by loading moment when preventing periodic load or load changing
Situation occurs, it is ensured that permagnetic synchronous motor stable operation.
Additionally, embodiments of the invention also proposed a kind of compressor control system, it includes above-mentioned permanent magnet synchronous electric
The control device of machine.
Compressor control system according to embodiments of the present invention, is realized to permanent magnetism by the control device of permagnetic synchronous motor
The d shaft currents and q shaft currents of synchronous motor carry out feedforward compensation, so as to realize the regulation to q shaft voltages and d shaft voltages, carry out
Velocity perturbation when realization runs to permagnetic synchronous motor is effectively suppressed, and reduces the generation of vibration, prevents periodic load
Or occur situations such as electromagnetic torque does not track motor desynchronizing caused by loading moment during load changing, it is ensured that permanent magnet synchronous electric
Machine stable operation.Therefore, the compressor control system of the embodiment of the present invention is by suppressing the velocity perturbation of permagnetic synchronous motor, from
And reducing the generation of vibration, it is to avoid air-conditioning longtime running splits pipe hidden danger caused by the case that vibration is larger, it is ensured that air-conditioning
Quality, also improve the comfortableness that user uses.
Any process described otherwise above or method description in flow chart or herein is construed as, and expression includes
It is one or more for realizing specific logical function or process the step of the module of code of executable instruction, fragment or portion
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussion suitable
Sequence, including function involved by basis by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Represent in flow charts or logic and/or step described otherwise above herein, for example, being considered use
In the order list of the executable instruction for realizing logic function, in may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The system of row system, device or equipment instruction fetch and execute instruction) use, or with reference to these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
The dress that defeated program is used for instruction execution system, device or equipment or with reference to these instruction execution systems, device or equipment
Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following：With the electricity that one or more are connected up
Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read-only storage
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can thereon print described program or other are suitable
Medium, because optical scanner for example can be carried out by paper or other media, then enters edlin, interpretation or if necessary with it
His suitable method is processed electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In implementation method, the software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Or firmware is realized.If for example, realized with hardware, and in another embodiment, can be with well known in the art
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method is carried
The rapid hardware that can be by program to instruct correlation is completed, and described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
Additionally, during each functional unit in each embodiment of the invention can be integrated in a processing module, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.The integrated module is such as
Fruit is to realize in the form of software function module and as independent production marketing or when using, it is also possible to which storage is in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding can carry out various changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention is by appended claims and its equivalent limits.
Claims (9)
1. a kind of suppressing method of the velocity perturbation of permagnetic synchronous motor, it is characterised in that comprise the following steps：
The rotating speed of target and feedback rotating speed of permagnetic synchronous motor are obtained, and according to the rotating speed of target and feedback rotating speed are obtained
The fluctuation rotating speed of permagnetic synchronous motor；
Obtain the q axle inductances and permanent magnet flux linkage of the permagnetic synchronous motor；
Speed ring PI regulations are carried out to obtain q axle reference currents, and according to the q axles reference current, institute to the fluctuation rotating speed
State rotating speed of target, the fluctuation rotating speed and the permanent magnet flux linkage and obtain q axle target voltages；
PI controls are carried out to q axles virtual voltage according to the q axles target voltage to obtain q axles compensation electric current；
According to the q axles reference current, q axles compensation electric current, the rotating speed of target, the fluctuation rotating speed and q axles electricity
D axle target voltages are sensed to obtain, and carries out PI controls to d axles virtual voltage according to the d axles target voltage to obtain d axles compensation electricity
Stream；
Q axles compensation electric current is superimposed with the q axles reference current to carry out feedforward compensation to q shaft currents, and by institute
State d axles compensation electric current carries out feedforward compensation with d axle reference currents are superimposed with to d shaft currents.
2. the suppressing method of the velocity perturbation of permagnetic synchronous motor as claimed in claim 1, it is characterised in that according to following public affairs
Formula obtains the q axles target voltage：
Wherein, Uq *It is the q axles target voltage, Iq_refIt is the q axles reference current, R is phase resistance, ω_refIt is the target
Rotating speed, Δ ω is the fluctuation rotating speed,It is the permanent magnet flux linkage.
3. the suppressing method of the velocity perturbation of permagnetic synchronous motor as claimed in claim 1 or 2, it is characterised in that according to
Lower formula obtains the d axles target voltage：
Ud *=(Iq_ref+Iq_add)×(ω_ref-lowpass(Δω))×(-Lq)
Wherein, Ud *It is the d axles target voltage, Iq_refIt is the q axles reference current, Iq_addFor the q axles compensate electric current,
ω_refIt is the rotating speed of target, Δ ω is the fluctuation rotating speed, LqIt is q axle inductances.
