CN104348393A - Air conditioner, variable-frequency speed regulation system and control method thereof - Google Patents
Air conditioner, variable-frequency speed regulation system and control method thereof Download PDFInfo
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Abstract
The invention discloses an air conditioner, a variable-frequency speed regulation system and a control method thereof. The control method includes the steps of: detecting a three-phase current of a motor; estimating the position and the speed of a rotor of the motor to obtain an estimated angle and an estimated speed of the rotor; according to an input ramp signal, performing position correction on the estimated angle to obtain a given speed, performing differential calculation on the ramp signal, and superposing a calculation result to the given speed to obtain a target speed; according to the target speed, performing speed correction on the estimated speed to obtain a quadrature axis target current; and performing coordinate transformation on the three-phase current to obtain a direct axis current and a quadrature axis current, performing current correction on the direct axis current Id and the quadrature axis current Iq according to the direct axis target current and the quadrature axis current Iqref to obtain a direct axis voltage Vd and a quadrature axis voltage Vq, and controlling the motor according to the direct axis voltage Vd and the quadrature axis voltage Vq. The control method provided by the invention can improve speed regulation performance, and improve an energy-saving effect.
Description
Technical field
The present invention relates to variable-frequency control technique field, particularly a kind of control method of frequency conversion speed-adjusting system and a kind of frequency conversion speed-adjusting system and there is the air conditioner of this frequency conversion speed-adjusting system.
Background technology
Along with the development of society, the attention degree of people to the energy improves day by day.Variable-frequency control technique has significant energy-saving effect and excellent speed adjusting performance, all has a wide range of applications in industries such as air-conditioning, elevator, metallurgy, machinery, electronics, petrochemical industry, papermaking, weavings.
At present, traditional frequency conversion governing system adopts photoelectric encoder as measuring transducer usually, and simultaneously for cost consideration or operational environment restriction, some also adopts the control mode without transducer.But, the speed having transducer and often need filtering process to detect without the control mode of transducer is to avoid the impact of differential noise, the speed making to deal that adds of filtering link occurs delayed, and this delayed extreme influence speed adjusting performance and the energy-saving effect of governing system.
In prior art, in order to improve the energy-saving effect of frequency control equipment, propose a kind of Energy Saving Control scheme based on machine vision, the program is by being installed on the camera collection image on air-conditioning internal machine, image processing algorithm is utilized to predict the position of indoor people, and according to the rotating speed of the Position Control compressor of people to reach energy-conservation effect.Also have a kind of energy conservation apparatus of plastic jetting-moulding machine based on variable-frequency governor and method, the technological parameter and the working state signal that utilize signal pickup assembly to gather injection molding machine, and by these signals that signal processing means processes collects, convert given frequency values to and output to frequency converter to reach energy-saving effect.In addition, also proposed a kind of fuzzy control method controlling water pump in prior art, by setting up corresponding fuzzy rule base, utilizing PLC and fuzzy controller Based Intelligent Control water level, the output frequency of frequency converter is changed along with the change of water level, thus reaches energy-conservation effect.
But the energy-saving scheme of prior art is all take measures beyond frequency-converting speed-governing control system, to regulate given frequency to reach energy-conservation effect, do not solve or reduce control system self energy consumption, energy-saving effect is not good.
Summary of the invention
Object of the present invention is intended to solve above-mentioned technological deficiency at least to a certain extent.
For this reason, first object of the present invention is the control method proposing a kind of frequency conversion speed-adjusting system, can improve speed adjusting performance, improve energy-saving effect.
Second object of the present invention is to propose frequency conversion speed-adjusting system.3rd object of the present invention is to propose a kind of air conditioner with this frequency conversion speed-adjusting system.
For achieving the above object, according to an aspect of the present invention, provide a kind of control method of frequency conversion speed-adjusting system, comprise the following steps: three-phase current Ia, Ib, Ic of detecting motor; Estimate that the position of the rotor of described motor and speed are with the estimating speed of the estimation angle and rotor that obtain rotor; The estimation angle of ramp signal to described rotor according to input carries out position correction to obtain given speed, and carries out differential calculation to described ramp signal, and the described given speed that result of calculation is added to is to obtain target velocity; According to described target velocity, velocity correction is carried out to obtain quadrature axis target current Iqref to the estimating speed of described rotor; Coordinate Conversion is carried out to obtain direct-axis current Id and quadrature axis current Iq to described three-phase current Ia, Ib, Ic, respectively current correction is carried out to obtain direct-axis voltage Vd and quadrature-axis voltage Vq to described direct-axis current Id and quadrature axis current Iq according to d-axis target current Idref and described quadrature axis target current Iqref, and according to described direct-axis voltage Vd and quadrature-axis voltage Vq, described motor is controlled.
According to the control method of the frequency conversion speed-adjusting system of the embodiment of the present invention, position correction is carried out by the estimation angle of ramp signal to rotor of input, and differential calculation is carried out to ramp signal, and the result of the result of position correction and differential calculation is carried out superposing the target velocity using as system, according to this target velocity, motor is controlled, thus realize compensating processing the delayed of rear speed after filtering, this control method reduces the noise of the delayed of system speed and speed, improve the speed adjusting performance of system, and without the need to increasing hardware cost, effective energy-saving effect improving frequency conversion speed-adjusting system.In addition, this control method is simple and reliable, without the need to the calculating of complexity.
In one embodiment of the invention, in described step S5, control specifically to comprise to described motor according to described direct-axis voltage Vd and quadrature-axis voltage Vq: the estimation angle according to described rotor carries out inverse park Coordinate Conversion to obtain two phase voltage Valpha, Vbeta to described direct-axis voltage Vd and quadrature-axis voltage Vq; Inverse clarke Coordinate Conversion is carried out to obtain three-phase voltage Va, Vb, Vc to described two phase voltage Valpha, Vbeta; According to described three-phase voltage Va, Vb, Vc, the speed adjusting described motor is controlled to described motor.
In one embodiment of the invention, in described step S5, Coordinate Conversion is carried out to obtain direct-axis current Id and quadrature axis current Iq specifically comprises to described three-phase current Ia, Ib, Ic: clarke Coordinate Conversion is carried out to obtain biphase current Ialpha, Ibeta to described three-phase current Ia, Ib, Ic; Estimation angle according to described rotor carries out park Coordinate Conversion to obtain described direct-axis current Id and quadrature axis current Iq to described biphase current Ialpha, Ibeta.
In one embodiment of the invention, described step S2 specifically comprises: estimate that the position of the rotor of described motor and speed are with the estimating speed of the estimation angle and described rotor that obtain described rotor according to described two phase voltage Valpha, Vbeta and described biphase current Ialpha, Ibeta.
For achieving the above object, according to another aspect of the present invention, provide a kind of frequency conversion speed-adjusting system, this system comprises: current detection module, for detecting three-phase current Ia, Ib, Ic of motor, position estimator, for estimating that the position of the rotor of described motor and speed are with the estimating speed of the estimation angle and rotor that obtain rotor, position correction module, for carrying out position correction to obtain given speed according to the estimation angle of ramp signal to described rotor of input, position feed-forward module, for carrying out differential calculation to described ramp signal, and the described given speed that result of calculation is added to is to obtain target velocity, velocity correction module, for carrying out velocity correction to obtain quadrature axis target current Iqref according to described target velocity to the estimating speed of described rotor, coordinate transferring and current correction module, described coordinate transferring is used for described three-phase current Ia, Ib, Ic carries out Coordinate Conversion to obtain direct-axis current Id and quadrature axis current Iq, described current correction module carries out current correction to obtain direct-axis voltage Vd and quadrature-axis voltage Vq to described direct-axis current Id and quadrature axis current Iq respectively according to d-axis target current Idref and described quadrature axis target current Iqref, and described coordinate transferring is also for carrying out Coordinate Conversion to obtain the three-phase voltage Va controlling described motor to described direct-axis voltage Vd and quadrature-axis voltage Vq, Vb, Vc.