4. the suppressing method of the velocity perturbation of permagnetic synchronous motor as claimed in claim 1, it is characterised in that described obtaining
It is the 0 control permagnetic synchronous motor with d axles target current when q axles target voltage or the d axles target voltage.
5. a kind of control device of permagnetic synchronous motor, it is characterised in that including：
Acquisition module, rotating speed of target and feedback rotating speed for obtaining permagnetic synchronous motor, and according to the rotating speed of target and instead
Feedback rotating speed obtains the fluctuation rotating speed of the permagnetic synchronous motor, and obtains the q axle inductances and permanent magnetism of the permagnetic synchronous motor
Body magnetic linkage；
Q axles compensate current calculation module, for carrying out speed ring PI regulations to obtain q axle reference currents to the fluctuation rotating speed,
And q axles target electricity is obtained according to the q axles reference current, the rotating speed of target, the fluctuation rotating speed and the permanent magnet flux linkage
Pressure, and carry out PI controls to q axles virtual voltage according to the q axles target voltage to obtain q axles compensation electric current；
D axles compensate current calculation module, for according to the q axles reference current, the q axles compensation electric current, the rotating speed of target,
The fluctuation rotating speed and the q axle inductances obtain d axle target voltages, and d axle virtual voltages are entered according to the d axles target voltage
Row PI controls compensate electric current to obtain d axles；
Q shaft current compensating modules, for the q axles compensation electric current q axles reference current that is added to be carried out with to q shaft currents
Feedforward compensation；
D shaft current compensating modules, for the d axles compensation electric current d axles reference current that is added to be feedovered with to d shaft currents
Compensation.
6. the control device of permagnetic synchronous motor as claimed in claim 5, it is characterised in that the q axles compensate Current calculation
Module obtains the q axles target voltage according to below equation：
Wherein, Uq *It is the q axles target voltage, Iq_refIt is the q axles reference current, R is phase resistance, ω_refIt is the target
Rotating speed, Δ ω is the fluctuation rotating speed,It is the permanent magnet flux linkage.
7. the control device of the permagnetic synchronous motor as described in claim 5 or 6, it is characterised in that the d axles compensate galvanometer
Calculate module and the d axles target voltage is obtained according to below equation：
Ud *=(Iq_ref+Iq_add)×(ω_ref-lowpass(Δω))×(-Lq)
Wherein, Ud *It is the d axles target voltage, Iq_refIt is the q axles reference current, Iq_addFor the q axles compensate electric current,
ω_refIt is the rotating speed of target, Δ ω is the fluctuation rotating speed, LqIt is q axle inductances.
8. the control device of permagnetic synchronous motor as claimed in claim 5, it is characterised in that compensate galvanometer in the q axles
It is described when calculating the module acquisition q axles target voltage or the d axles compensation current calculation module acquisition d axles target voltage
Control device with d axles target current be the 0 control permagnetic synchronous motor.
9. a kind of compressor control system, it is characterised in that including the permanent magnet synchronous electric as any one of claim 5-8
The control device of machine.
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| CN105515484B (en) * | 2016-01-14 | 2018-09-25 | 广东美芝制冷设备有限公司 | The suppressing method and device and compressor control system of the rotary vibration of compressor |
| CN105915138A (en) * | 2016-05-01 | 2016-08-31 | 上海大学 | Improved DOB and torque high-pass filter based elasticity connection transmission system torsional oscillation inhibiting method |
| CN107395082B (en) * | 2017-09-04 | 2019-09-03 | 广州视源电子科技股份有限公司 | Control method, system and the computer readable storage medium of permanent magnet synchronous motor |
| CN107565862B (en) * | 2017-09-08 | 2019-09-24 | 华中科技大学 | A kind of velocity perturbation suppressing method suitable for permanent magnet synchronous motor |
| JP7057723B2 (en) * | 2018-06-22 | 2022-04-20 | オークマ株式会社 | Position control device |
| CN112415379A (en) * | 2019-08-20 | 2021-02-26 | 联合汽车电子有限公司 | Method for diagnosing motor fault |
| CN112640292A (en) * | 2020-04-03 | 2021-04-09 | 深圳市大疆创新科技有限公司 | Motor control method, motor control device, movable platform and storage medium |
| CN118044110A (en) * | 2022-03-03 | 2024-05-14 | 海信空调有限公司 | Air conditioner and control method thereof |
| CN114517937B (en) * | 2022-03-03 | 2023-08-01 | 海信空调有限公司 | Air conditioner and method for suppressing low-frequency vibration of compressor |
| CN116111903A (en) * | 2023-02-24 | 2023-05-12 | 江苏开璇智能科技有限公司 | Quick response control method for current loop of surface-mounted permanent magnet synchronous motor |
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