According to the frequency conversion speed-adjusting system that the embodiment of the present invention proposes, only in input coal addition position correction module and the position feed-forward module of existing system, the delayed of measuring speed is compensate under the prerequisite not increasing hardware cost, reduce the noise of measuring speed, and realize simple, without the need to complicated calculations, speed governing is effective, and energy consumption is low.
Further, in one embodiment of the invention, described coordinate transferring comprises: inverse park coordinate transformation unit, carries out inverse park Coordinate Conversion to obtain two phase voltage Valpha, Vbeta for the estimation angle according to described rotor to described direct-axis voltage Vd and quadrature-axis voltage Vq; Inverse clarke coordinate transformation unit, for carrying out inverse clarke Coordinate Conversion to obtain described three-phase voltage Va, Vb, Vc to described two phase voltage Valpha, Vbeta.
Further, described coordinate transferring also comprises: clarke coordinate transformation unit, for carrying out clarke Coordinate Conversion to obtain biphase current Ialpha, Ibeta to described three-phase current Ia, Ib, Ic; Park coordinate transformation unit, carries out park Coordinate Conversion to obtain described direct-axis current Id and quadrature axis current Iq for the estimation angle according to described rotor to described biphase current Ialpha, Ibeta.
In one embodiment of the invention, described position estimator is used for estimating that the position of the rotor of described motor and speed are with the estimating speed of the estimation angle and described rotor that obtain described rotor according to described two phase voltage Valpha, Vbeta and described biphase current Ialpha, Ibeta.
In one embodiment of the invention, described current correction module comprises: q shaft current correcting unit, for carrying out current correction to obtain described quadrature-axis voltage Vq according to described quadrature axis target current Iqref to described quadrature axis current Iq; D shaft current correcting unit, for carrying out current correction to obtain described direct-axis voltage Vd according to described d-axis target current Idref to described direct-axis current Id.
According to a further aspect of the invention, additionally provide a kind of air conditioner, this air conditioner comprises above-mentioned frequency conversion speed-adjusting system.
The aspect that the present invention adds and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
The present invention above-mentioned and/or additional aspect and advantage will become obvious and easy understand from the following description of the accompanying drawings of embodiments, wherein:
Fig. 1 is the theory structure schematic diagram of existing frequency conversion speed-adjusting system;
Fig. 2 is the theory structure schematic diagram of the frequency conversion speed-adjusting system according to the embodiment of the present invention;
Fig. 3 is the rate curve emulation schematic diagram of two kinds of frequency conversion speed-adjusting systems in Fig. 1 and Fig. 2;
Fig. 4 is the A phase current comparative graph of two kinds of frequency conversion speed-adjusting systems in Fig. 1 and Fig. 2; And
Fig. 5 is the flow chart of the control method of frequency conversion speed-adjusting system according to the embodiment of the present invention.
Reference numeral:
Current detection module 10, position estimator 20, position correction module 30, position feed-forward module 40, velocity correction module 50, coordinate transferring 60 and current correction module 70, motor 80; Q shaft current correcting unit 701 and d shaft current correcting unit 702, inverse park coordinate transformation unit 601, inverse clarke coordinate transformation unit 602, clarke coordinate transformation unit 603 and park coordinate transformation unit 604.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
Disclosing hereafter provides many different embodiments or example is used for realizing different structure of the present invention.Of the present invention open in order to simplify, hereinafter the parts of specific examples and setting are described.Certainly, they are only example, and object does not lie in restriction the present invention.In addition, the present invention can in different example repeat reference numerals and/or letter.This repetition is to simplify and clearly object, itself does not indicate the relation between discussed various embodiment and/or setting.In addition, the various specific technique that the invention provides and the example of material, but those of ordinary skill in the art can recognize the property of can be applicable to of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it " on " structure can comprise the embodiment that the first and second features are formed as directly contact, also can comprise other feature and be formed in embodiment between the first and second features, such first and second features may not be direct contacts.
In describing the invention, it should be noted that, unless otherwise prescribed and limit, term " installation ", " being connected ", " connection " should be interpreted broadly, such as, can be mechanical connection or electrical connection, also can be the connection of two element internals, can be directly be connected, also indirectly can be connected by intermediary, for the ordinary skill in the art, the concrete meaning of above-mentioned term can be understood as the case may be.
With reference to description below and accompanying drawing, these and other aspects of embodiments of the invention will be known.Describe at these and in accompanying drawing, specifically disclose some particular implementation in embodiments of the invention, representing some modes of the principle implementing embodiments of the invention, but should be appreciated that the scope of embodiments of the invention is not limited.On the contrary, embodiments of the invention comprise fall into attached claims spirit and intension within the scope of all changes, amendment and equivalent.
Before the frequency conversion speed-adjusting system describing embodiment of the present invention proposition and control method thereof, the structure of existing frequency conversion speed-adjusting system is once described first.
As shown in Figure 1, existing frequency conversion speed-adjusting system comprises velocity correction link, d shaft current correction link, q shaft current correction link, 2r/2s link, 2s/3s link, 3s/2s link, 2s/2r link, position estimator.But, the speed that existing frequency conversion speed-adjusting system also needs filtering process to detect is to avoid the impact of differential noise, the speed making to deal that adds of filtering link occurs delayed, and this delayed extreme influence speed adjusting performance and the energy-saving effect of governing system.
Inventor is through years of researches and constantly test, from governing system, by changing the topology of existing frequency conversion speed-adjusting system, namely on the basis of existing frequency conversion speed-adjusting system, by coal addition position correction module and position feed-forward module, given speed is changed into the input of ramp signal as position correction module and position feed-forward module, realize feed forward position error compensation, by the delayed and noise that site error amount compensated measurement speed produces, the object improve speed adjusting performance to reach, reducing energy consumption.
Control method and the frequency conversion speed-adjusting system of the frequency conversion speed-adjusting system proposed according to the embodiment of the present invention are described with reference to the accompanying drawings.
Fig. 2 is the theory structure schematic diagram of the frequency conversion speed-adjusting system according to the embodiment of the present invention.Shown in Figure 2, the frequency conversion speed-adjusting system of the embodiment of the present invention comprises current detection module 10, position estimator 20, position correction module 30, position feed-forward module 40, velocity correction module 50, coordinate transferring 60 and current correction module 70.
Wherein, current detection module 10, for detecting three-phase current Ia, Ib, Ic of motor 80, namely when motor 80 works, utilizes current detection module 10 to detect three-phase operating current Ia, Ib, Ic of motor 80.
Position estimator 20 for estimating that the position of the rotor of motor 80 and speed are with the estimating speed of the estimation angle and rotor that obtain rotor, thus completes the position of rotor and the measurement of speed.
Position correction module 30, for carrying out position correction to obtain given speed according to the estimation angle of ramp signal to rotor of input, is specially and carries out position correction to obtain given speed to the deviation between the ramp signal (given position) inputted and the estimation angle of rotor.
Position feed-forward module 40 is for carrying out differential calculation to ramp signal, and the given speed that result of calculation is added to is to obtain target velocity, namely carries out the result of differential calculation to ramp signal i.e. velocity feed forward is added to given speed to obtain target velocity.
That is, in an embodiment of the present invention, position correction module 30 is for correcting the deviation of given position and measuring position, and position feed-forward module 40 is for asking for differential to given position, and given speed that differentiation result is added to.Due to the delayed and noise that position measurement is delayed and noise causes much smaller than measuring speed, therefore, frequency conversion speed-adjusting system of the present invention can obtain better speed governing effect.
Velocity correction module 50, for carrying out velocity correction to obtain quadrature axis target current Iqref according to target velocity to the estimating speed of rotor, namely carries out velocity correction to obtain quadrature axis target current Iqref to the deviation between target velocity and the estimating speed of rotor.
Coordinate transferring 60 is for carrying out Coordinate Conversion to obtain direct-axis current Id and quadrature axis current Iq to three-phase current Ia, Ib, Ic, current correction module 70 carries out current correction to obtain direct-axis voltage Vd and quadrature-axis voltage Vq to described direct-axis current Id and quadrature axis current Iq respectively according to d-axis target current Idref and quadrature axis target current Iqref, and coordinate transferring 60 is also for carrying out Coordinate Conversion to obtain three-phase voltage Va, Vb, Vc of controlling described motor to described direct-axis voltage Vd and quadrature-axis voltage Vq.
Wherein, as shown in Figure 2, current correction module 70 comprises q shaft current correcting unit 701 and d shaft current correcting unit 702.Q shaft current correcting unit 701, for carrying out current correction to obtain described quadrature-axis voltage Vq according to described quadrature axis target current Iqref to described quadrature axis current Iq, namely carries out current correction to obtain quadrature-axis voltage Vq to the deviation between quadrature axis target current Iqref and quadrature axis current Iq.D shaft current correcting unit 702, for carrying out current correction to obtain described direct-axis voltage Vd according to described d-axis target current Idref to described direct-axis current Id, namely carries out current correction to obtain described direct-axis voltage Vd to the deviation between d-axis target current Idref and direct-axis current Id.
Particularly, in one embodiment of the invention, as shown in Figure 2, coordinate transferring 60 comprises inverse park coordinate transformation unit 601, inverse clarke coordinate transformation unit 602, clarke coordinate transformation unit 603 and park coordinate transformation unit 604.
Wherein, inverse park coordinate transformation unit 601 is for carrying out inverse park Coordinate Conversion and 2r/2s Coordinate Conversion to obtain two phase voltage Valpha, Vbeta according to the estimation angle of described rotor to described direct-axis voltage Vd and quadrature-axis voltage Vq, and inverse clarke coordinate transformation unit 602 is for carrying out inverse clarke Coordinate Conversion and 2s/3s Coordinate Conversion to obtain described three-phase voltage Va, Vb, Vc to described two phase voltage Valpha, Vbeta.Clarke coordinate transformation unit 603 is for carrying out clarke Coordinate Conversion and 3s/2s Coordinate Conversion to obtain biphase current Ialpha, Ibeta to described three-phase current Ia, Ib, Ic, park coordinate transformation unit 604 is for carrying out park Coordinate Conversion and 2s/2r Coordinate Conversion to obtain described direct-axis current Id and quadrature axis current Iq according to the estimation angle of described rotor to described biphase current Ialpha, Ibeta.
Say further, position estimator 20 is for estimating that according to described two phase voltage Valpha, Vbeta and described biphase current Ialpha, Ibeta the position of the rotor of described motor and speed are with the estimating speed of the estimation angle and described rotor that obtain described rotor.
Therefore say, frequency conversion speed-adjusting system of the present invention is in the given input coal addition position correction module 30 of existing frequency conversion speed-adjusting system and position feed-forward module 40, carries out feed forward position error compensation.Compared with existing frequency conversion speed-adjusting system, be only the topology changing governing system, do not increase hardware cost, realize simple.
According to the frequency conversion speed-adjusting system that the embodiment of the present invention proposes, only in input coal addition position correction module and the position feed-forward module of existing system, the delayed of measuring speed is compensate under the prerequisite not increasing hardware cost, reduce the noise of measuring speed, and realize simple, without the need to complicated calculations, speed governing is effective, and energy consumption is low.
In a concrete example of the present invention, frequency conversion speed-adjusting system for above-mentioned existing frequency conversion speed-adjusting system and the embodiment of the present invention has carried out emulation experiment, wherein motor is IPMSM(Interior Permanent Magnet Synchronous Motor, built-in type permagnetic synchronous motor), based on expansion back-emf position estimator as position estimator, load is constant load, speed preset is 10Hz, 0 ~ 0.2s adopts physical location, velocity feedback, adopts position estimator to feed back and estimate angle and estimating speed after 0.2s.The simulation experiment result as shown in Figure 3 and Figure 4.
Wherein, Fig. 3 is the speed comparative graph of kind of the frequency conversion speed-adjusting system of two shown in Fig. 1 and Fig. 2, and in speed comparative graph, curve 2 is the measuring speed simulation curve of the frequency conversion speed-adjusting system of the present invention of the preposition link of coal addition position correction link and position; In speed comparative graph, curve 1 is the measuring speed simulation curve of existing frequency conversion speed-adjusting system.Relatively two curves can find, under same experiment condition, the stationarity of frequency conversion speed-adjusting system output speed curve of the present invention is obviously better than existing frequency conversion speed-adjusting system.
The A phase current comparative graph that Fig. 4 is kind of the frequency conversion speed-adjusting system of two shown in Fig. 1 and Fig. 2, wherein, in A phase current comparative graph, curve 4 is the A current phasor measurement simulation curve of the frequency conversion speed-adjusting system of the present invention of the preposition link of coal addition position correction link and position; In A phase current comparative graph, curve 3 is the A current phasor measurement simulation curve of existing frequency conversion speed-adjusting system.Relatively two curves can find, under same experiment condition, the A phase phase current that the A phase phase current that frequency conversion speed-adjusting system of the present invention consumes consumes in existing frequency conversion speed-adjusting system, namely frequency conversion speed-adjusting system of the present invention is compared with existing frequency conversion speed-adjusting system, built-in type permagnetic synchronous motor is made to obtain the same speed of service with less current loss, therefore, the more existing frequency conversion speed-adjusting system of frequency conversion speed-adjusting system of the present invention has more superior energy-saving effect.
In addition, embodiments of the invention also proposed a kind of air conditioner, and this air conditioner comprises the frequency conversion speed-adjusting system described by above-described embodiment.This air conditioner can efficient under the prerequisite not increasing hardware cost, stable, low energy consumption operation.
Fig. 5 is the flow chart of the control method of frequency conversion speed-adjusting system according to the embodiment of the present invention.As shown in Figure 5, the control method of this frequency conversion speed-adjusting system comprises the following steps:
S1, detects three-phase current Ia, Ib, Ic of motor.
S2, the position of the rotor of estimation motor and speed are with the estimating speed of the estimation angle and rotor that obtain rotor.
S3, the estimation angle of ramp signal to rotor according to input carries out position correction to obtain given speed, and carries out differential calculation to ramp signal, and the given speed that result of calculation is added to is to obtain target velocity.
S4, carries out velocity correction to obtain quadrature axis target current Iqref according to target velocity to the estimating speed of rotor.
S5, Coordinate Conversion is carried out to obtain direct-axis current Id and quadrature axis current Iq to three-phase current Ia, Ib, Ic, respectively current correction is carried out to obtain direct-axis voltage Vd and quadrature-axis voltage Vq to direct-axis current Id and quadrature axis current Iq according to d-axis target current Idref and quadrature axis target current Iqref, and according to direct-axis voltage Vd and quadrature-axis voltage Vq, motor is controlled.
In one embodiment of the invention, as shown in Figure 2, in step s 5, Coordinate Conversion is carried out to obtain direct-axis current Id and quadrature axis current Iq specifically comprises the following steps to three-phase current Ia, Ib, Ic:
S11, carries out clarke Coordinate Conversion to obtain biphase current Ialpha, Ibeta to three-phase current Ia, Ib, Ic.
S12, the estimation angle according to rotor carries out park Coordinate Conversion to obtain direct-axis current Id and quadrature axis current Iq to biphase current Ialpha, Ibeta.
Further, as shown in Figure 2, in step s 5, control specifically to comprise the following steps to motor according to direct-axis voltage Vd and quadrature-axis voltage Vq:
S21, the estimation angle according to rotor carries out inverse park Coordinate Conversion to obtain two phase voltage Valpha, Vbeta to direct-axis voltage Vd and quadrature-axis voltage Vq.
S22, carries out inverse clarke Coordinate Conversion to obtain three-phase voltage Va, Vb, Vc to two phase voltage Valpha, Vbeta.
S23, controls to motor the speed adjusting motor according to three-phase voltage Va, Vb, Vc.
The control method of frequency conversion speed-adjusting system of the present invention compensates the delayed and noise of processing speed generation after filtering by site error amount, thus can improve speed governing effect, reduces energy consumption, and realizes simple.This control method is not only applicable to the frequency conversion speed-adjusting system of transducer, is applicable to the frequency conversion speed-adjusting system without transducer yet.
According to the control method of the frequency conversion speed-adjusting system of the embodiment of the present invention, position correction is carried out by the estimation angle of ramp signal to rotor of input, and differential calculation is carried out to ramp signal, and the result of the result of position correction and differential calculation is carried out superposing the target velocity using as system, according to this target velocity, motor is controlled, thus realize compensating processing the delayed of rear speed after filtering, this control method reduces the noise of the delayed of system speed and speed, improve the speed adjusting performance of system, and without the need to increasing hardware cost, effective energy-saving effect improving frequency conversion speed-adjusting system.In addition, this control method is simple and reliable, without the need to the calculating of complexity.
Describe and can be understood in flow chart or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field.
In flow charts represent or in this logic otherwise described and/or step, such as, the sequencing list of the executable instruction for realizing logic function can be considered to, may be embodied in any computer-readable medium, for instruction execution system, device or equipment (as computer based system, comprise the system of processor or other can from instruction execution system, device or equipment instruction fetch and perform the system of instruction) use, or to use in conjunction with these instruction execution systems, device or equipment.With regard to this specification, " computer-readable medium " can be anyly can to comprise, store, communicate, propagate or transmission procedure for instruction execution system, device or equipment or the device that uses in conjunction with these instruction execution systems, device or equipment.The example more specifically (non-exhaustive list) of computer-readable medium comprises following: the electrical connection section (electronic installation) with one or more wiring, portable computer diskette box (magnetic device), random-access memory (ram), read-only memory (ROM), erasablely edit read-only memory (EPROM or flash memory), fiber device, and portable optic disk read-only memory (CDROM).In addition, computer-readable medium can be even paper or other suitable media that can print described program thereon, because can such as by carrying out optical scanner to paper or other media, then carry out editing, decipher or carry out process with other suitable methods if desired and electronically obtain described program, be then stored in computer storage.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, multiple step or method can with to store in memory and the software performed by suitable instruction execution system or firmware realize.Such as, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: the discrete logic with the logic gates for realizing logic function to data-signal, there is the application-specific integrated circuit (ASIC) of suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, this program perform time, step comprising embodiment of the method one or a combination set of.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.
The above-mentioned storage medium mentioned can be read-only memory, disk or CD etc.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments without departing from the principles and spirit of the present invention, scope of the present invention is by claims and equivalency thereof.
Claims (10)
1. a control method for frequency conversion speed-adjusting system, is characterized in that, comprises the steps:
S1, detects three-phase current Ia, Ib, Ic of motor;
S2, estimates that the position of the rotor of described motor and speed are with the estimating speed of the estimation angle and rotor that obtain rotor;
S3, the estimation angle of ramp signal to described rotor according to input carries out position correction to obtain given speed, and carries out differential calculation to described ramp signal, and the described given speed that result of calculation is added to is to obtain target velocity;
S4, carries out velocity correction to obtain quadrature axis target current Iqref according to described target velocity to the estimating speed of described rotor;
S5, Coordinate Conversion is carried out to obtain direct-axis current Id and quadrature axis current Iq to described three-phase current Ia, Ib, Ic, respectively current correction is carried out to obtain direct-axis voltage Vd and quadrature-axis voltage Vq to described direct-axis current Id and quadrature axis current Iq according to d-axis target current Idref and described quadrature axis target current Iqref, and according to described direct-axis voltage Vd and quadrature-axis voltage Vq, described motor is controlled.
2. the control method of frequency conversion speed-adjusting system as claimed in claim 1, is characterized in that, in described step S5, control specifically to comprise according to described direct-axis voltage Vd and quadrature-axis voltage Vq to described motor:
Estimation angle according to described rotor carries out inverse park Coordinate Conversion to obtain two phase voltage Valpha, Vbeta to described direct-axis voltage Vd and quadrature-axis voltage Vq;
Inverse clarke Coordinate Conversion is carried out to obtain three-phase voltage Va, Vb, Vc to described two phase voltage Valpha, Vbeta;
According to described three-phase voltage Va, Vb, Vc, the speed adjusting described motor is controlled to described motor.
3. the control method of frequency conversion speed-adjusting system as claimed in claim 2, is characterized in that, in described step S5, carries out Coordinate Conversion to obtain direct-axis current Id and quadrature axis current Iq specifically comprises to described three-phase current Ia, Ib, Ic:
Clarke Coordinate Conversion is carried out to obtain biphase current Ialpha, Ibeta to described three-phase current Ia, Ib, Ic;
Estimation angle according to described rotor carries out park Coordinate Conversion to obtain described direct-axis current Id and quadrature axis current Iq to described biphase current Ialpha, Ibeta.
4. the control method of frequency conversion speed-adjusting system as claimed in claim 3, it is characterized in that, described step S2 specifically comprises:
Estimate that the position of the rotor of described motor and speed are with the estimating speed of the estimation angle and described rotor that obtain described rotor according to described two phase voltage Valpha, Vbeta and described biphase current Ialpha, Ibeta.
5. a frequency conversion speed-adjusting system, is characterized in that, comprising:
Current detection module, for detecting three-phase current Ia, Ib, Ic of motor;
Position estimator, for estimating that the position of the rotor of described motor and speed are with the estimating speed of the estimation angle and rotor that obtain rotor;
Position correction module, for carrying out position correction to obtain given speed according to the estimation angle of ramp signal to described rotor of input;
Position feed-forward module, for carrying out differential calculation to described ramp signal, and the described given speed that result of calculation is added to is to obtain target velocity;
Velocity correction module, for carrying out velocity correction to obtain quadrature axis target current Iqref according to described target velocity to the estimating speed of described rotor;
Coordinate transferring and current correction module, described coordinate transferring is used for described three-phase current Ia, Ib, Ic carries out Coordinate Conversion to obtain direct-axis current Id and quadrature axis current Iq, described current correction module carries out current correction to obtain direct-axis voltage Vd and quadrature-axis voltage Vq to described direct-axis current Id and quadrature axis current Iq respectively according to d-axis target current Idref and described quadrature axis target current Iqref, and described coordinate transferring is also for carrying out Coordinate Conversion to obtain the three-phase voltage Va controlling described motor to described direct-axis voltage Vd and quadrature-axis voltage Vq, Vb, Vc.
6. frequency conversion speed-adjusting system as claimed in claim 5, it is characterized in that, described coordinate transferring comprises:
Inverse park coordinate transformation unit, carries out inverse park Coordinate Conversion to obtain two phase voltage Valpha, Vbeta for the estimation angle according to described rotor to described direct-axis voltage Vd and quadrature-axis voltage Vq;
Inverse clarke coordinate transformation unit, for carrying out inverse clarke Coordinate Conversion to obtain described three-phase voltage Va, Vb, Vc to described two phase voltage Valpha, Vbeta.
7. frequency conversion speed-adjusting system as claimed in claim 6, it is characterized in that, described coordinate transferring also comprises:
Clarke coordinate transformation unit, for carrying out clarke Coordinate Conversion to obtain biphase current Ialpha, Ibeta to described three-phase current Ia, Ib, Ic;
Park coordinate transformation unit, carries out park Coordinate Conversion to obtain described direct-axis current Id and quadrature axis current Iq for the estimation angle according to described rotor to described biphase current Ialpha, Ibeta.
8. frequency conversion speed-adjusting system as claimed in claim 7, it is characterized in that, described position estimator is used for estimating that the position of the rotor of described motor and speed are with the estimating speed of the estimation angle and described rotor that obtain described rotor according to described two phase voltage Valpha, Vbeta and described biphase current Ialpha, Ibeta.
9. frequency conversion speed-adjusting system as claimed in claim 5, it is characterized in that, described current correction module comprises:
Q shaft current correcting unit, for carrying out current correction to obtain described quadrature-axis voltage Vq according to described quadrature axis target current Iqref to described quadrature axis current Iq;
D shaft current correcting unit, for carrying out current correction to obtain described direct-axis voltage Vd according to described d-axis target current Idref to described direct-axis current Id.
10. an air conditioner, is characterized in that, comprises the frequency conversion speed-adjusting system as described in any one of claim 5-9.
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